diff --git a/Parameters.md b/Parameters.md
index 98d1a4e..d326383 100644
--- a/Parameters.md
+++ b/Parameters.md
@@ -58,4 +58,7 @@ A value higher than 32767 in fixed-point means the coefficient is negative(e.g.
 After the coefficients have been applied, Steer and Speed value are mixed to control left and right motor.<br>
 If you don't need steering, you can define STEER_COEFFICIENT parameter as 0, it will overwrite DEFAULT_STEER_COEFFICIENT. 
 
+### Invert wheel direction
+By default, the firmware assumes the wheels are side by side.<br>
+You can use INVERT_R_DIRECTION or INVERT_L_DIRECTION parameter to invert the direction of one wheel. (e.g. on a scooter, both wheels are facing the same direction).