diff --git a/ESP-IDF_Robot/tutorial/docs/source/overview.rst b/ESP-IDF_Robot/tutorial/docs/source/overview.rst
index 69776315d..2e7271a77 100644
--- a/ESP-IDF_Robot/tutorial/docs/source/overview.rst
+++ b/ESP-IDF_Robot/tutorial/docs/source/overview.rst
@@ -25,9 +25,19 @@ Controlling the Direction and Speed
 To set any desired speed of BiteRider RC car, the *ESP32-C3 Breadboard Adapter DevBoard* uses PWM to control the rotation speed
 of DR motors. Similarly, to set the direction of the RC car, the rotation speed of corresponding DC motors is changed as required.
 
-Due to the design and limited number of available GPIOs, the *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. 
-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).
+Due to the design and limited number of available GPIOs, the *ESP32-C3 Breadboard DevBoard* can control rotation speed and direction 
+of DC motors in pairs only (i.e. left and right side). Consequently, this means that the four PWM channels used 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).
+
++---+---+---+
+| PWM of DC Motors | Direction |
++------------------+-----------+
+| PWM (left) = PWM (right) | Straight (Forward or Reverse) |
++--------------------------+-------------------------------+
+|
 
 .. admonition:: What is PWM?