update changelog

Author: madcowswe

CHANGELOG.md

@@ -3,8 +3,14 @@ Please add a note of your changes below this heading if you make a Pull Request.
 
 # Releases
 
-## [0.4.0] - 2018-06-10
+## [0.4.1] - 2018-07-01
+### Fixed
+* Encoder errors would show up as Axis error `ERROR_MOTOR_FAILED` instead of `ERROR_ENCODER_FAILED`.
+* Various pip install dependencies
+* Ability for python tools threads to quit properly
+* dfuse error prints now python3 compatible
 
+## [0.4.0] - 2018-06-10
 ### Added
  * Encoder can now go forever in velocity/torque mode due to using circular encoder space.
  * Protocol supports function return values