Update: Get the control program in a better state and update the control/controller...

Update: Get the control program in a better state and update the control/controller documentation.

I started realizing that there were things that I forgot all about that the control and controller programs need to do.
This is too many changes to make immediately before the release.

Wrap up the control program into a tolerable state and it will be published as is.
Release notes will be used to document that this program didn't make the cut in time.