diff --git a/build.gradle b/build.gradle
index 4900318f84..8841439a5f 100644
--- a/build.gradle
+++ b/build.gradle
@@ -99,7 +99,9 @@ subprojects {
     // Disables doclint in java 8.
     if (JavaVersion.current().isJava8Compatible()) {
         tasks.withType(Javadoc) {
-            options.addStringOption('Xdoclint:none', '-quiet')
+            if (project.name != "docs") {
+                options.addStringOption('Xdoclint:none', '-quiet')
+            }
         }
     }
 }
diff --git a/docs/build.gradle b/docs/build.gradle
index c3e8cabb40..d746fe786e 100644
--- a/docs/build.gradle
+++ b/docs/build.gradle
@@ -10,6 +10,8 @@ evaluationDependsOn(':hal')
 evaluationDependsOn(':cameraserver')
 evaluationDependsOn(':wpilibc')
 evaluationDependsOn(':wpilibj')
+evaluationDependsOn(':wpilibOldCommands')
+evaluationDependsOn(':wpilibNewCommands')
 
 def baseArtifactIdCpp = 'documentation'
 def artifactGroupIdCpp = 'edu.wpi.first.wpilibc'
@@ -29,6 +31,8 @@ cppProjectZips.add(project(':ntcore').cppHeadersZip)
 cppProjectZips.add(project(':cscore').cppHeadersZip)
 cppProjectZips.add(project(':cameraserver').cppHeadersZip)
 cppProjectZips.add(project(':wpilibc').cppHeadersZip)
+cppProjectZips.add(project(':wpilibOldCommands').cppHeadersZip)
+cppProjectZips.add(project(':wpilibNewCommands').cppHeadersZip)
 
 doxygen {
   executables {
@@ -100,7 +104,7 @@ task generateJavaDocs(type: Javadoc) {
     classpath += project(":wpiutil").sourceSets.main.compileClasspath
     options.links("https://docs.oracle.com/en/java/javase/11/docs/api/")
     options.addStringOption "tag", "pre:a:Pre-Condition"
-    options.addStringOption('Xdoclint:accessibility,html,missing,reference,syntax')
+    options.addBooleanOption "Xdoclint:html,missing,reference,syntax", true
     options.addBooleanOption('html5', true)
     dependsOn project(':wpilibj').generateJavaVersion
     dependsOn project(':hal').generateUsageReporting
@@ -110,6 +114,8 @@ task generateJavaDocs(type: Javadoc) {
     source project(':ntcore').sourceSets.main.java
     source project(':wpilibj').sourceSets.main.java
     source project(':cameraserver').sourceSets.main.java
+    source project(':wpilibOldCommands').sourceSets.main.java
+    source project(':wpilibNewCommands').sourceSets.main.java
     source configurations.javaSource.collect { zipTree(it) }
     include '**/*.java'
     failOnError = true
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java
index c16ee995cf..c88256ab22 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java
@@ -16,7 +16,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
  * example, programmers can specify a specific {@code boolean} value to be displayed with a toggle
  * button instead of the default colored box, or set custom colors for that box.
  *
- * <p>For example, displaying a boolean entry with a toggle button:
+ * <p>For example, displaying a boolean entry with a toggle button:</p>
  * <pre>{@code
  * NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
  *   .add("My Boolean", false)
@@ -24,7 +24,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
  *   .getEntry();
  * }</pre>
  *
- * Changing the colors of the boolean box:
+ * <p>Changing the colors of the boolean box:</p>
  * <pre>{@code
  * NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
  *   .add("My Boolean", false)
@@ -33,8 +33,8 @@ import edu.wpi.first.networktables.NetworkTableInstance;
  *   .getEntry();
  * }</pre>
  *
- * Specifying a parent layout. Note that the layout type must <i>always</i> be specified, even if
- * the layout has already been generated by a previously defined entry.
+ * <p>Specifying a parent layout. Note that the layout type must <i>always</i> be specified, even if
+ * the layout has already been generated by a previously defined entry.</p>
  * <pre>{@code
  * NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
  *   .getLayout("List", "Example List")
@@ -42,7 +42,6 @@ import edu.wpi.first.networktables.NetworkTableInstance;
  *   .withWidget("Toggle Button")
  *   .getEntry();
  * }</pre>
- * </p>
  *
  * <p>Teams are encouraged to set up shuffleboard layouts at the start of the robot program.</p>
  */