update README.md

README.md

@@ -6,20 +6,17 @@ This repository is a Processing implementation of the Adaptive Pure Pursuit algo
 ![](https://i.imgur.com/CKeM8nW.gif)
 
 ## Controls and Features
-The program features minimalistic path creation and following functionality:
+The program offers the following functionality:
 
-* **Left click** shows the lookahead line from the cursor to the nearest path line. 
-* **Right click** creates new points on the path.
+* **Left click** shows the lookahead line from the cursor to the nearest path segment.
+* **Right click** creates new points of the path.
 * **r** resets the simulation.
-* **n** creates a new path follower that is moved by pressing.
-    + **f** moves the follower towards the end of the path.
-	+ **+** increases the lookahead distance.
-	+ **-** decreases the lookahead distance.
-
-The follower also leaves a dashed path behind and has a circle around its origin to visualise the lookahead distance.
+* **n** creates a new path follower that is moved by pressing **f**.
+- **+** increases the lookahead distance.
+- **-** decreases the lookahead distance.
 
 ## Resources
 * [A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles](https://www.ri.cmu.edu/pub_files/pub1/kelly_alonzo_1994_4/kelly_alonzo_1994_4.pdf) - the main resource used in the implementation of this project.
-* [Pure Pursuit Controller - MATLAB & Simulink](https://www.mathworks.com/help/robotics/ug/pure-pursuit-controller.html) - a neat Mathworks article about the Pure Pursuit Controller.
-* [254's 2017 code](https://github.com/Team254/FRC-2017-Public) - their commented code has has been a great resource and provided a lot of good pointers for various quirks in the implementation of the algorithm.
+* [Pure Pursuit Controller - MATLAB & Simulink](https://www.mathworks.com/help/robotics/ug/pure-pursuit-controller.html) - a useful MathWorks article about the Pure Pursuit Controller.
+* [254's 2017 code](https://github.com/Team254/FRC-2017-Public) - a real-world implementation of the controller.
 * [Processing 3](https://processing.org/download/) - the graphic library used in this project.