diff --git a/README.md b/README.md
index be39b4d..c364be3 100644
--- a/README.md
+++ b/README.md
@@ -4,11 +4,10 @@
 VOSS is a [PROS](https://pros.cs.purdue.edu/) library that makes writing autonomous code for VEX robots a piece of cake.
 
 ## Installing VOSS
-1. Download the most recent [template](https://github.com/purduesigbots/VOSS/releases/tag/0.1.2)
+1. Open a PROS terminal via the VSCode extention and run `pros c add-depot VOSS https://pros.cs.purdue.edu/v5/_static/beta/voss-depot.json`
 
-2. Run this command from terminal `pros c fetch VOSS@0.1.2.zip`
-
-3.  `cd` into your pros project directory in your terminal
+2.  `cd` into your pros project directory in your terminal
+3.  run `pros c info-project`, your kernel version MUST be 4.0.7. If it is not, create a new 4.0.7 project by `cd` into the directory you want to make your project, and run `pros c n PROJECT_NAME -ea`. 
 
 4. Apply the library to the project `pros c apply VOSS`
 
@@ -51,7 +50,7 @@ auto ec = voss::controller::ExitConditions::new_conditions()
     * **Track width**
       - `.with_track_width(double track_width_distance)`
     * **Left right TPI** (ratio of encoder rotations to 1 inch of linear movement)
-      - `.with_left_right_tip(double tpi_value)`
+      - `.with_left_right_tpi(double tpi_value)`
 3. Call it to build --> `.build()`
 ```cpp
 auto odom = voss::localizer::TrackingWheelLocalizerBuilder::new_builder()
@@ -75,7 +74,7 @@ void initialize() {
     3. Divide the amount you moved the robot by the measured movement value from the odometry
         * adjustment factor = robot actual move amount/odometry measured amount
     4. Set the new tpi value to the current tpi value multiplied by the value you got from step 3
-        * new tip = old tpi x adjustment factor
+        * new tpi = old tpi x adjustment factor
 
 ### The basics of PID (Proportional Integral Derivative controllers)
 * **Linear error** = Linear distance from desired position to current position (inches)
@@ -205,6 +204,11 @@ auto arc = voss::controller::ArcPIDControllerBuilder(odom)
 * We will be creating a differential drive chassis in global scope
 * Call `DiffChassis(std::initializer_list<int8_t> left_motors, std::initializer_list<int8_t> right_motors, controller_ptr default_controller, ec_ptr ec, double slew_step, pros::motor_brake_mode_e brakeMode)`
 ```cpp
+#define LEFT_MOTORS                                                            \
+    { -4, -1, -21, 8, 13 }
+#define RIGHT_MOTORS                                                           \
+    { 10, 3, 9, -7, -15 }
+
 auto chassis = voss::chassis::DiffChassis(LEFT_MOTORS, RIGHT_MOTORS, pid, ec, 8, pros::E_MOTOR_BRAKE_COAST);
 //we recommend using the pid controller as default controller
 ```