update simulator programming for the new API

Author: Adimote

simulator/simulator_programming.md

@@ -78,46 +78,48 @@ Setting each servo to -1 fully opens the respective jaw.
 
 The servo board has the part code `srXYZ2`, but since only a single servo board is attached it can be referenced as `R.servo_board`.
 
-### Ruggeduino
+### Arduino
 
-Your robot has a microswitch and six distance sensors, attached to the digital and analogue pins respectively. These are all attached to a single ruggeduino.
+Your robot has a microswitch and six distance sensors, attached to the digital and analog pins respectively. These are all attached to a single arduino.
 
-Because these sensors are pre-attached to the ruggeduino, you do not need to set its `pin_mode`.
+Make sure you have set the correct [pin_mode]({{ site.baseurl }}/programming/arduino/sr_firmware#setting-pin-modes), depending on what device you're using.
 
 #### Microswitches
 
+The rear of the robot has a wide microswitch.
+
 The microswitch is attached to digital pin 2:
 
-| Pin | Location |
-|-----|----------|
-| 2   | Back     |
+| Pin | Location | Required Mode |
+|-----|----------|---------------|
+| 2   | Back     | `INPUT`       |
 
 This is shown as a red coloured block on the robot. Using the `digital_read`  method, you'll receive a `bool` telling you whether the switch is currently actuated.
 
 #### Distance Sensors
 
-Analogous to ultrasound sensors, distance sensors allow you to retrieve the distance between your robot and an object. These are attached to analogue pins A0-A5:
+Analogous to ultrasound sensors, distance sensors allow you to retrieve the distance between your robot and an object. These are attached to analog pins A0-A5:
 
-| Pin | Location |
-|-----|----------|
-| A0  | Front Left |
+| Pin | Location    |
+|-----|-------------|
+| A0  | Front Left  |
 | A1  | Front Right |
-| A2  | Left     |
-| A3  | Right    |
-| A4  | Front    |
-| A5  | Back     |
+| A2  | Left        |
+| A3  | Right       |
+| A4  | Front       |
+| A5  | Back        |
 
-These are shown as blue boards with silver transceivers on the robot. The `analogue_read` method will return the distance in metres. They can see in a narrow cone up to a maximum of about 2m away.
+These are shown as blue boards with silver transceivers on the robot. The `analog_read` method will return the distance in metres. They can see in a narrow cone up to a maximum of about 2m away.
 Since these sensors rely on echoes being reflected back from objects, if the angle of incidence between the sensor's pulse and the contacted surface exceeds 22.5 degrees then the sensor will be unable to detect the object.
 
 #### LEDs
 
 The LEDs are attached to digital pins 3-4:
 
-| Pin | Location |
-|-----|----------|
-| 3   | Red (Left) |
-| 4   | Green (right) |
+| Pin | Location      | Required Mode |
+|-----|---------------|---------------|
+| 3   | Red (left)    | `OUTPUT`      |
+| 4   | Green (right) | `OUTPUT`      |
 
 Using the `digital_write` method, you can set these to True (On) or False (Off).
 
@@ -142,7 +144,7 @@ The servos to move the fingers are attached to servo pins 2 and 3 in the servo b
 | 2     | Left finger servo  |
 | 3     | Right finger servo |
 
-Once the fingers are deployed, your robot will have reduced manoeuvrability, but you will be able to sense the total pressure on the front of the robot. The pressure measuring devices on the end of the fingers are available as analogue inputs on A6 and A7. They are meant to emulate sensors that output a value proportional to pressure, the higher the pressure the higher the voltage reading.
+Once the fingers are deployed, your robot will have reduced manoeuvrability, but you will be able to sense the total pressure on the front of the robot. The pressure measuring devices on the end of the fingers are available as analog inputs on A6 and A7. They are meant to emulate sensors that output a value proportional to pressure, the higher the pressure the higher the voltage reading.
 
 | Pin | Location                     |
 |-----|------------------------------|