diff --git a/Hardware:-Legs.md b/Hardware:-Legs.md
index 3e49be8..ad79157 100644
--- a/Hardware:-Legs.md
+++ b/Hardware:-Legs.md
@@ -16,4 +16,8 @@ Specify the direction in the B register:
 `NORTH` = `0x0000`  
 `EAST` = `0x0001`  
 `SOUTH` = `0x0002`  
-`WEST` = `0x0003`
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+`WEST` = `0x0003`
+
+### Notes
+
+Only one direction change, and one walk can be performed per tick. Only the first direction change in a tick will be processed. If a `LEGS_SET_DIRECTION` then a `LEGS_SET_DIRECTION_AND_WALK` is performed in one tick, then the direction change from the `LEGS_SET_DIRECTION` will be handled, and the `LEGS_SET_DIRECTION_AND_WALK` will walk in that direction, ignoring its own set direction.
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