Merge branch 'master' into devel

Firmware/README.md

@@ -68,6 +68,7 @@ You must set:
 The most important parameters are the limits:
 * The current limit: `.current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain`. The default current limit, for safety reasons, is set to 10A. This is quite weak, and good for making sure the drive is stable. Once you have tuned the drive, you can increase this to 75A to get some performance. Note that above 75A, you must change the current amplifier gains.
 * The velocity limit: `.vel_limit = 20000.0f, // [counts/s]`. The motor will be limited to this speed; again the default value is quite slow.
+  * Note: The motor current and the current drawn from the power supply is not the same in general. You should not look at the power supply current to see what is going on with the motor current.
 
 The motion control gains are currently manually tuned:
 * `.pos_gain = 20.0f, // [(counts/s) / counts]`
@@ -124,7 +125,7 @@ After installing all of the above, open a Git Bash shell. Continue at section [B
 
 ### Flashing the firmware
 * **Make sure you have [configured the parameters first](#configuring-parameters)**
-* Connect `SWD`, `SWC`, and `GND` on connector J2 to the programmer.
+* Connect `GND`, `SWD`, and `SWC` on connector J2 to the programmer. Note: Always plug in `GND` first!
 * You need to power the board by only **ONE** of the following: VCC(3.3v), 5V, or the main power connection (the DC bus). The USB port (J1) does not power the board.
 * Run `make flash` in the root of this repository.