diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
index a4825d216..57389bf0f 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -41,7 +41,7 @@ import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
 /**
- * The PhotonPoseEstimator class filters or combines readings from all the fiducials visible at a
+ * The PhotonPoseEstimator class filters or combines readings from all the AprilTags visible at a
  * given timestamp on the field to produce a single robot in field pose, using the strategy set
  * below. Example usage can be found in our apriltagExample example project.
  */
@@ -76,12 +76,16 @@ public class PhotonPoseEstimator {
     /**
      * Create a new PhotonPoseEstimator.
      *
-     * @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3ds with
-     *     respect to the FIRST field.
+     * @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3d objects
+     *     with respect to the FIRST field using the <a
+     *     href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#field-coordinate-system">Field
+     *     Coordinate System</a>.
      * @param strategy The strategy it should use to determine the best pose.
      * @param camera PhotonCameras and
      * @param robotToCamera Transform3d from the center of the robot to the camera mount positions
-     *     (ie, robot ➔ camera).
+     *     (ie, robot ➔ camera) in the <a
+     *     href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#robot-coordinate-system">Robot
+     *     Coordinate System</a>.
      */
     public PhotonPoseEstimator(
             AprilTagFieldLayout fieldTags,
@@ -176,7 +180,7 @@ public class PhotonPoseEstimator {
      * @param lastPose the lastPose to set
      */
     public void setLastPose(Pose2d lastPose) {
-        this.lastPose = new Pose3d(lastPose);
+        setLastPose(new Pose3d(lastPose));
     }
 
     /**
@@ -485,7 +489,7 @@ public class PhotonPoseEstimator {
     private void reportFiducialPoseError(int fiducialId) {
         if (!reportedErrors.contains(fiducialId)) {
             DriverStation.reportError(
-                    "[PhotonPoseEstimator] Tried to get pose of unknown April Tag: " + fiducialId, false);
+                    "[PhotonPoseEstimator] Tried to get pose of unknown AprilTag: " + fiducialId, false);
             reportedErrors.add(fiducialId);
         }
     }
diff --git a/photon-lib/src/main/java/org/photonvision/RobotPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/RobotPoseEstimator.java
index e4d09da54..d1d8d93bf 100644
--- a/photon-lib/src/main/java/org/photonvision/RobotPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/RobotPoseEstimator.java
@@ -389,7 +389,7 @@ public class RobotPoseEstimator {
     }
 
     /**
-     * UPdate the stored last pose. Useful for setting the initial estimate with CLOSEST_TO_LAST_POSE
+     * Update the stored last pose. Useful for setting the initial estimate with CLOSEST_TO_LAST_POSE
      *
      * @param lastPose the lastPose to set
      */
@@ -400,7 +400,7 @@ public class RobotPoseEstimator {
     private void reportFiducialPoseError(int fiducialId) {
         if (!reportedErrors.contains(fiducialId)) {
             DriverStation.reportError(
-                    "[RobotPoseEstimator] Tried to get pose of unknown April Tag: " + fiducialId, false);
+                    "[RobotPoseEstimator] Tried to get pose of unknown AprilTag: " + fiducialId, false);
             reportedErrors.add(fiducialId);
         }
     }