diff --git a/ESP-IDF_Robot/tutorial/docs/source/overview.rst b/ESP-IDF_Robot/tutorial/docs/source/overview.rst
index fc81cb7e8..63537fe71 100644
--- a/ESP-IDF_Robot/tutorial/docs/source/overview.rst
+++ b/ESP-IDF_Robot/tutorial/docs/source/overview.rst
@@ -53,6 +53,15 @@ Changing PWM on each channel determines the speed and direction of the RC car.
 Fusion of Software & Hardware
 -----------------------------
 
+``` C
+   struct motors_rpm {
+      int motor1_rpm_pcm;
+      int motor2_rpm_pcm;
+      int motor3_rpm_pcm;
+      int motor4_rpm_pcm;
+   };
+```
+
 Schematic
 ---------