diff --git a/readme.md b/readme.md
index 6844a50..ddee4e7 100644
--- a/readme.md
+++ b/readme.md
@@ -2,6 +2,15 @@
 
 ESP32-based DC motor controller with web interface, using BTS7960 dual H-bridge driver with current sensing and stall protection.
 
+## Features
+
+- Web-based control panel with real-time current monitoring
+- Forward/Reverse/Stop motor control with speed slider (20-100%)
+- Current sensing on both H-bridge sides (R_IS and L_IS)
+- Sample-based stall detection with automatic motor shutoff
+- ADC offset calibration at startup for accurate current readings
+- Stall warning displayed on web interface
+
 ## Hardware
 
 ### Components
@@ -77,9 +86,12 @@ Key settings in [`include/config.h`](include/config.h):
 
 | Setting | Default | Description |
 |---------|---------|-------------|
-| `STALL_CURRENT_THRESHOLD` | 4.0A | Current triggering stall detection |
-| `STALL_DETECT_TIME_MS` | 500ms | Duration before stall confirmed |
+| `STALL_THRESHOLD` | 8.0A | Current threshold for stall detection |
+| `STALL_CONFIRM_SAMPLES` | 3 | Number of consecutive samples to confirm stall (~300ms) |
+| `STALL_STABILIZE_MS` | 500ms | Ignore current spikes after direction change |
 | `PWM_FREQ` | 20kHz | PWM frequency (reduces motor noise) |
+| `MIN_PWM_PERCENT` | 20% | Minimum PWM when motor is running |
+| `CURRENT_LOG_INTERVAL_MS` | 100ms | Current sampling/logging interval |
 | `CURRENT_SENSING_ENABLED` | true | Enable/disable in [`src/motor.cpp`](src/motor.cpp) |
 
 ## Network
@@ -98,11 +110,38 @@ pio run -t upload    # Build and upload
 pio device monitor   # Serial monitor (115200 baud)
 ```
 
+## Web Interface
+
+Access the control panel at `http://10.81.2.185` (or the IP shown on serial monitor).
+
+### Features
+
+- **Current Display**: Real-time left (L) and right (R) current readings in amps
+- **Direction Status**: Shows FORWARD, REVERSE, or STOPPED
+- **Speed Slider**: Adjustable from 20% to 100% (minimum PWM prevents motor stalling at low speeds)
+- **Stall Warning**: Red banner appears when stall is detected
+
+### API Endpoints
+
+| Endpoint | Method | Parameters | Description |
+|----------|--------|------------|-------------|
+| `/` | GET | - | Control panel HTML page |
+| `/status` | GET | - | JSON: `{speed, direction, currentR, currentL, stalled}` |
+| `/speed` | POST | `value` (0-100) | Set motor speed percentage |
+| `/direction` | POST | `value` (-1, 0, 1) | Set direction (reverse/stop/forward) |
+| `/stop` | POST | - | Emergency stop |
+
 ## Stall Protection
 
-When motor current exceeds 4.0A for 500ms continuously:
-1. Stall is detected
-2. Motor stops immediately
-3. Serial log: `STALL PROTECTION: Stopping motor (current: X.XXA)`
+The stall detection uses a sample-based approach for reliability:
 
-To resume operation, send a new speed/direction command via the web interface.
+1. **Threshold**: Current above 8.0A indicates potential stall (based on observed ~2A running vs ~17A stalled)
+2. **Debounce**: 3 consecutive samples above threshold confirms stall (~300ms at 100ms intervals)
+3. **Stabilization**: Ignores current spikes for 500ms after direction changes
+
+When stall is confirmed:
+1. Motor stops immediately
+2. Serial log: `STALL PROTECTION: Stopping motor (current: X.XXA)`
+3. Web interface shows red "STALL DETECTED" warning
+
+To resume operation, send a new direction command via the web interface.