diff --git a/Hardware:-Legs.md b/Hardware:-Legs.md
index 136d1e2..c3dea3f 100644
--- a/Hardware:-Legs.md
+++ b/Hardware:-Legs.md
@@ -9,15 +9,18 @@ Hardware ID: `0x0001`
 ### Interrupt Behavior
 | Value of A | Action | Energy cost | Result |
 | --- | --- | --- | --- |
-| `1` | `LEGS_SET_DIRECTION` | `20 kJ` | Set the direction |
-| `2` | `LEGS_SET_DIRECTION_AND_WALK` | `100 kJ` | Set the direction and walk forward |
+| `1` | `LEGS_SET_DIRECTION` | `20 kJ` | Turns the Cubot to face the [direction](#valid-directions) specified in register `B`. |
+| `2` | `LEGS_SET_DIRECTION_AND_WALK` | `100 kJ` | Moves the Cubot to face and walk in the [direction](#valid-directions) specified by register `B`. |
 
-Specify the direction in the B register:  
-`NORTH` = `0x0000`  
-`EAST` = `0x0001`  
-`SOUTH` = `0x0002`  
-`WEST` = `0x0003`
+#### Valid directions
+| Direction | Value    |
+| :-------- | :------- |
+| North     | `0x0000` |
+| East      | `0x0001` |
+| South     | `0x0002` |
+| West      | `0x0003` |
 
 ### Notes
 
-Only one walk can be performed per tick, the last such `LEGS_SET_DIRECTION_AND_WALK` in the tick will be the one performed during the tick transition. `LEGS_SET_DIRECTION` may be performed multiple times during a tick.
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+- Only one walk can be performed per tick, the last such `LEGS_SET_DIRECTION_AND_WALK` in the tick will be the one performed during the tick transition. `LEGS_SET_DIRECTION` may be performed multiple times during a tick.
+- Since only the last `LEGS_SET_DIRECTION_AND_WALK` in a tick will be performed, running the action does not immediately use energy, which means that using this action 5 times in one tick will not use `500 kJ` and instead consume `100 kJ` **at the end of the tick**. This is **not** true for `LEGS_SET_DIRECTION`, which will use energy immediately upon being ran.
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