diff --git a/Diagrams/Overall Diagrams.pdf b/Diagrams/Overall Diagrams.pdf
new file mode 100644
index 0000000..228450a
Binary files /dev/null and b/Diagrams/Overall Diagrams.pdf differ
diff --git a/Diagrams/Overall_Flow_Chart.jpg b/Diagrams/Overall_Flow_Chart.jpg
new file mode 100644
index 0000000..ddb50d7
Binary files /dev/null and b/Diagrams/Overall_Flow_Chart.jpg differ
diff --git a/README.md b/README.md
index 868f9d4..6fbb4b4 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,58 @@
 # freeRTOS-car
 
-Configure your Pico SDK and FreeRTOS Kernel Path in your local environment
+This project is a car that uses the [Raspberry Pi Pico](https://www.raspberrypi.org/products/raspberry-pi-pico/)
+and [FreeRTOS](https://www.freertos.org/) to move around a maze.
+
+# Configurations
+
+All Configurations are in the folder `frtos/config`, the file `frtos/config/car_config.h` contains the main
+configurations for the car.
+
+# Build
+
+> Configure your Pico SDK and FreeRTOS Kernel Path in your local environment
+
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+# Flash
+
+```bash
+cd build
+cp freeRTOS-car.uf2 /media/$USER/RPI-RP2
+```
+
+# Components
+## Motors
+
+## Ultrasonic Sensor
+
+## Line Sensor
+
+## Magnetometer
+
+The magnetometer used is the [LSM303DLHC](https://www.st.com/resource/en/datasheet/lsm303dlhc.pdf) from STMicroelectronics.
+
+Magnetometer package is in `frtos/magnetometer`, and its configuration is in `frtos/config/magnetometer_config.h`. It 
+contains the drivers and FreeRTOS tasks to read the magnetometer data.
+
+All the magnetometer data (roll, pitch, yaw) calculated is stored in the `direction_t` struct, which is defined in
+`frtos/config/magnetometer_config.h`.
+
+### Filtering
+
+The magnetometer initially used a complementary filter (with the accelerometer) to calculate the Yaw, and the temperature,
+sensor was used to perform an offset correction. But raw data was accurate enough to use it directly. 
+
+An initial calibration method for the magnetometer was implemented, with the use of 100 initial samples, and then
+a bias calculation. This method was not used in the final version, because the raw data was accurate enough.
+
+The final version of the magnetometer uses a **moving average filter** to smooth the data and a bias of 0 degrees.
+
+## Barcode (Line) Sensor
+
+## WiFi (Web Server) Module
\ No newline at end of file