diff --git a/readthedocs.yml b/.readthedocs.yml
similarity index 100%
rename from readthedocs.yml
rename to .readthedocs.yml
diff --git a/.travis.yml b/.travis.yml
index 1f16d95..dae824d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -16,15 +16,16 @@ deploy:
   provider: releases
   api_key: $GITHUB_TOKEN
   file_glob: true
-  file: bundles/*
+  file: $TRAVIS_BUILD_DIR/bundles/*
   skip_cleanup: true
   on:
     tags: true
 
 install:
-  - pip install pylint circuitpython-build-tools
+  - pip install pylint circuitpython-build-tools Sphinx sphinx-rtd-theme
 
 script:
   - pylint adafruit_bno055.py
   - ([[ ! -d "examples" ]] || pylint --disable=missing-docstring,invalid-name examples/*.py)
   - circuitpython-build-bundles --filename_prefix adafruit-circuitpython-bno055 --library_location .
+  - cd docs && sphinx-build -E -W -b html . _build/html
diff --git a/README.rst b/README.rst
index 15313f7..d3e242c 100644
--- a/README.rst
+++ b/README.rst
@@ -66,10 +66,49 @@ Contributions are welcome! Please read our `Code of Conduct
 before contributing to help this project stay welcoming.
 
 
-API Reference
-=============
+Building locally
+================
+
+To build this library locally you'll need to install the
+`circuitpython-build-tools <https://github.com/adafruit/circuitpython-build-tools>`_ package.
+
+.. code-block:: shell
+
+    python3 -m venv .env
+    source .env/bin/activate
+    pip install circuitpython-build-tools
+
+Once installed, make sure you are in the virtual environment:
+
+.. code-block:: shell
+
+    source .env/bin/activate
+
+Then run the build:
+
+.. code-block:: shell
+
+    circuitpython-build-bundles --filename_prefix adafruit-circuitpython-bno055 --library_location .
+
+Sphinx documentation
+-----------------------
+
+Sphinx is used to build the documentation based on rST files and comments in the code. First,
+install dependencies (feel free to reuse the virtual environment from above):
+
+.. code-block:: shell
+
+    python3 -m venv .env
+    source .env/bin/activate
+    pip install Sphinx sphinx-rtd-theme
+
+Now, once you have the virtual environment activated:
+
+.. code-block:: shell
 
-.. toctree::
-   :maxdepth: 2
+    cd docs
+    sphinx-build -E -W -b html . _build/html
 
-   api
+This will output the documentation to ``docs/_build/html``. Open the index.html in your browser to
+view them. It will also (due to -W) error out on any warning like Travis will. This is a good way to
+locally verify it will pass.
\ No newline at end of file
diff --git a/adafruit_bno055.py b/adafruit_bno055.py
index c2ae3ac..6395823 100644
--- a/adafruit_bno055.py
+++ b/adafruit_bno055.py
@@ -22,8 +22,8 @@
 
 
 """
-``adafruit_bno055``
-===================
+``adafruit_bno055`` - Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - BNO055
+=======================================================================================
 
 This is a CircuitPython driver for the Bosch BNO055 nine degree of freedom
 inertial measurement unit module with sensor fusion.
@@ -95,14 +95,14 @@ class BNO055:
     accelerometer = _ScaledReadOnlyStruct(0x08, '<hhh', 1/100)
     """Gives the raw accelerometer readings, in m/s.
 
-       .. warning:: This is deprecated. Use `acceleration` instead. It'll work
+       .. warning:: This is deprecated. Use ``acceleration`` instead. It'll work
          with other drivers too."""
     acceleration = _ScaledReadOnlyStruct(0x08, '<hhh', 1/100)
     """Gives the raw accelerometer readings, in m/s."""
     magnetometer = _ScaledReadOnlyStruct(0x0e, '<hhh', 1/16)
     """Gives the raw magnetometer readings in microteslas.
 
-       .. warning:: This is deprecated. Use `magnetic` instead. It'll work with
+       .. warning:: This is deprecated. Use ``magnetic`` instead. It'll work with
          other drivers too."""
     magnetic = _ScaledReadOnlyStruct(0x0e, '<hhh', 1/16)
     """Gives the raw magnetometer readings in microteslas."""
diff --git a/docs/_static/favicon.ico b/docs/_static/favicon.ico
new file mode 100644
index 0000000..5aca983
Binary files /dev/null and b/docs/_static/favicon.ico differ
diff --git a/api.rst b/docs/api.rst
similarity index 100%
rename from api.rst
rename to docs/api.rst
diff --git a/conf.py b/docs/conf.py
similarity index 90%
rename from conf.py
rename to docs/conf.py
index 540963f..a35efe5 100644
--- a/conf.py
+++ b/docs/conf.py
@@ -2,7 +2,7 @@
 
 import os
 import sys
-sys.path.insert(0, os.path.abspath('.'))
+sys.path.insert(0, os.path.abspath('..'))
 
 # -- General configuration ------------------------------------------------
 
@@ -28,7 +28,7 @@
 source_suffix = '.rst'
 
 # The master toctree document.
-master_doc = 'README'
+master_doc = 'index'
 
 # General information about the project.
 project = u'Adafruit BNO055 Library'
@@ -54,7 +54,7 @@
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This patterns also effect to html_static_path and html_extra_path
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store', '.env', 'CODE_OF_CONDUCT.md']
 
 # The reST default role (used for this markup: `text`) to use for all
 # documents.
@@ -71,6 +71,9 @@
 # If true, `todo` and `todoList` produce output, else they produce nothing.
 todo_include_todos = False
 
+# If this is True, todo emits a warning for each TODO entries. The default is False.
+todo_emit_warnings = True
+
 
 # -- Options for HTML output ----------------------------------------------
 
@@ -95,6 +98,13 @@
 # so a file named "default.css" will overwrite the builtin "default.css".
 html_static_path = ['_static']
 
+
+# The name of an image file (relative to this directory) to use as a favicon of
+# the docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#
+html_favicon = '_static/favicon.ico'
+
 # Output file base name for HTML help builder.
 htmlhelp_basename = 'AdafruitBNO055Librarydoc'
 
diff --git a/docs/examples.rst b/docs/examples.rst
new file mode 100644
index 0000000..ee220e5
--- /dev/null
+++ b/docs/examples.rst
@@ -0,0 +1,8 @@
+Simple test
+------------
+
+Ensure your device works with this simple test.
+
+.. literalinclude:: ../examples/bno055_simpletest.py
+    :caption: examples/bno055_simpletest.py
+    :linenos:
diff --git a/docs/index.rst b/docs/index.rst
new file mode 100644
index 0000000..7100f90
--- /dev/null
+++ b/docs/index.rst
@@ -0,0 +1,47 @@
+.. include:: ../README.rst
+
+Table of Contents
+=================
+
+.. toctree::
+    :maxdepth: 4
+    :hidden:
+
+    self
+
+.. toctree::
+    :caption: Examples
+
+    examples
+
+.. toctree::
+    :caption: API Reference
+    :maxdepth: 3
+
+    api
+
+.. toctree::
+    :caption: Tutorials
+
+.. toctree::
+    :caption: Related Products
+
+    Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - BNO055 <https://www.adafruit.com/product/2472>
+
+.. toctree::
+    :caption: Other Links
+
+    Download <https://github.com/adafruit/Adafruit_CircuitPython_BNO055/releases/latest>
+    CircuitPython Reference Documentation <https://circuitpython.readthedocs.io>
+    CircuitPython Support Forum <https://forums.adafruit.com/viewforum.php?f=60>
+    Discord Chat <https://adafru.it/discord>
+    Adafruit Learning System <https://learn.adafruit.com>
+    Adafruit Blog <https://blog.adafruit.com>
+    Adafruit Store <https://www.adafruit.com>
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/examples/values.py b/examples/bno055_simpletest.py
similarity index 100%
rename from examples/values.py
rename to examples/bno055_simpletest.py