diff --git a/implementation/SCARA/04_path_planning/implementation.md b/implementation/SCARA/04_path_planning/implementation.md
index 905dedf..e1e65b4 100644
--- a/implementation/SCARA/04_path_planning/implementation.md
+++ b/implementation/SCARA/04_path_planning/implementation.md
@@ -5,3 +5,8 @@ We need something that can process setpoints in a way that it can follow those.
 ## General Idea.
 So if we want to draw a box. 4 setpoints for each corner should be sufficient.
 This is a simple model detail. We just take the four setpoint and give the system some time to get there.
+
+## Results
+The implementation was fairly simple, The arm just does a joint move to the next setpoint.
+The control of the motor is still a bit yanky. 
+The next step is probably a better implementation of the motors.