diff --git a/README.md b/README.md
index 2014849..e90f368 100644
--- a/README.md
+++ b/README.md
@@ -30,7 +30,7 @@ http://vocke.tv/lib/exe/fetch.php?media=20150722_hoverboard_sch.pdf
  This new firmware offers 3 control modes:
   - **VOLTAGE MODE**: in this mode the controller applies a constant Voltage to the motors
   - **SPEED MODE**: in this mode a closed-loop controller realizes the input target speed by rejecting any of the disturbance (resistive load) applied to the motor
-  - **TORQUE MODE**: in this mode the target torque set by the user is realized. This mode enables motor "freewheeling" when the torque target is "0".
+  - **TORQUE MODE**: in this mode the target torque set by the user is realized. This mode enables motor "freewheeling" when the torque target is "0". Recommended for most applications with a sitting human driver. If you want the motor to brake instead of "freewheel" when torque target is "0", modify code to set torque target below "0" when `speedAvgAbs > 0`.
   
 In all the modes, the controller features maximum motor speed and maximum motor current protection. This brings great advantages to fulfil the needs of many robotic applications while maintaining safe operation.  
    - The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](/01_Matlab).