Document controller configurations (and jobs to use with them)

[gavanderhoorn]

Trigger by @ted-miller in #213 (comment):

The controller must be configured as two arms with a base axis on the first arm. Using the latest changes, I can control all 15 axes.

It would be good if we can add documentation providing known-good controller configurations and then also provide references to the INFORM jobs that should be used with those.