diff --git a/pom.xml b/pom.xml
index dd1532e2d..2483da022 100644
--- a/pom.xml
+++ b/pom.xml
@@ -156,9 +156,9 @@
 			</plugin>
 			<plugin>
 				<artifactId>maven-javadoc-plugin</artifactId>
-				<version>3.3.1</version>
+				<version>3.6.3</version>
 				<configuration>
-					<source>8</source>
+					<source>${minimum.java.version}</source>
 					<destDir>docs</destDir>
 				</configuration> 
 			</plugin>
@@ -533,7 +533,7 @@
 	<properties>
 		<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
 		<minimum.maven.version>3.8.1</minimum.maven.version>
-		<minimum.java.version>16</minimum.java.version>
+		<minimum.java.version>21</minimum.java.version>
 		<maven-dependency-plugin.ignoreNonCompile>true</maven-dependency-plugin.ignoreNonCompile>
 		<maven.compiler.source>${minimum.java.version}</maven.compiler.source>
 		<maven.compiler.target>${minimum.java.version}</maven.compiler.target>
diff --git a/src/main/java/com/marginallyclever/convenience/bezier3/Bezier3ToMesh.java b/src/main/java/com/marginallyclever/convenience/bezier3/Bezier3ToMesh.java
index c4ae16598..33e268968 100644
--- a/src/main/java/com/marginallyclever/convenience/bezier3/Bezier3ToMesh.java
+++ b/src/main/java/com/marginallyclever/convenience/bezier3/Bezier3ToMesh.java
@@ -1,7 +1,7 @@
 package com.marginallyclever.convenience.bezier3;
 
 import com.jogamp.opengl.GL3;
-import com.marginallyclever.robotoverlord.systems.render.mesh.Mesh;
+import com.marginallyclever.ro3.mesh.Mesh;
 
 import javax.vecmath.Vector3d;
 
@@ -16,8 +16,7 @@ public class Bezier3ToMesh {
 	public Bezier3 position = new Bezier3();
 	
 	/**
-	 * visualize the line in opengl
-	 * @param gl
+	 * Visualize the line in OpenGL
 	 */
 	public Mesh generate() {
 		Mesh mesh = new Mesh();
diff --git a/src/main/java/com/marginallyclever/ro3/mesh/Mesh.java b/src/main/java/com/marginallyclever/ro3/mesh/Mesh.java
index e839a1c0f..755732529 100644
--- a/src/main/java/com/marginallyclever/ro3/mesh/Mesh.java
+++ b/src/main/java/com/marginallyclever/ro3/mesh/Mesh.java
@@ -64,7 +64,7 @@ public Mesh(int renderStyle) {
 	/**
 	 * Remove all vertexes, normals, colors, texture coordinates, etc.
 	 * on the next call to {@link Mesh#render(GL3)} the mesh will be rebuilt to nothing.
-	 * @See {@link Mesh#unload(GL3)}
+	 * See also {@link Mesh#unload(GL3)}
 	 */
 	public void clear() {
 		vertexArray.clear();
@@ -97,8 +97,7 @@ public boolean isTransparent() {
 
 	/**
 	 * Destroy the optimized rendering buffers for the fixed function pipeline.
-	 * This does not free the memory used by the mesh.
-	 * @See {@link Mesh#clear()}
+	 * This does not free the memory used by the mesh.  See also {@link Mesh#clear()}
 	 * @param gl the OpenGL context
 	 */
 	public void unload(GL3 gl) {
diff --git a/src/main/java/com/marginallyclever/robotoverlord/SerializationContext.java b/src/main/java/com/marginallyclever/robotoverlord/SerializationContext.java
index 17aa77246..398016526 100644
--- a/src/main/java/com/marginallyclever/robotoverlord/SerializationContext.java
+++ b/src/main/java/com/marginallyclever/robotoverlord/SerializationContext.java
@@ -1,7 +1,7 @@
 package com.marginallyclever.robotoverlord;
 
 /**
- * Used by {@link com.marginallyclever.robotoverlord.components} to translate between relative
+ * Used by {@link com.marginallyclever.robotoverlord.components.Component}s to translate between relative
  * and absolute paths as needed.
  *
  * @since 2.6.0
diff --git a/src/main/java/com/marginallyclever/robotoverlord/components/program/ProgramEventComponent.java b/src/main/java/com/marginallyclever/robotoverlord/components/program/ProgramEventComponent.java
index fe3b34c0f..8914d0d3c 100644
--- a/src/main/java/com/marginallyclever/robotoverlord/components/program/ProgramEventComponent.java
+++ b/src/main/java/com/marginallyclever/robotoverlord/components/program/ProgramEventComponent.java
@@ -7,7 +7,7 @@
 
 /**
  * <p>A {@link ProgramEventComponent} is a component that can be used to trigger events in a robot program.
- * These events are not part of the robot's state, but are instead used to trigger actions in the robot's program.</p>
+ * These events are not part of the robot's state, but are instead used to trigger actions in the robot's program.
  * They include:</p>
  * <ul>
  *     <li>Home the robot</li>
diff --git a/src/main/java/com/marginallyclever/robotoverlord/robots/stewartplatform/linear/LinearStewartPlatformCore.java b/src/main/java/com/marginallyclever/robotoverlord/robots/stewartplatform/linear/LinearStewartPlatformCore.java
index 4971c88ea..2de42249c 100644
--- a/src/main/java/com/marginallyclever/robotoverlord/robots/stewartplatform/linear/LinearStewartPlatformCore.java
+++ b/src/main/java/com/marginallyclever/robotoverlord/robots/stewartplatform/linear/LinearStewartPlatformCore.java
@@ -90,9 +90,9 @@ public void onAttach() {
 	 * end effector points are ordered counter-clockwise, looking down on the machine.
 	 * <pre>
 	 *      1
-	 *  2       0 <-- first
-	 *      x     <-- center
-	 *  3       5 <-- last
+	 *  2       0 &lt;-- first
+	 *      x     &lt;-- center
+	 *  3       5 &lt;-- last
 	 *      4</pre>
 	 */
 	protected void calculateEndEffectorPointsOneTime() {
@@ -125,9 +125,9 @@ protected void calculateEndEffectorPointsOneTime() {
 	 * linear slides are ordered counter-clockwise, looking down on the machine.
 	 * <pre>
 	 *     1
-	 *  2     0 <-- first
-	 *     x    <-- center
-	 *  3     5 <-- last
+	 *  2     0 &lt;-- first
+	 *     x    &lt;-- center
+	 *  3     5 &lt;-- last
 	 *     4</pre>
 	 */
 	protected void calculateBasePointsOneTime() {
diff --git a/src/main/java/com/marginallyclever/robotoverlord/robots/stewartplatform/rotary/RotaryStewartPlatform.java b/src/main/java/com/marginallyclever/robotoverlord/robots/stewartplatform/rotary/RotaryStewartPlatform.java
index 776572a8b..0e1ab2adc 100644
--- a/src/main/java/com/marginallyclever/robotoverlord/robots/stewartplatform/rotary/RotaryStewartPlatform.java
+++ b/src/main/java/com/marginallyclever/robotoverlord/robots/stewartplatform/rotary/RotaryStewartPlatform.java
@@ -86,9 +86,9 @@ public void onAttach() {
 	 * The points are ordered counter-clockwise, looking down on the machine.
 	 * <pre>
 	 *      1
-	 *  2       0 <-- first
-	 *      x     <-- center
-	 *  3       5 <-- last
+	 *  2       0 &lt;-- first
+	 *      x     &lt;-- center
+	 *  3       5 &lt;-- last
 	 *      4</pre>
 	 */
 	protected void calculateEndEffectorPointsOneTime() {
@@ -120,9 +120,9 @@ protected void calculateEndEffectorPointsOneTime() {
 	 * linear slides are ordered counter-clockwise, looking down on the machine.
 	 * <pre>
 	 *     1
- 	 *  2     0 <-- first
-	 *     x    <-- center
-	 *  3     5 <-- last
+ 	 *  2     0 &lt;-- first
+	 *     x    &lt;-- center
+	 *  3     5 &lt;-- last
 	 *     4</pre>
 	 */
 	protected void calculateMotorAxlePointsOneTime() {
diff --git a/src/main/java/com/marginallyclever/robotoverlord/systems/render/mesh/Mesh.java b/src/main/java/com/marginallyclever/robotoverlord/systems/render/mesh/Mesh.java
index c50838023..828b4d46f 100644
--- a/src/main/java/com/marginallyclever/robotoverlord/systems/render/mesh/Mesh.java
+++ b/src/main/java/com/marginallyclever/robotoverlord/systems/render/mesh/Mesh.java
@@ -65,7 +65,7 @@ public Mesh(int renderStyle) {
 	/**
 	 * Remove all vertexes, normals, colors, texture coordinates, etc.
 	 * on the next call to {@link Mesh#render(GL3)} the mesh will be rebuilt to nothing.
-	 * @See {@link Mesh#unload(GL3)}
+	 * See also {@link Mesh#unload(GL3)}
 	 */
 	public void clear() {
 		vertexArray.clear();
@@ -99,7 +99,7 @@ public boolean isTransparent() {
 	/**
 	 * Destroy the optimized rendering buffers for the fixed function pipeline.
 	 * This does not free the memory used by the mesh.
-	 * @See {@link Mesh#clear()}
+	 * See also {@link Mesh#clear()}
 	 * @param gl the OpenGL context
 	 */
 	public void unload(GL3 gl) {