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@@ -32,7 +32,43 @@
                         velocities. Use the controls to experiment with different configurations and movement patterns.
                     </p>
 
-                    <h3>Drive Controls</h3>
+                    <h3>Control Modes</h3>
+                    <p>The simulator offers two control modes. Switch between them using the <strong>Switch to
+                            Keyboard/Joystick Controls</strong> or <strong>Switch to Slider Controls</strong> button.
+                    </p>
+
+                    <h4>Keyboard/Joystick Mode (Default)</h4>
+                    <p>Control the robot using keyboard keys or on-screen joysticks (if on a touch enabled device):</p>
+                    <ul>
+                        <li><strong>Keyboard Controls:</strong>
+                            <ul>
+                                <li><strong>W:</strong> Move Forward</li>
+                                <li><strong>A:</strong> Strafe Left</li>
+                                <li><strong>S:</strong> Move Backward</li>
+                                <li><strong>D:</strong> Strafe Right</li>
+                                <li><strong>Q:</strong> Rotate Counter-Clockwise</li>
+                                <li><strong>E:</strong> Rotate Clockwise</li>
+                            </ul>
+                        </li>
+                        <li><strong>On-Screen Joysticks (Touch enabled devices only):</strong>
+                            <ul>
+                                <li><strong>Left Joystick:</strong> Controls translation (movement in X and Y
+                                    directions)</li>
+                                <li><strong>Right Joystick:</strong> Controls rotation (turning)</li>
+                                <li>Touch or click and drag within the joystick circles to control the robot</li>
+                                <li>Joysticks take priority when active; otherwise, keyboard controls are used</li>
+                            </ul>
+                        </li>
+                        <li><strong>Max Speed:</strong> Sets the maximum translation speed for keyboard/joystick input
+                        </li>
+                        <li><strong>Max Rotation:</strong> Sets the maximum rotation speed for keyboard/joystick input
+                        </li>
+                    </ul>
+
+
+
+                    <h4>Slider Mode</h4>
+                    <p>Use sliders to set precise velocity values:</p>
                     <ul>
                         <li><strong>Strafe Left/Right:</strong> Controls the robot's velocity in the X direction
                             (field-relative). Positive values move right, negative values move left.</li>
@@ -40,11 +76,16 @@
                             (field-relative). Positive values move forward, negative values move backward.</li>
                         <li><strong>Rotation:</strong> Controls the robot's angular velocity (turn rate) in radians per
                             second. Positive values rotate counter-clockwise.</li>
-                        <li><strong>Max Module Speed:</strong> Sets the maximum speed limit for any individual swerve
-                            module. If calculated speeds exceed this, all modules are scaled proportionally.</li>
                         <li><strong>Reset Controls:</strong> Returns all velocity sliders to zero.</li>
                     </ul>
 
+                    <h3>Performance Limits</h3>
+                    <ul>
+                        <li><strong>Max Module Speed:</strong> Sets the maximum speed limit for any individual swerve
+                            module. If calculated speeds exceed this, all modules are scaled proportionally to maintain
+                            the intended direction of movement.</li>
+                    </ul>
+
                     <h3>Preset Configurations</h3>
                     <p>Choose from 9 pre-built robot configurations ranging from 2 to 16 wheels. Each preset
                         demonstrates different module arrangements:</p>