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Add P201 configuration chapter

Jose Tiago Macara Coutinho requested to merge issue-390 into master

Closes #390 (closed).

  • Added the P201 configuration chapter back.
  • The motor controller documentation is already in issue #337 (closed) so it was not recovered.
  • The same goes for the motion hook (it should be part of #337 (closed))

I haven't found any other relevant controller documentation so I guess this is finished

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