diff --git a/ESP-IDF_Robot/tutorial/docs/build/doctrees/data.doctree b/ESP-IDF_Robot/tutorial/docs/build/doctrees/data.doctree
index 4ed3ead3a..7386ba9c9 100644
Binary files a/ESP-IDF_Robot/tutorial/docs/build/doctrees/data.doctree and b/ESP-IDF_Robot/tutorial/docs/build/doctrees/data.doctree differ
diff --git a/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle b/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle
index 640ff7839..d9a6ca02d 100644
Binary files a/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle and b/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle differ
diff --git a/ESP-IDF_Robot/tutorial/docs/build/doctrees/receiver.doctree b/ESP-IDF_Robot/tutorial/docs/build/doctrees/receiver.doctree
index 7c22fae9a..71a2acd16 100644
Binary files a/ESP-IDF_Robot/tutorial/docs/build/doctrees/receiver.doctree and b/ESP-IDF_Robot/tutorial/docs/build/doctrees/receiver.doctree differ
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/data.rst.txt b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/data.rst.txt
index 0a1e1bb54..843e5874c 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/data.rst.txt
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/data.rst.txt
@@ -1,5 +1,5 @@
-DATA STRUCT
-===========
+DATA STRUCTS
+============
 
 The struct serves as the data payload for sending control signals from transmitting device to the receiver using ESP-NOW.
 In addition, it may contain additional data such as telemetry, battery status, etc.
@@ -20,6 +20,15 @@ It's intended to be sent from a transmitting device (like a remote control or ma
         uint8_t     motor4_rpm_pwm;
     } __attribute__((packed)) sensors_data_t;
 
+.. code-block:: c
+
+    struct motors_rpm {
+        int motor1_rpm_pwm;
+        int motor2_rpm_pwm;
+        int motor3_rpm_pwm;
+        int motor4_rpm_pwm;
+    };
+
 When used with communication protocols like ESP-NOW, this struct is **encoded** into a byte stream, then
 **transmitted** at regular intervals or in response to user input, and finally
 **decoded** on the receiving end to control hardware.
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/receiver.rst.txt b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/receiver.rst.txt
index a91b8d5d0..ba2bad6e2 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/receiver.rst.txt
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/receiver.rst.txt
@@ -19,6 +19,15 @@ Configuration Variables
         uint8_t     motor4_rpm_pwm;
     } __attribute__((packed)) sensors_data_t;
 
+.. code-block:: c
+
+    struct motors_rpm {
+        int motor1_rpm_pwm;
+        int motor2_rpm_pwm;
+        int motor3_rpm_pwm;
+        int motor4_rpm_pwm;
+    };
+
 Receiving & De-Ecapsulating Data
 --------------------------------
 
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/data.html b/ESP-IDF_Robot/tutorial/docs/build/html/data.html
index c43e9ab41..b43a2ae45 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/data.html
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/data.html
@@ -5,7 +5,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
-    <title>DATA STRUCT &#8212; Byte Rider 06-2025 documentation</title>
+    <title>DATA STRUCTS &#8212; Byte Rider 06-2025 documentation</title>
     <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=5ecbeea2" />
     <link rel="stylesheet" type="text/css" href="_static/basic.css?v=b08954a9" />
     <link rel="stylesheet" type="text/css" href="_static/alabaster.css?v=27fed22d" />
@@ -33,8 +33,8 @@
 
           <div class="body" role="main">
             
-  <section id="data-struct">
-<h1>DATA STRUCT<a class="headerlink" href="#data-struct" title="Link to this heading">¶</a></h1>
+  <section id="data-structs">
+<h1>DATA STRUCTS<a class="headerlink" href="#data-structs" title="Link to this heading">¶</a></h1>
 <p>The struct serves as the data payload for sending control signals from transmitting device to the receiver using ESP-NOW.
 In addition, it may contain additional data such as telemetry, battery status, etc.</p>
 <p>The <em>sensors_data_t</em> struct is designed as a data payload that encapsulates all control commands and sensor states relevant to the vehicle’s operation.
@@ -51,6 +51,14 @@ It’s intended to be sent from a transmitting device (like a remote control or
 <span class="p">}</span><span class="w"> </span><span class="n">__attribute__</span><span class="p">((</span><span class="n">packed</span><span class="p">))</span><span class="w"> </span><span class="n">sensors_data_t</span><span class="p">;</span>
 </pre></div>
 </div>
+<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="k">struct</span><span class="w"> </span><span class="nc">motors_rpm</span><span class="w"> </span><span class="p">{</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
+<span class="p">};</span>
+</pre></div>
+</div>
 <p>When used with communication protocols like ESP-NOW, this struct is <strong>encoded</strong> into a byte stream, then
 <strong>transmitted</strong> at regular intervals or in response to user input, and finally
 <strong>decoded</strong> on the receiving end to control hardware.</p>
@@ -104,15 +112,16 @@ This enables fine-grained speed control, supports differential drive configurati
 </search>
 <script>document.getElementById('searchbox').style.display = "block"</script><h3>Navigation</h3>
 <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="intro.html">INTRODUCTION</a></li>
+<li class="toctree-l1"><a class="reference internal" href="intro.html">OVERVIEW</a></li>
 <li class="toctree-l1"><a class="reference internal" href="overview.html">HOW DOES IT WORK?</a></li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">DATA STRUCT</a><ul>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">DATA STRUCTS</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="#data-payload">Data Payload</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="transmitter.html">TRANSMITTER</a></li>
 <li class="toctree-l1"><a class="reference internal" href="receiver.html">RECEIVER</a></li>
 <li class="toctree-l1"><a class="reference internal" href="progress.html">WORK-IN-PROGRESS WALK THROUGH</a></li>
+<li class="toctree-l1"><a class="reference internal" href="references.html">REFERENCES</a></li>
 </ul>
 
 <div class="relations">
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/genindex.html b/ESP-IDF_Robot/tutorial/docs/build/html/genindex.html
index 635652829..353c377fb 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/genindex.html
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/genindex.html
@@ -66,7 +66,7 @@
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="intro.html">OVERVIEW</a></li>
 <li class="toctree-l1"><a class="reference internal" href="overview.html">HOW DOES IT WORK?</a></li>
-<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCT</a></li>
+<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCTS</a></li>
 <li class="toctree-l1"><a class="reference internal" href="transmitter.html">TRANSMITTER</a></li>
 <li class="toctree-l1"><a class="reference internal" href="receiver.html">RECEIVER</a></li>
 <li class="toctree-l1"><a class="reference internal" href="progress.html">WORK-IN-PROGRESS WALK THROUGH</a></li>
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/index.html b/ESP-IDF_Robot/tutorial/docs/build/html/index.html
index a089ec68c..db6137b6e 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/index.html
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/index.html
@@ -47,7 +47,7 @@
 <li class="toctree-l2"><a class="reference internal" href="overview.html#schematic">Schematic</a></li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCT</a><ul>
+<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCTS</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="data.html#data-payload">Data Payload</a></li>
 </ul>
 </li>
@@ -107,7 +107,7 @@
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="intro.html">OVERVIEW</a></li>
 <li class="toctree-l1"><a class="reference internal" href="overview.html">HOW DOES IT WORK?</a></li>
-<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCT</a></li>
+<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCTS</a></li>
 <li class="toctree-l1"><a class="reference internal" href="transmitter.html">TRANSMITTER</a></li>
 <li class="toctree-l1"><a class="reference internal" href="receiver.html">RECEIVER</a></li>
 <li class="toctree-l1"><a class="reference internal" href="progress.html">WORK-IN-PROGRESS WALK THROUGH</a></li>
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/objects.inv b/ESP-IDF_Robot/tutorial/docs/build/html/objects.inv
index 6c0e01054..6f175aad4 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/objects.inv
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/objects.inv
@@ -3,6 +3,5 @@
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-�9�����p�17��>׻c��$S����Ś��4�;1��Kh�T��3�9�ӷ9+O����Q�f��5��@�
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쭇���</k�+	�T�d�gt���0M�N�Bg�Z$+��p����E���>G+�T��uFo�-4�{���1-F2B��x�,��-ӈ�F��p4��M��
+Y@y�W�����;�UYš#XZ�#�}�ɚ
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diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/receiver.html b/ESP-IDF_Robot/tutorial/docs/build/html/receiver.html
index 094c724b7..f0e435876 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/receiver.html
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/receiver.html
@@ -51,6 +51,14 @@
 <span class="p">}</span><span class="w"> </span><span class="n">__attribute__</span><span class="p">((</span><span class="n">packed</span><span class="p">))</span><span class="w"> </span><span class="n">sensors_data_t</span><span class="p">;</span>
 </pre></div>
 </div>
+<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="k">struct</span><span class="w"> </span><span class="nc">motors_rpm</span><span class="w"> </span><span class="p">{</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
+<span class="p">};</span>
+</pre></div>
+</div>
 </section>
 <section id="receiving-de-ecapsulating-data">
 <h2>Receiving &amp; De-Ecapsulating Data<a class="headerlink" href="#receiving-de-ecapsulating-data" title="Link to this heading">¶</a></h2>
@@ -142,9 +150,9 @@
 </search>
 <script>document.getElementById('searchbox').style.display = "block"</script><h3>Navigation</h3>
 <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="intro.html">INTRODUCTION</a></li>
+<li class="toctree-l1"><a class="reference internal" href="intro.html">OVERVIEW</a></li>
 <li class="toctree-l1"><a class="reference internal" href="overview.html">HOW DOES IT WORK?</a></li>
-<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCT</a></li>
+<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCTS</a></li>
 <li class="toctree-l1"><a class="reference internal" href="transmitter.html">TRANSMITTER</a></li>
 <li class="toctree-l1 current"><a class="current reference internal" href="#">RECEIVER</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="#configuration-variables">Configuration Variables</a></li>
@@ -153,6 +161,7 @@
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="progress.html">WORK-IN-PROGRESS WALK THROUGH</a></li>
+<li class="toctree-l1"><a class="reference internal" href="references.html">REFERENCES</a></li>
 </ul>
 
 <div class="relations">
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/search.html b/ESP-IDF_Robot/tutorial/docs/build/html/search.html
index 73facc195..2cff4ced8 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/search.html
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/search.html
@@ -84,7 +84,7 @@
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="intro.html">OVERVIEW</a></li>
 <li class="toctree-l1"><a class="reference internal" href="overview.html">HOW DOES IT WORK?</a></li>
-<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCT</a></li>
+<li class="toctree-l1"><a class="reference internal" href="data.html">DATA STRUCTS</a></li>
 <li class="toctree-l1"><a class="reference internal" href="transmitter.html">TRANSMITTER</a></li>
 <li class="toctree-l1"><a class="reference internal" href="receiver.html">RECEIVER</a></li>
 <li class="toctree-l1"><a class="reference internal" href="progress.html">WORK-IN-PROGRESS WALK THROUGH</a></li>
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js b/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js
index db261ce47..6f2895b3e 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js
@@ -1 +1 @@
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diff --git a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/.buildinfo b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/.buildinfo
index 39a90eec8..2ea3d5c56 100644
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+++ b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/.buildinfo
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 # This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
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+config: 0753b556a93640c5f3cf8ac69d082fb8
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diff --git a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/esp-idf_espnow_rc-car.pdf b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/esp-idf_espnow_rc-car.pdf
index 5d42e027d..86769ea2f 100644
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diff --git a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html
index 904d2b936..cd783bfcf 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html
+++ b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html
@@ -95,8 +95,8 @@
        </ul>
       </li>
       <li class="toctree-l1">
-       <a class="reference internal" href="#data-struct">
-        DATA STRUCT
+       <a class="reference internal" href="#data-structs">
+        DATA STRUCTS
        </a>
        <ul>
         <li class="toctree-l2">
@@ -838,10 +838,10 @@ Right DC Motors spin clockwise
         </section>
         <span id="document-data">
         </span>
-        <section id="data-struct">
+        <section id="data-structs">
          <h2>
-          DATA STRUCT
-          <a class="headerlink" href="#data-struct" title="Link to this heading">
+          DATA STRUCTS
+          <a class="headerlink" href="#data-structs" title="Link to this heading">
            &para;
           </a>
          </h2>
@@ -869,6 +869,17 @@ It&rsquo;s intended to be sent from a transmitting device (like a remote control
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+</pre>
+          </div>
+         </div>
+         <div class="highlight-c notranslate">
+          <div class="highlight">
+           <pre><span></span><span class="k">struct</span><span class="w"> </span><span class="nc">motors_rpm</span><span class="w"> </span><span class="p">{</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
+<span class="p">};</span>
 </pre>
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@@ -1108,6 +1119,17 @@ This enables fine-grained speed control, supports differential drive configurati
 <span class="w">    </span><span class="kt">uint8_t</span><span class="w">     </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
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+</pre>
+           </div>
+          </div>
+          <div class="highlight-c notranslate">
+           <div class="highlight">
+            <pre><span></span><span class="k">struct</span><span class="w"> </span><span class="nc">motors_rpm</span><span class="w"> </span><span class="p">{</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
+<span class="w">    </span><span class="kt">int</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
+<span class="p">};</span>
 </pre>
            </div>
           </div>
diff --git a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/objects.inv b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/objects.inv
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