Fix mardown

README.md

@@ -1,14 +1,15 @@
 XV Lidar Controller
 ===================
 Copyright 2014-2018 James LeRoy getSurreal.com
+
 v1.4.0
 
 Control the Neato XV Series and Botvac Series Lidars with an Arduino compatible board.
 
 Used as an interface board to connect directly to the Neato XV/Botvac Lidar and control the rotation speed through Pulse Width Modulation (PWM).
 
-http://www.getsurreal.com/products/xv-lidar-controller
-https://github.com/getSurreal/XV_Lidar_Controller
+* http://www.getsurreal.com/products/xv-lidar-controller
+* https://github.com/getSurreal/XV_Lidar_Controller
 
 Based on work by:
 * Nicolas "Xevel" Saugnier https://github.com/bombilee/NXV11/
@@ -17,12 +18,12 @@ Based on work by:
 Code contributors:
 * Doug Hilton mailto: six.speed (at) yahoo (dot) com
 
-##Description
+## Description ##
 The XV Lidar Controller receives the serial data from the XV/Botvac Lidar looking for the RPM data embedded in the stream and uses a PID controller to regulate the speed between 200 - 300 RPMs.  The data received from the Lidar is relayed to the USB connection for some upstream host device (PC, BeagleBone, Raspberry Pi) to process the data.
 
-##Requirements
+## Requirements ##
 
-###Hardware
+### Hardware ###
 * Neato XV/Botvac Lidar - Available on eBay
 * XV Lidar Controller Board by getSurreal http://www.getsurreal.com/xv-lidar-controller
      * v1.2 with Teensy 2.0 (XV Lidar only)
@@ -31,17 +32,17 @@ The XV Lidar Controller receives the serial data from the XV/Botvac Lidar lookin
      * Firmware https://github.com/getSurreal/XV_Lidar_Controller
 
 
-###Software to build from source
+### Software to build from source ###
 * Arduino IDE v1.8.1 - v1.8.5
 * For Teensy board - Teensyduino v1.35 - v1.41 http://www.pjrc.com/teensy/teensyduino.html
 
 
-##Usage
+## Usage ##
 Connect to the USB port at 115200 baud.  When sending commands use the newline character to signify the end of a command.
 
-##Commands
+## Commands ##
 
-###Control commands
+### Control commands ###
 * ShowConfig    - Show the running configuration
 * SaveConfig    - Save the running configuration to EEPROM
 * ResetConfig   - Restore the original configuration
@@ -51,7 +52,7 @@ Connect to the USB port at 115200 baud.  When sending commands use the newline c
 * MotorOn       - Enable spinning of the lidar
 
 
-###Data commands
+### Data commands ###
 * ShowRaw       - Enable the output of the raw lidar data (default)
 * HideRaw       - Stop outputting the raw data from the lidar
 * ShowDist      - Show angles with distance data
@@ -66,21 +67,21 @@ Connect to the USB port at 115200 baud.  When sending commands use the newline c
 * HideAll       - Hide the distance, errors, RPMs and interval data
 
 
-###PID commands
+### PID commands ###
 * SetKp         - Set the proportional gain
 * SetKi         - Set the integral gain
 * SetKd         - Set the derivative gain
 * SetSampleTime - Set the frequency the PID is calculated (ms)
 
 
-###Output comma-separated format:
+### Output comma-separated format: ###
 * A,{Angle},{Distance in mm},{Signal Strength}
 * C,CRC
 * R,{RPMs},{PWM value}
 * T,{Time interval in milliseconds between each angle 0}
 
 
-##Errors:
+### Errors: ###
 * CRC = Data id not pass CRC check
 *   I = LIDAR reports Invalid data for this angle
 *   S = LIDAR reports Poor signal strength for this angle