diff --git a/README.md b/README.md
index daede5c..ad90ffd 100644
--- a/README.md
+++ b/README.md
@@ -23,9 +23,9 @@ the PC. The base controller requires the use of a motor controller and encoders
 * Pololu VNH5019 dual motor controller shield (http://www.pololu.com/catalog/product/2502) or Pololu MC33926 dual motor shield (http://www.pololu.com/catalog/product/2503).
 
 * Robogaia Mega Encoder shield
-(http://www.robogaia.com/two-axis-encoder-counter-mega-shield-version-2.html).
+(http://www.robogaia.com/two-axis-encoder-counter-mega-shield-version-2.html) or on-board wheel encoder counters.
 
-**NOTE:** The Robogaia Mega Encoder shield can only be used with an Arduino Mega.
+**NOTE:** The Robogaia Mega Encoder shield can only be used with an Arduino Mega. The on-board wheel encoder counters are currently only supported by Arduino Uno.
 
 * The library can be easily extended to include support for other motor controllers and encoder hardware or libraries.
 
@@ -438,6 +438,31 @@ where id is the index of the servo as defined in the Arduino sketch (servos.h) a
 
 where id is the index of the servo as defined in the Arduino sketch (servos.h)
 
+Using the on-board wheel encoder counters (Arduino Uno only)
+------------------------------------------------------------
+The firmware supports on-board wheel encoder counters for Arduino Uno.
+This allows connecting wheel encoders directly to the Arduino board, without the need for any additional wheel encoder counter equipment (such as a RoboGaia encoder shield).
+
+For speed, the code is directly addressing specific Atmega328p ports and interrupts, making this implementation Atmega328p (Arduino Uno) dependent. (It should be easy to adapt for other boards/AVR chips though.)
+
+To use the on-board wheel encoder counters, connect your wheel encoders to Arduino Uno as follows:
+
+    Left wheel encoder A output -- Arduino UNO pin 2
+    Left wheel encoder B output -- Arduino UNO pin 3
+
+    Right wheel encoder A output -- Arduino UNO pin A4
+    Right wheel encoder B output -- Arduino UNO pin A5
+
+Make the following changes in the ROSArduinoBridge sketch to disable the RoboGaia encoder shield, and enable the on-board one:
+
+    /* The RoboGaia encoder shield */
+    //#define ROBOGAIA
+    /* Encoders directly attached to Arduino board */
+    #define ARDUINO_ENC_COUNTER
+
+Compile the changes and upload to your controller.
+
+
 NOTES
 -----
 If you do not have the hardware required to run the base controller,