diff --git a/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle b/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle
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diff --git a/ESP-IDF_Robot/tutorial/docs/build/doctrees/overview.doctree b/ESP-IDF_Robot/tutorial/docs/build/doctrees/overview.doctree
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diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/overview.rst.txt b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/overview.rst.txt
index 83b4b5b13..01d862585 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/overview.rst.txt
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/overview.rst.txt
@@ -13,13 +13,14 @@ The following table summarizes GPIOs and pins reserved for operations purposes.
 
 The GPIO numbers correspond to those on the ESP32-C3 WROOM microcontroller. The Pin number corresponds to the pin on the Breadboard and Power adapter development board.
 
-x- and y- axis
-~~~~~~~~~~~~~~
+Reading the Joystick x- and y- axis
+~~~~~~~~~~~~~~~~~~~~~~
 
-The **GPIO0** and **GPIO1** assigned to measuring the voltage of x- and y- axis of the Joystick. Lastly, there is a group of GPIO pairs responsible for PWM for DC motors.
+To determine the position of the Joystick, the BitRider RC car uses ADC to measure voltage on two GPIOs connected to the joystic 
+x- and y- axis potentionometers (**GPIO0** and **GPIO1**).
 
-Direction and Speed
-~~~~~~~~~~~~~~~~~~~
+Controlling the Direction and Speed
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 The pairs of DC motors on the left side are wired to the dedicated PWM channels. This means that *ESP32-C3 Breadboard DevBoard* can control rotation speed and direction of DC motors in pairs only (i.e. left and right side).
 Consequently, only four PWM channels are sufficient for controlling the direction of the RC car. 
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/index.html b/ESP-IDF_Robot/tutorial/docs/build/html/index.html
index e7a49c8ab..786042f02 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/index.html
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/index.html
@@ -43,8 +43,8 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="overview.html">2. HOW DOES IT WORK?</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="overview.html#reserved-pins-gpios">2.1. Reserved Pins &amp; GPIOs</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="overview.html#x-and-y-axis">2.1.1. x- and y- axis</a></li>
-<li class="toctree-l3"><a class="reference internal" href="overview.html#direction-and-speed">2.1.2. Direction and Speed</a></li>
+<li class="toctree-l3"><a class="reference internal" href="overview.html#reading-the-joystick-x-and-y-axis">2.1.1. Reading the Joystick x- and y- axis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="overview.html#controlling-the-direction-and-speed">2.1.2. Controlling the Direction and Speed</a></li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="overview.html#fusion-of-software-with-hardware">2.2. Fusion of Software with Hardware</a></li>
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/overview.html b/ESP-IDF_Robot/tutorial/docs/build/html/overview.html
index 709f7d4d0..6ffe5eeb8 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/overview.html
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/overview.html
@@ -41,12 +41,13 @@ The Schematic and KiCAd PCB board are available on <a class="reference external"
 <h2><span class="section-number">2.1. </span>Reserved Pins &amp; GPIOs<a class="headerlink" href="#reserved-pins-gpios" title="Link to this heading">¶</a></h2>
 <p>The following table summarizes GPIOs and pins reserved for operations purposes.</p>
 <p>The GPIO numbers correspond to those on the ESP32-C3 WROOM microcontroller. The Pin number corresponds to the pin on the Breadboard and Power adapter development board.</p>
-<section id="x-and-y-axis">
-<h3><span class="section-number">2.1.1. </span>x- and y- axis<a class="headerlink" href="#x-and-y-axis" title="Link to this heading">¶</a></h3>
-<p>The <strong>GPIO0</strong> and <strong>GPIO1</strong> assigned to measuring the voltage of x- and y- axis of the Joystick. Lastly, there is a group of GPIO pairs responsible for PWM for DC motors.</p>
+<section id="reading-the-joystick-x-and-y-axis">
+<h3><span class="section-number">2.1.1. </span>Reading the Joystick x- and y- axis<a class="headerlink" href="#reading-the-joystick-x-and-y-axis" title="Link to this heading">¶</a></h3>
+<p>To determine the position of the Joystick, the BitRider RC car uses ADC to measure voltage on two GPIOs connected to the joystic
+x- and y- axis potentionometers (<strong>GPIO0</strong> and <strong>GPIO1</strong>).</p>
 </section>
-<section id="direction-and-speed">
-<h3><span class="section-number">2.1.2. </span>Direction and Speed<a class="headerlink" href="#direction-and-speed" title="Link to this heading">¶</a></h3>
+<section id="controlling-the-direction-and-speed">
+<h3><span class="section-number">2.1.2. </span>Controlling the Direction and Speed<a class="headerlink" href="#controlling-the-direction-and-speed" title="Link to this heading">¶</a></h3>
 <p>The pairs of DC motors on the left side are wired to the dedicated PWM channels. This means that <em>ESP32-C3 Breadboard DevBoard</em> can control rotation speed and direction of DC motors in pairs only (i.e. left and right side).
 Consequently, only four PWM channels are sufficient for controlling the direction of the RC car.
 Based on this constraint, the RC car can only move front, back, and turn/rotate left and right. Any other movements are not possible (i.e. diagonal or sideways).</p>
@@ -278,8 +279,8 @@ Right DC Motors spin clockwise</p></td>
 <li class="toctree-l1"><a class="reference internal" href="intro.html">1. OVERVIEW</a></li>
 <li class="toctree-l1 current"><a class="current reference internal" href="#">2. HOW DOES IT WORK?</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="#reserved-pins-gpios">2.1. Reserved Pins &amp; GPIOs</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#x-and-y-axis">2.1.1. x- and y- axis</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#direction-and-speed">2.1.2. Direction and Speed</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#reading-the-joystick-x-and-y-axis">2.1.1. Reading the Joystick x- and y- axis</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#controlling-the-direction-and-speed">2.1.2. Controlling the Direction and Speed</a></li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="#fusion-of-software-with-hardware">2.2. Fusion of Software with Hardware</a></li>
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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 08d28b4d5..45070a350 100644
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+++ b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/.buildinfo
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: d725fe0eaf62cd0cc82e71f548b78064
+config: 1584acc0da0952bbe91b77f110c060a0
 tags: 62a1e7829a13fc7881b6498c52484ec0
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 0ed8a31f3..ee6c7c1cc 100644
Binary files a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/esp-idf_espnow_rc-car.pdf and b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/esp-idf_espnow_rc-car.pdf differ
diff --git a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html
index 0fa3a94e1..3fa13b50a 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html
+++ b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html
@@ -83,13 +83,13 @@
          </a>
          <ul>
           <li class="toctree-l3">
-           <a class="reference internal" href="#x-and-y-axis">
-            2.1.1. x- and y- axis
+           <a class="reference internal" href="#reading-the-joystick-x-and-y-axis">
+            2.1.1. Reading the Joystick x- and y- axis
            </a>
           </li>
           <li class="toctree-l3">
-           <a class="reference internal" href="#direction-and-speed">
-            2.1.2. Direction and Speed
+           <a class="reference internal" href="#controlling-the-direction-and-speed">
+            2.1.2. Controlling the Direction and Speed
            </a>
           </li>
          </ul>
@@ -309,15 +309,16 @@ The Schematic and KiCAd PCB board are available on
           <p>
            The GPIO numbers correspond to those on the ESP32-C3 WROOM microcontroller. The Pin number corresponds to the pin on the Breadboard and Power adapter development board.
           </p>
-          <section id="x-and-y-axis">
+          <section id="reading-the-joystick-x-and-y-axis">
            <h4>
-            x- and y- axis
-            <a class="headerlink" href="#x-and-y-axis" title="Link to this heading">
+            Reading the Joystick x- and y- axis
+            <a class="headerlink" href="#reading-the-joystick-x-and-y-axis" title="Link to this heading">
              &para;
             </a>
            </h4>
            <p>
-            The
+            To determine the position of the Joystick, the BitRider RC car uses ADC to measure voltage on two GPIOs connected to the joystic
+x- and y- axis potentionometers (
             <strong>
              GPIO0
             </strong>
@@ -325,13 +326,13 @@ The Schematic and KiCAd PCB board are available on
             <strong>
              GPIO1
             </strong>
-            assigned to measuring the voltage of x- and y- axis of the Joystick. Lastly, there is a group of GPIO pairs responsible for PWM for DC motors.
+            ).
            </p>
           </section>
-          <section id="direction-and-speed">
+          <section id="controlling-the-direction-and-speed">
            <h4>
-            Direction and Speed
-            <a class="headerlink" href="#direction-and-speed" title="Link to this heading">
+            Controlling the Direction and Speed
+            <a class="headerlink" href="#controlling-the-direction-and-speed" title="Link to this heading">
              &para;
             </a>
            </h4>