diff --git a/README.md b/README.md
index bda4f1d..f7f9d31 100644
--- a/README.md
+++ b/README.md
@@ -2,17 +2,17 @@
 
 Each of the following codes allows a specific directive to be sent to a 2D planar robot:
 
-**[jointControl](#jointControl)**: Drives the mBot robot to a target location (x, y, theta) using gyroscopic data for precise navigation and orientation tracking.
+**[jointControl](#jointControl)**: Drives the robot using joint values.
 
-**[cartControl](#cartControl)**: Drives the mBot robot to a target location (x, y, theta) using gyroscopic data for precise navigation and orientation tracking.
+**[cartControl](#cartControl)**: Drives the robot using cartesian values.
 
-**[testKinematics](#testKinematics)**: Retrieves and prints real-time X, Y, and Z angles from the gyro sensor, enabling orientation monitoring.
+**[testKinematics](#testKinematics)**: Tests each kinematic algorithm and makes sure they are at the expected value.
 
-**[linearControl](#linearControl)**: Implements basic movement patterns such as moving forward, backward, and turning left or right for foundational motion control.
+**[linearControl](#linearControl)**: Drives the robot using cartesian values in a linear trajectory.
 
-**[drawImage](#drawImage)**: Simulates Roomba-like behavior by integrating ultrasonic sensors for obstacle detection and avoidance during autonomous navigation.
+**[drawImage](#drawImage)**: Draws an input image.
 
-**[linearControlFurther](#linearControlFurther)**: Implements line-following behavior using a line-finder module to detect and respond to black lines on the ground for path tracking.
+**[linearControlFurther](#linearControlFurther)**: Improvement of the linear control which checks for the determinant of the Jacobian to be valid.
 
 # Repository Structure
 
@@ -117,25 +117,21 @@ Each of the following codes allows a specific directive to be sent to a 2D plana
 
 Documentation for the repository.
 
-# .DS_Store
-
-System file (can be ignored or removed from the repository).
-
 # Requirements
 
-Hardware: mBot robot kit
+Hardware: Ergo Poppy Jr.
 
-Software: Arduino IDE
+Software: C++ Programming
 
-Libraries: Ensure required libraries (e.g., MeMCore.h) are installed in Arduino IDE.
+Libraries: Ensure required libraries (Dynamixel SDK - DynamixelHandler.h)
 
 # Installation
 
 Clone this repository:
 
-git clone https://gitarero.ecam.fr/charles.stelandre/IntroRoboticsLab2.git
+git clone https://gitarero.ecam.fr/charles.stelandre/IntroRoboticsLab1.git
 
-Open Arduino IDE and navigate to the folder containing the .ino file you want to use.
+Open a text editor and navigate to the folder containing the .cpp file you want to use.
 
 Install any necessary libraries via Arduino Library Manager.
 
@@ -143,8 +139,12 @@ Upload the code to your mBot using a USB connection.
 
 # Usage
 
-Navigate to the folder corresponding to the desired functionality (e.g., gyro/).
+Navigate to your installation directory.
 
-Open the .ino file in Arduino IDE.
+Make the file using ``` make ```
+
+Navigate to the bin folder.
+
+Execute the desired file in the command line/
 
 Follow any instructions provided in the comments within the code to execute experiments.