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Docs and Error message update/refactor#191

Open
flyingBear66 wants to merge 3 commits intoRamotion:masterfrom
flyingBear66:docs_update
Open

Docs and Error message update/refactor#191
flyingBear66 wants to merge 3 commits intoRamotion:masterfrom
flyingBear66:docs_update

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Commits on Jan 4, 2020