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Added documentation. :)#2

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KevinPal wants to merge 4 commits intoclosedLoopfrom
mattsDocs
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Added documentation. :)#2
KevinPal wants to merge 4 commits intoclosedLoopfrom
mattsDocs

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@KevinPal
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@rushilsrivastava
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Documentation :D, thanks @matthew-pham.

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