message: input_mode and control_mode
diff: @@ -65,14 +65,26 @@ Possible values are:
  * `CTRL_MODE_POSITION_CONTROL`
  * `CTRL_MODE_VELOCITY_CONTROL`
  * `CTRL_MODE_CURRENT_CONTROL`
  -* `CTRL_MODE_TRAJECTORY_CONTROL`
  * `CTRL_MODE_VOLTAGE_CONTROL` - this one is not normally used.
  -# Control Commands
  +### Control Commands
  * `<axis>.controller.input_pos = <encoder_counts>`
  * `<axis>.controller.input_vel = <encoder_counts/s>`
  * `<axis>.controller.input_current = <current_in_A>`
  +### Input Mode
  +To modify the way the control command affects the motor, you can use the input mode. The default input mode is pass through.
  +If you want a different mode, you can change `<axis>.controller.config.input_mode`.
  +Possible values are:
  +* `INPUT_MODE_INACTIVE`
  +* `INPUT_MODE_PASSTHROUGH`
  +* `INPUT_MODE_VEL_RAMP`
  +* `INPUT_MODE_POS_FILTER`
  +* `INPUT_MODE_MIX_CHANNELS`
  +* `INPUT_MODE_TRAP_TRAJ`
  +* `INPUT_MODE_CURRENT_RAMP`
  +* `INPUT_MODE_MIRROR`
  +
  ## System monitoring commands
  ### Encoder position and velocity
  