message: Additional detail for the control method
  Added additional detail.
diff: @@ -4,6 +4,17 @@ The motor controller is a cascaded style position, velocity and current control
  ![Cascaded pos vel I loops](https://static1.squarespace.com/static/58aff26de4fcb53b5efd2f02/t/5b66284a0e2e72aae8818d64/1533421649405/CascadedController.png?format=2500w)
  -* The position controller is a P loop with a single proportional gain.
  -* The velocity controller is a PI loop.
  -* The current controller is a PI loop.
  +### Position loop:
  +The position controller is a P loop with a single proportional gain.
  +* `vel_cmd = (pos_setpoint - pos_feedback) * pos_gain`
  +
  +### Velocity loop:
  +The velocity controller is a PI loop.
  +* `vel_error_sum += (vel_cmd - vel_feedback) * vel_integrator_gain`
  +* `current_cmd = (vel_cmd - vel_feedback) * vel_gain + vel_error_sum + vel_feedforward`
  +### Current loop:
  +The current controller is a PI loop.
  +* `current_error_sum += (current_cmd - current_fb) * current_integrator_gain`
  +* `voltage_cmd = (current_cmd - current_fb) * current_gain + current_error_sum + current_feedforward`
  +
  +For more detail refer to [controller.cpp](https://github.com/madcowswe/ODrive/blob/master/Firmware/MotorControl/controller.cpp#L86).
  