diff --git a/README.md b/README.md
index d6e704c..3b9e2d2 100644
--- a/README.md
+++ b/README.md
@@ -25,6 +25,24 @@ Launching t-view
 python -m moteus_gui.tview
 ```
 
-Calibrating a new motor
+Calibrating a new motor. Note the calibration process will require free movement.
+```
+python3 -m moteus.moteus_tool --target 1 --calibrate
+```
+
+The first movement. This will be a [position control movemen](https://github.com/mjbots/moteus/blob/main/docs/reference.md#d-pos) from an arbitrary start point.
+
+This command is of the form `d pos <pos> <vel> <max_torque> [options...]`
+
+In tview terminal 
+```
+d pos nan 0.2 0.3 s0.8
+```
+
+d: diagnostic command
+pos: position control
+nan: Uses not a number (nan) to state from any position
+0.2: positive movement at 0.2 revolutions per second
+0.3: a max torque of 0.3 Nm
+s0.8: Position stop at 0.8
 
-``````
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