diff --git a/README.md b/README.md
index 92bb4dc..0d23a3a 100644
--- a/README.md
+++ b/README.md
@@ -4,14 +4,144 @@ Follow https://gitlab.com/EECE-5698-Group-7/vacuum-repo to root your vacuum (use
 
 Install `python3-minimal` using `apt`.
 
+After rooted, need to start the vacuum in `unprovisioned mode` (by pressing the `reset` button on vacuum lightly).
+
+## Unprovisioned mode setup (if not included in rooted image)
+#### 1. in /etc/rc.local, add the following line
+```
+/opt/unprovisioned/start_wifi.sh >/dev/null 2>&1
+```
+
+#### 2. create a foler at `/opt/`
+```
+mkdir /opt/unprovisioned/
+```
+
+#### 3. create file `/opt/unprovisioned/wpa_supplicant.conf`:
+```
+network={
+    ssid="<ssid name>"
+    scan_ssid=1
+    proto=RSN
+    key_mgmt=WPA-PSK
+    pairwise=CCMP
+    group=CCMP
+    psk="<password>"
+}
+```
+
+#### 4. create file `/opt/unprovisioned/start_wifi.sh`:
+```
+#!/bin/bash
+
+file="/opt/unprovisioned/wpa_supplicant.conf"
+if [ ! -f "$file" ]
+then
+    echo "$0: File '${file}' not found." > "/opt/unprovisioned/log.log"
+else
+    #add enough time to fix wrong wireless settings
+    sleep 200
+
+    #disable accesspoint
+    ifdown wlan0 > /dev/null 2>&1
+    ifconfig wlan0 down > /dev/null 2>&1
+    killall hostapd >/dev/null 2>&1
+    iw mon.wlan0 del >/dev/null 2>&1
+    create_ap --stop wlan0 > /dev/null 2>&1
+    killall wpa_supplicant >/dev/null 2>&1
+    killall dhclient >/dev/null 2>&1
+
+    ifconfig >> /opt/unprovisioned/log.log
+
+    #login to your network
+    ifconfig wlan0 up >/dev/null 2>&1
+    /sbin/wpa_supplicant -s -B -P /var/run/wpa_supplicant_1.wlan0.pid -i wlan0 -D nl80211,wext -c /opt/unprovisioned/wpa_supplicant.conf -C /var/run/wpa_supplicant >/dev/null 2>&1
+    echo "done!" >> /opt/unprovisioned/log.log
+    dhclient wlan0 >/dev/null 2>&1
+fi
+```
+
+#### 5. Restart vacuum
+
 
 # Tools Usage
 
+```
+python controller.py
+```
 
+## Update scripts on vacuum
+
+If in any case the script has been modified, we need to use `init_vacuum.sh` to update the scripts on vacuum. Run it within the python script via `update` so it takes in the discovered vacuum IP. 
+
+Otherwise, you can also set environment variable `MIROBO_IP` and run `./init_vacuum.sh` directly.
+
+## Control vacuum
+
+Type `control` to enter the control panel
+
+Available commands can be found via `help` in control panel:
+```
+control >>> help
+Control Command Menu
+help                         - this message
+home                         - move vacuum to dock location
+status                       - print the status of vacuum
+start                        - automatically start one cleaning sesssion and get data
+move auto/pause/stop/home    - auto scanning movement (no data parsing)
+move rotate speed time       - move (-180, 180)deg at (-0.3,0.3)m/s for `time`ms
+fanspeed integer             - set fan speed to be [1-99]
+goto x_coor y_coor           - move to x,y location on map
+trace on/off                 - manually start/stop collecting trace
+download trace/map           - download the trace or map on vacuum
+config <cmds>                - configuration
+quit/exit                    - exit controller (Ctrl + D does the same)
+```
+
+Example commands:
+```
+python controller.py
+>>> control help
+...
+>>> control status
+<VacuumStatus state=Cleaning, error=No error bat=93%, fan=1% cleaned 18.2775 m² in 0:16:12>
+>>> control
+control >>> help
+...
+control >>> start
+Cleaning old data on device..
+Enabling trace on the vacuum..
+Starting..
+<VacuumStatus state=Charging, error=No error bat=98%, fan=1% cleaned 2.6975 m² in 0:01:58>
+...
+control >>> config get remote_script_folder
+/mnt/data/exp
+```
+
+## Config vacuum
+
+Nothing much yet. But notice once you entered config panel, have to exit before doing any controls.
+```
+config >>> help
+Config Command Menu
+help             - this message
+set <key> <val>  - set key value in config
+get <key>        - get config from key, if `key` not set, print all
+save/load <file> - save/load configuration from file (default: ./config.json)
+quit/exit        - exit controller (Ctrl + D does the same)
+```
+
+Example commands:
+```
+>>> config get remote_script_folder
+/mnt/data/exp
+>>> config
+config >>> get remote_script_folder
+/mnt/data/exp
+```
 
 
 # Reference
 
 1. [dustcloud](https://github.com/dgiese/dustcloud)
 2. [aerodust](https://github.com/dgiese/aerodust)
-3. 
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