diff --git a/libraries/controllers/src/controllers/impl/MappingBuilderProxy.h b/libraries/controllers/src/controllers/impl/MappingBuilderProxy.h
index 86a43c0c13..3c3858e2ba 100644
--- a/libraries/controllers/src/controllers/impl/MappingBuilderProxy.h
+++ b/libraries/controllers/src/controllers/impl/MappingBuilderProxy.h
@@ -39,7 +39,9 @@ class UserInputMapper;
  *     methods.</li>
  *     <li>Use {@link Controller.parseMapping} or {@link Controller.loadMapping} to load a {@link Controller.MappingJSON}.</li>
  * </ul>
- * <p>Enable the mapping using {@link MappingObject#enable|enable} or {@link Controller.enableMapping} for it to take effect.
+ *
+ * <p>Enable the mapping using {@link MappingObject#enable|enable} or {@link Controller.enableMapping} for it to take 
+ * effect.</p>
  *
  * <p>Mappings and their routes are applied according to the following rules:</p>
  * <ul>
@@ -49,7 +51,7 @@ class UserInputMapper;
  *     output that already has a route the new route is ignored.</li>
  *     <li>New mappings override previous mappings: each output is processed using the route in the most recently enabled 
  *     mapping that contains that output.</li>
- * </p>
+ * </ul>
  *
  * @class MappingObject
  */
diff --git a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h
index 0336638068..d33f3e3383 100644
--- a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h
+++ b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h
@@ -29,7 +29,8 @@ class ScriptingInterface;
  * <p>A route in a {@link MappingObject} used by the {@link Controller} API.</p>
  *
  * <p>Create a route using {@link MappingObject} methods and apply this object's methods to process it, terminating with 
- * {@link RouteObject#to} to apply it to a <code>Standard</code> control, action, or script function.</p>
+ * {@link RouteObject#to} to apply it to a <code>Standard</code> control, action, or script function. Note: Loops are not 
+ * permitted.</p>
  *
  * <p>Some methods apply to routes with number data, some apply routes with {@link Pose} data, and some apply to both route 
  * types.<p>