DOCS-1270: Improve generic

docs/components/generic/_index.md

@@ -12,7 +12,11 @@ no_list: true
 # SMEs:
 ---
 
-The _generic_ component {{< glossary_tooltip term_id="subtype" text="subtype" >}} is for custom components that are incompatible with any of the other component APIs.
+The _generic_ component {{< glossary_tooltip term_id="subtype" text="subtype" >}} enables you to add support for unique types of hardware that do not already have an [appropriate API](/program/apis/#component-apis) defined for them.
+
+For example, when using an [arm component](/components/arm), it makes sense to use the [arm API](/components/arm/#api), which provides specific functionality an arm component needs, such as moving to position or stopping movement.
+But if you want to use an LED display, you need very different functionality that isn't currently exposed in any API.
+Instead, you can use the generic component API to add support for your unique type of hardware, like LED displays, to your smart machine.
 
 There are no built-in generic component models (other than `fake`).
 Use generic for a {{< glossary_tooltip term_id="modular-resource" text="modular resource" >}} model that represents a unique type of hardware.
@@ -23,13 +27,13 @@ The generic component API only supports the `DoCommand` method.
 If you use the generic subtype, your module needs to define any and all component functionality and pass it through `DoCommand`.
 
 Whenever possible, it is best to use an [existing component API](/components/) instead of generic so that you do not have to replicate code.
-If you want to use most of an existing API but need just a few other functions, try using the `DoCommand` endpoint and extra parameters to add custom functionality to an existing subtype.
+If you want to use most of an existing API but need just a few other functions, try using the `DoCommand` endpoint and extra parameters to add custom functionality to an [existing subtype](/components/), instead of using generic.
 
 {{% /alert %}}
 
 ## Supported Models
 
-To use your generic component with Viam, check whether one of the following [modular resources](#modular-resources) supports your component.
+Before creating a new generic component, check whether one of the following [modular resources](#modular-resources) supports your component.
 
 {{< readfile "/static/include/create-your-own-mr.md" >}}
 

docs/modular-resources/_index.md

@@ -63,19 +63,21 @@ If none of the existing modular resources in the Viam registry support your use
 
 - **Implement a custom component**: You can write a driver for an unsupported {{< glossary_tooltip term_id="component" text="component" >}} by implementing the corresponding component API.
 
-- **Implement a custom service**: You can implement your own algorithm or {{< glossary_tooltip term_id="model" text="model" >}} against a corresponding service API or use custom algorithm or data models when working with services such as [SLAM](/services/slam/), [vision](/services/vision/), or [motion planning](/services/motion/).
-
-- **Implement fully custom logic**: If your robot runs specialty or proprietary logic, and you want to use Viam to manage and control that logic, such as when managing a software development lifecycle, you can implement your own custom logic by wrapping the [generic API](/components/generic/).
+- **Implement a custom service**: You can implement your own algorithm or {{< glossary_tooltip term_id="model" text="model" >}} against a corresponding service API or use custom algorithms or data models when working with services such as [SLAM](/services/slam/), [vision](/services/vision/), or [motion planning](/services/motion/).
 
 You can write modules in a variety of programming languages, such as, Go, Python, C++, Rust, while implementing the same [APIs](/program/apis/).
 To create a new modular resource:
 
-1. [Code a new resource model](/modular-resources/create/) by implementing all methods for the component's or service's [standardized APIs](/program/apis/).
+1. [Code a new resource model](/modular-resources/create/) by implementing all methods for the component's or service's [standardized API](/program/apis/).
 1. Package your modular resource or modular resources as a {{< glossary_tooltip term_id="module" text="module" >}} and [upload the module to the Viam registry](/modular-resources/upload/) to make it available for deployment to robots.
    You can upload _private_ modules for your [organization](/manage/fleet/organizations/) or _public_ modules.
 1. Once you have uploaded your module to the registry, you can [deploy and configure the module](/modular-resources/configure/) from [the Viam app](https://app.viam.com/).
    You can test your added resource using the [**Control** tab](/manage/fleet/#remote-control) and [program](/program/) it with Viam's Go or Python SDKs.
 
+### Unique cases
+
+If you are using unique hardware that does not already have an [appropriate API](/program/apis/#component-apis) defined to support it, you can use the [generic API](/components/generic/) to add support for that unique hardware type to your smart machine.
+
 Some use cases may require you to define a new API, or to deploy custom components using a server on a remote part.
 For more information, see [Advanced Modular Resources](/modular-resources/advanced/).