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--- a/docs/assembly.md
+++ b/docs/assembly.md
@@ -6,50 +6,134 @@ This tutorial will guide you through assembling your rover. It should take aroun
First, make sure your kit has all the required materials.
+
+
In the box:
| Item | Quantity | Picture |
| ---- | ---- | ---- |
-| Circuit board | 1 | ![]() |
-| LD-20 lidar | 1 | ![]() |
-| Orange wheels | 2 | ![]() |
-| Motor with encoder | 2 | ![]() |
-| 18650 LiIon battery, 5000 mah | 1 | ![]() |
-| USB-C to C cable | 1 | ![]() |
-| Front skid | 1 | ![]() |
-| Motor mount | 2 | ![]() |
-| Cable bag | 1 | ![]() |
-| Small parts bag | 1 | ![]() |
+| Circuit board | 1 |  |
+| LD-20 lidar | 1 |  |
+| Orange wheels | 2 |  |
+| Motor with encoder | 2 |  |
+| 18650 LiIon battery, 5000 mah | 1 |  |
+| USB-C to C cable | 1 |  |
+| Front skid | 1 |  |
+| Motor mount | 2 |  |
+| Cable bag | 1 |  |
+| Small parts bag | 1 |  |
In the cable bag:
| Item | Quantity | Picture |
| ---- | ---- | ---- |
-| 4-pin JST GH 1.25mm straight across cable | 1 | ![]() |
-| 6-pin JST PH 2.0mm reversed cables | 2 | ![]() |
+| 4-pin JST GH 1.25mm straight across cable | 1 |  |
+| 6-pin JST PH 2.0mm reversed cables | 2 |  |
In the small parts bag:
| Item | Quantity | Picture |
| ---- | ---- | ---- |
-| Motor attachment shims | 2 | ![]() |
-| Motor spacing shims | 2 | ![]() |
-| Wheel spacers | 2 | ![]() |
-| M3-8 machine screw | 3 | ![]() |
-| M2.5 hex wrench | 1 | ![]() |
+| Motor attachment shims | 2 |  |
+| Motor spacing shims | 2 |  |
+| Wheel spacers | 2 |  |
+| M3-8 machine screw | 3 |  |
+| M2.5 hex key | 1 |  |
## Motor Subassembly
+Insert a motor cable into one of the motors. Note the ridges on the connector, it can only be installed in one orientation.
+
+
+
+Take a motor and place it in a motor mount.
+
+
+
+Add a motor spacing shim on top of the motor.
+
+
+
+Repeat with the other motor, making sure the second assembly is mirrored to the first.
+
+
+
## Body Assembly
-## First Power On
+At the base of the circuit board, there are cutouts for the motor mount to slot into place.
+Insert the circuit board into the gap...
+
+
+
+... then guide the other end of the motor mount up through the slots in the PCB.
+
+
+
+Place a motor attachment shim over the parts of the motor mount exposed above the board.
+Push the attachment shim up and into place, locking the motor into place.
+The hole in the attachment shim should line up with the bolt hole in the circuit board.
+
+
+
+
+Repeat with the other motor.
+
+
+
+Flip the robot over.
+Insert the motor cables into their connectors.
+
+
+
+Insert the LiDAR cable into the bottom of the LiDAR.
+
+
+
+Place the LiDAR on top of the circuit board, making sure the cable passes through the hole.
+
+
+
+
+Using the provided hex key, attach the LiDAR to the rover's body using the bottom two mounting points.
+For now, leave the third screw unattached.
+
+
+
+On the back, insert the LiDAR cable into its connector.
+
+
+
+On the front of the rover, there are cutouts for attaching the skid.
+Line the skid up with the cutouts, and push it on.
+Use the final screw to attach the front skid.
+
+
+
+
+Insert the battery into the back of the rover.
+Take note of polarity - the positive side of the battery (the end with a bump) goes towards the left.
+
+
+
+
+Congrats! Your robot is assembled!
+
+
## Care for Your Rover
+The rover has a USB C port which you can use to charge the battery.
+Two red status LEDs, directly below charging port, show the charging status.
+
+The first LED, labeled CHARGING, lights up when the battery is actively being charged.
+Once the battery is fully charged, this light will turn off.
+
+The second LED, labeled PWR GOOD, lights up when a valid power supply is attached.
+
> [!WARNING]
> **Never charge Little Red Rover unattended.**
>
-> If something goes wrong during the charging process, lithium batteries, like the one contained in the rover, are a serious fire hazard. If the battery becomes hot, smokes, swells, or gives off an odor during charging, immediately stop charging and dipose of the battery safely.
+> If something goes wrong during the charging process, lithium batteries, like the one contained in the rover, are a serious fire hazard. If the battery becomes hot, smokes, swells, or gives off an odor during charging, immediately stop charging and dispose of the battery safely.
## Next Steps