message: another set of edits
diff: @@ -87,25 +87,22 @@ and now see if after a reboot you can run:
  without getting errors.
  -## Encoder Problems
  -
  -There are several issues that may prevent you from completing encoder calibration.
  -
  -ODrive may not complete the calibrate sequence when you go to:
  +## What happens if calibration fails
  +There are subtle ways that encoder problems will impact your ODrive. For example, ODrive may not complete the calibrate sequence when you go to:
  * `<axis>.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE`
  -It completes the calibrate sequence after:
  +Or, ODrive may complete the calibrate sequence after:
  * `<axis>.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE`
  -but fails after you go to:
  -* `odrvN.axisN.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL`
  +but then it fails after you go to:
  +* `<axis>.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL`
  -Or maybe it vibrates in an entertaining way. See:
  +Or ODrive may just vibrate in an entertaining way. See:
  https://www.youtube.com/watch?v=gaRUmwvSyAs
  -## Encoder Signals
  -
  -If your encoder is properly connected, run the command:
  +## Encoder Testing
  +There are things you can test to make sure your encoder is properly connected.
  +This run the command:
  * `<axis>.encoder.shadow_count `
  and look at your value. Then turn your motor by hand and see if that value changes. Also, notice that the command:
  