diff --git a/.github/workflows/docs-cd.yml b/.github/workflows/docs-cd.yml
index 39cb961..a93371c 100644
--- a/.github/workflows/docs-cd.yml
+++ b/.github/workflows/docs-cd.yml
@@ -39,7 +39,6 @@ jobs:
           python -m pip install --upgrade pip
           pip install -e .
           pip install -r requirements.txt
-          pip install -r docs/requirements.txt
 
       - name: Generate API stubs
         run: |
diff --git a/README.md b/README.md
index c464da0..478b294 100644
--- a/README.md
+++ b/README.md
@@ -107,7 +107,7 @@ self.neo_pixel.change_color(255, 128, 0)
 Sphinx documentation lives in `docs/` and is auto-generated on pushes to `dev` via GitHub Actions, then deployed to GitHub Pages. To build locally:
 
 ```bash
-pip install -r docs/requirements.txt
+pip install -r requirements.txt
 sphinx-apidoc -o docs/api src/robot
 python -m sphinx -b html docs docs/_build/html
 open docs/_build/html/index.html
diff --git a/docs/installation.md b/docs/installation.md
index 629df15..fdd5534 100644
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -25,7 +25,7 @@ pip install -e .
 From the repository root:
 
 ```bash
-pip install -r docs/requirements.txt
+pip install -r requirements.txt
 sphinx-apidoc -o docs/api src/robot
 python -m sphinx -b html docs docs/_build/html
 ```
@@ -33,7 +33,7 @@ python -m sphinx -b html docs docs/_build/html
 Or from inside the `docs/` directory:
 
 ```bash
-pip install -r requirements.txt
+pip install -r ../requirements.txt
 make apidoc
 make html
 ```
diff --git a/docs/requirements.txt b/docs/requirements.txt
deleted file mode 100644
index cd61286..0000000
--- a/docs/requirements.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-furo==2025.12.19
-Sphinx==9.1.0
-myst-parser==4.0.1
-sphinx-autodoc-typehints==3.6.3
-sphinx-autobuild==2025.8.25
-sphinx_rtd_theme==3.1.0
diff --git a/requirements.txt b/requirements.txt
index 1c5ba72..29964f4 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,4 +1,10 @@
 flake8==7.3.0
+furo==2025.12.19
+myst-parser==4.0.1
 packaging==25.0
 paho-mqtt==2.1.0
 pytest==8.4.2
+Sphinx==8.2.3
+sphinx-autobuild==2025.8.25
+sphinx-autodoc-typehints<3
+sphinx_rtd_theme==3.1.0
diff --git a/src/robot/helpers/motion_controller.py b/src/robot/helpers/motion_controller.py
index 09df5d8..059195f 100644
--- a/src/robot/helpers/motion_controller.py
+++ b/src/robot/helpers/motion_controller.py
@@ -49,7 +49,7 @@ def publish_coordinate(self):
                     pass
 
             coordinate = _StubCoord()  # type: ignore[assignment]
-        self.c = coordinate  # type: ignore[assignment]
+        self.c: Coordinate = coordinate  # type: ignore[assignment]
 
     # Wrappers -----------------------------------------------------------
     def move(
@@ -86,9 +86,7 @@ def rotate_degree(self, speed: int, degree: float) -> None:
                 2 * math.pi * RobotSettings.ROBOT_RADIUS * (abs(degree) / 360)
             ) * self.CM_2_MM
             duration = float(distance / abs(speed)) * self.SEC_2_MS
-            self._debug(
-                f"Sign: {sign} Distance: {distance} Duration: {duration}"
-            )
+            self._debug(f"Sign: {sign} Distance: {distance} Duration: {duration}")
             self._rotate(sign * speed, duration)
         except MotionControllerException:  # noqa: F841
             pass
@@ -104,13 +102,11 @@ def _move(
         duration: float,
     ) -> None:
         if not (
-            self._is_speed_in_range(left_speed)
-            and self._is_speed_in_range(right_speed)
+            self._is_speed_in_range(left_speed) and self._is_speed_in_range(right_speed)
         ):
             try:
                 raise MotionControllerException(
-                    "One of the provided speeds is out of "
-                    "range in move() function"
+                    "One of the provided speeds is out of range in move() function"
                 )
             except MotionControllerException:
                 return
@@ -128,10 +124,7 @@ def _move(
 
             x = self.c.get_x() + d * math.cos(h)
             y = self.c.get_y() + d * math.sin(h)
-            heading = (
-                self.c.get_heading_rad()
-                + (dR - dL) / (RobotSettings.ROBOT_WIDTH)
-            )
+            heading = self.c.get_heading_rad() + (dR - dL) / (RobotSettings.ROBOT_WIDTH)
 
             self.c.set_coordinate_heading(x, y, math.degrees(heading))
 
@@ -154,8 +147,7 @@ def _move(
     def _is_speed_in_range(self, speed: int) -> bool:
         if speed > 0:
             return (
-                RobotSettings.ROBOT_SPEED_MIN <= speed
-                <= RobotSettings.ROBOT_SPEED_MAX
+                RobotSettings.ROBOT_SPEED_MIN <= speed <= RobotSettings.ROBOT_SPEED_MAX
             )
         elif speed < 0:
             return (