diff --git a/README.md b/README.md
index cc918e7..82cb894 100644
--- a/README.md
+++ b/README.md
@@ -54,11 +54,15 @@ Once the drive base is fully functional, the next step is to create subsystems f
                .setPositionScaleAndOffset(RobotParams.SLIDE_INCHES_PER_COUNT, RobotParams.SLIDE_OFFSET)
                .setPositionPresets(RobotParams.SLIDE_PRESET_TOLERANCE, RobotParams.SLIDE_PRESETS);
            slideMotor = new FtcMotorActuator(RobotParams.HWNAME_SLIDE, slideParams).getActuator();
+
+	   // Delete or comment out the following two statements if you want to use motor native PID control
+           // (aka RUN_TO_POSITION) instead of software PID control.
            slideMotor.setSoftwarePidEnabled(true);
-           slideMotor.setPositionPidCoefficients(
+           slideMotor.setPositionPidParameters(
                RobotParams.SLIDE_KP, RobotParams.SLIDE_KI, RobotParams.SLIDE_KD, RobotParams.SLIDE_KF,
-               RobotParams.SLIDE_IZONE);
-           slideMotor.setPositionPidTolerance(RobotParams.SLIDE_TOLERANCE);
+               RobotParams.SLIDE_IZONE, RobotParams.SLIDE_TOLERANCE);
+
+	   slideMotor.setSoftPositionLimits(RobotParams.SLIDE_MIN_POS, RobotParams.SLIDE_MAX_POS, false);
            slideMotor.setStallDetectionEnabled(
                RobotParams.SLIDE_STALL_DETECTION_DELAY, RobotParams.SLIDE_STALL_DETECTION_TIMEOUT,
                RobotParams.SLIDE_STALL_ERR_RATE_THRESHOLD);