diff --git a/ESP-IDF_Robot/tutorial/docs/source/overview.rst b/ESP-IDF_Robot/tutorial/docs/source/overview.rst
index 9853c78e6..f4bb1c5d1 100644
--- a/ESP-IDF_Robot/tutorial/docs/source/overview.rst
+++ b/ESP-IDF_Robot/tutorial/docs/source/overview.rst
@@ -19,9 +19,12 @@ The GPIO0 and GPIO1 assigned to measuring the voltage of x- and y- axis of the J
 Direction and Speed
 ~~~~~~~~~~~~~~~~~~~
 
-The two DC motors on the left side are wired to the same PWM channel, as well as the two DC motors on the right side. Consequently, only four PWM channels are required for controlling the direction of the RC car.
+The two DC motors on the left side are wired to the dedicated PWM channels in pairs. This means that PWM channels can control rotation speed and direction of DC motors in pairs (i.e. left and right side).
+Consequently, only four PWM channels are required for controlling the direction of the RC car. 
+Based on this constraint, the RC car can only move front, back, and rotate left and right. Any other movements are not possible (i.e. diagonal).
+
 A pair of PWM channels are required for defining rotation speed and direction of the DC motors on each side.
-In particular, GPIO6 and GPIO5 provide PWM to the left- and right- side DC motors to rotate in a clockwise direction.
+In particular, __GPIO6__ and GPIO5 provide PWM to the left- and right- side DC motors to rotate in a clockwise direction.
 Similarly, GPIO4 and GPIO7 provide PWM to the left- and right- side DC motors to rotate in a counter-clockwise direction.
 Changing PWM on each channel determines the speed and direction of the RC car.