diff --git a/README.md b/README.md
index 0deec57..e1c9ed2 100644
--- a/README.md
+++ b/README.md
@@ -102,9 +102,9 @@ parameter as well as the pin numbers for the servos you have attached.
 
 Testing your Wiring Connections
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-On a differential drive robot, the motors are connected with opposite polarity to the motor controller terminals.  Similarly, the A/B leads from the encoders are connected in the reverse sense to each other.  However, you still need to make sure that (a) the wheels move forward when given a positive motor speed and (b) that the encoder counts increase when the wheels move forward.
+On a differential drive robot, the motors are connected to the motor controller terminals with opposite polarities to each other.  Similarly, the A/B leads from the encoders are connected in the reverse sense to each other.  However, you still need to make sure that (a) the wheels move forward when given a positive motor speed and (b) that the encoder counts increase when the wheels move forward.
 
-After placing your robot on blocks, you can use the Serial Monitor in the Arduino IDE to test both requirements.  Use the 'm' command to activate the motors, the 'e' command to get the encoder counts, and the 'r' command to reset the encoders to 0.  Remember that at the firmware level motor speeds are given in encoder ticks per second so that for an encoder resolution of, say 4000 counts per wheel revolution, a command such as 'm 20 20' should move the wheels fairly slowly.  Also remember that the first argument is the left motor speed and the second argument is the right motor speed.  Similarly, the using the 'e' command, the first number returned is the left encoder count and the second number is the right encoder count.
+After **placing your robot on blocks**, you can use the Serial Monitor in the Arduino IDE to test both requirements.  Use the 'm' command to activate the motors, the 'e' command to get the encoder counts, and the 'r' command to reset the encoders to 0.  Remember that at the firmware level, motor speeds are given in encoder ticks per second so that for an encoder resolution of, say 4000 counts per wheel revolution, a command such as 'm 20 20' should move the wheels fairly slowly.  (The wheels will only move for 2 seconds which is the default setting for the AUTO_STOP_INTERVAL.)  Also remember that the first argument is the left motor speed and the second argument is the right motor speed.  Similarly, when using the 'e' command, the first number returned is the left encoder count and the second number is the right encoder count.
 
 
 Configuring the ros\_arduino\_python Node