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$ sphinxify
/**
 * Constructs a control-affine plant inversion model-based feedforward from
 * given model dynamics.
 *
 * If given the vector valued function as f(x, u) where x is the state
 * vector and u is the input vector, the B matrix(continuous input matrix)
 * is calculated through a NumericalJacobian. In this case f has to be
 * control-affine (of the form f(x) + Bu).
 *
 * The feedforward is calculated as
 * <strong> u_ff = B<sup>+</sup> (rDot - f(x)) </strong>, where <strong>
 * B<sup>+</sup> </strong> is the pseudoinverse of B.
 *
 * This feedforward does not account for a dynamic B matrix, B is either
 * determined or supplied when the feedforward is created and remains constant.
 *
 * For more on the underlying math, read
 * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
 */

        """Constructs a control-affine plant inversion model-based feedforward from
        given model dynamics.

        If given the vector valued function as f(x, u) where x is the state
        vector and u is the input vector, the B matrix(continuous input matrix)
        is calculated through a NumericalJacobian. In this case f has to be
        control-affine (of the form f(x) + Bu).

        The feedforward is calculated as
        ** u_ff = B<sup>+</sup> (rDot - f(x)) **, where **
        B<sup>+</sup> ** is the pseudoinverse of B.

        This feedforward does not account for a dynamic B matrix, B is either
        determined or supplied when the feedforward is created and remains constant.

        For more on the underlying math, read
        https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
        """
...

docstring of wpimath._controls._controls.controller.ControlAffinePlantInversionFeedforward_1_1:9: WARNING: Inline strong start-string without end-string.
docstring of wpimath._controls._controls.controller.ControlAffinePlantInversionFeedforward_2_1:9: WARNING: Inline strong start-string without end-string.
docstring of wpimath._controls._controls.controller.ControlAffinePlantInversionFeedforward_2_2:9: WARNING: Inline strong start-string without end-string.
docstring of wpimath._controls._controls.controller.LinearPlantInversionFeedforward_1_1:3: WARNING: Inline strong start-string without end-string.
docstring of wpimath._controls._controls.controller.LinearPlantInversionFeedforward_2_1:3: WARNING: Inline strong start-string without end-string.
docstring of wpimath._controls._controls.controller.LinearPlantInversionFeedforward_2_2:3: WARNING: Inline strong start-string without end-string.

HAL_ENUM(HAL_SimValueDirection){
    HAL_SimValueInput = 0, /**< input to user code from the simulator */
    HAL_SimValueOutput,    /**< output from user code to the simulator */
    HAL_SimValueBidir      /**< bidirectional between user code and simulator */
};

>>> import sphinxify
>>> input = '*\n* Sends an error to the driver station.\n*\n* @param isError   true for error, false for warning\n* @param errorCode the error code\n* @param isLVCode  true for a LV error code, false for a standard error code\n* @param details   the details of the error\n* @param location  the file location of the errror\n* @param callstack the callstack of the error\n* @param printMsg  true to print the error message to stdout as well as to the\n* DS\n*/'
>>> sphinxify.process_raw(input)
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "sphinxify.py", line 196, in process_raw
    return process_doc(s[0])
  File "sphinxify.py", line 151, in process_doc
    return str(Doc.from_comment(txt))
  File "sphinxify.py", line 145, in __str__
    return self.text + "\n".join(to_append)
AttributeError: 'Doc' object has no attribute 'text'

  /**
   * Create a new entry for the topic, with specific type string.
   *
   * Entries act as a combination of a subscriber and a weak publisher. The
   * subscriber is active as long as the entry is not destroyed. The publisher
   * is created when the entry is first written to, and remains active until
   * either Unpublish() is called or the entry is destroyed.
   *
   * @note It is not possible to use two different data types with the same
   *     topic. Conflicts between publishers are typically resolved by the
   *     server on a first-come, first-served basis. Any published values that
   *     do not match the topic's data type are dropped (ignored), and the entry
   *     will show no new values if the data type does not match. To determine
   *     if the data type matches, use the appropriate Topic functions.
   *
   * @param typeString type string
   * @param defaultValue default value used when a default is not provided to a
   *        getter function
   * @param options publish and/or subscribe options
   * @return entry
   */

"""Create a new entry for the topic, with specific type string.

        Entries act as a combination of a subscriber and a weak publisher. The
        subscriber is active as long as the entry is not destroyed. The publisher
        is created when the entry is first written to, and remains active until
        either Unpublish() is called or the entry is destroyed.

        .. note:: I
        topic. Conflicts between publishers are typically resolved by the
        server on a first-come, first-served basis. Any published values that
        do not match the topic's data type are dropped (ignored), and the entry
        will show no new values if the data type does not match. To determine
        if the data type matches, use the appropriate Topic functions.

        :param typeString:   type string
        :param defaultValue: default value used when a default is not provided to a
                             getter function
        :param options:      publish and/or subscribe options

        :returns: entry
        """
        ```

  /**
   * Get the raw output ratio of the duty cycle signal.
   *
   * <p> 0 means always low, an output equal to
   * GetOutputScaleFactor() means always high.
   *
   * @return output ratio in raw units
   */

      .def("getOutputRaw", &frc::DutyCycle::GetOutputRaw, release_gil(),
      "Get the raw output ratio of the duty cycle signal.\n"
      "\n"
      " 0 means always low, an output equal to\n"
      "GetOutputScaleFactor() means always high.\n"
      "\n"
      ":returns: output ratio in raw units")

_wpilib.pyi:2416: SyntaxWarning: invalid escape sequence '\#'

    def hexString(self) -> str:
        """
        Return this color represented as a hex string.
        
        :returns: a string of the format <tt>\#RRGGBB</tt>
        """