diff --git a/README.md b/README.md
index fdf9fd5..df3f2fd 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,4 @@
-Welcome to panda
-======
+# Welcome to panda
 
 [panda](http://github.com/commaai/panda) is the nicest universal car interface ever.
 
@@ -15,30 +14,29 @@ It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com
 
 ![panda tests](https://github.com/commaai/panda/workflows/panda%20tests/badge.svg)
 
-Usage (Python)
-------
+## Usage
+
+### Python
 
 To install the library:
-```
-# pip install pandacan
+``` bash
+pip install pandacan
 ```
 
 See [this class](https://github.com/commaai/panda/blob/master/python/__init__.py#L80) for how to interact with the panda.
 
 For example, to receive CAN messages:
-```
+``` python
 >>> from panda import Panda
 >>> panda = Panda()
 >>> panda.can_recv()
 ```
 And to send one on bus 0:
-```
+``` python
 >>> panda.can_send(0x1aa, "message", 0)
 ```
-Find user made scripts on the [wiki](https://community.comma.ai/wiki/index.php/Panda_scripts)
-
 Note that you may have to setup [udev rules](https://community.comma.ai/wiki/index.php/Panda#Linux_udev_rules) for Linux, such as
-```
+``` bash
 sudo tee /etc/udev/rules.d/11-panda.rules <<EOF
 SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
 SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
@@ -46,14 +44,12 @@ EOF
 sudo udevadm control --reload-rules && sudo udevadm trigger
 ```
 
-Usage (JavaScript)
--------
+### JavaScript
 
 See [PandaJS](https://github.com/commaai/pandajs)
 
 
-Software interface support
-------
+## Software interface support
 
 As a universal car interface, it should support every reasonable software interface.
 
@@ -62,8 +58,7 @@ As a universal car interface, it should support every reasonable software interf
 - [ELM327](https://github.com/commaai/panda/blob/master/boardesp/elm327.c)
 - [Windows J2534](https://github.com/commaai/panda/tree/master/drivers/windows)
 
-Directory structure
-------
+## Directory structure
 
 - board      -- Code that runs on the STM32
 - boardesp   -- Code that runs on the ESP8266
@@ -71,38 +66,35 @@ Directory structure
 - python     -- Python userspace library for interfacing with the panda
 - tests      -- Tests and helper programs for panda
 
-Programming (over USB)
-------
+## Programming over USB
 
 [Programming the Board (STM32)](board/README.md)
 
 [Programming the ESP](boardesp/README.md)
 
 
-Debugging
-------
+## Debugging
 
-To print out the serial console from the STM32, run tests/debug_console.py
+To print out the serial console from the STM32, run `tests/debug_console.py`
 
-To print out the serial console from the ESP8266, run PORT=1 tests/debug_console.py
+To print out the serial console from the ESP8266, run `PORT=1 tests/debug_console.py`
 
-Safety Model
-------
+## Safety Model
 
 When a panda powers up, by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` mode, the buses are also forced to be silent. In order to send messages, you have to select a safety mode. Currently, setting safety modes is only supported over USB. Some of safety modes (for example `SAFETY_ALLOUTPUT`) are disabled in release firmwares. In order to use them, compile and flash your own build.
 
 Safety modes optionally supports `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
 
-Code Rigor
-------
-When compiled from an [EON Dev Kit](https://comma.ai/shop/products/eon-gold-dashcam-devkit), the panda FW is configured and optimized (at compile time) for its use in
+## Code Rigor
+
+When compiled from the [EON](https://comma.ai/shop/products/eon-gold-dashcam-devkit) or [comma two](https://comma.ai/shop/products/comma-two-devkit) dev kits, the panda FW is configured and optimized (at compile time) for its use in
 conjuction with [openpilot](https://github.com/commaai/openpilot). The panda FW, through its safety model, provides and enforces the
-[openpilot Safety](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
+[openpilot safety](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
 
 These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
-* A generic static code analysis is performed by [Cppcheck](https://github.com/danmar/cppcheck/).
-* In addition, [Cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
-* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced on board and pedal makefiles.
+* A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
+* In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
+* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced on board and pedal Makefiles.
 * The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) for each supported car variant.
 * A recorded drive for each supported car variant is [replayed through the safety logic](https://github.com/commaai/panda/tree/master/tests/safety_replay)
 to ensure that the behavior remains unchanged.
@@ -110,14 +102,12 @@ to ensure that the behavior remains unchanged.
     * compiling the code in various configuration and flashing it both through USB and WiFi.
     * Receiving, sending and forwarding CAN messages on all buses, over USB and WiFi.
 
-In addition, we run [Pylint](https://www.pylint.org/) and [Flake8](https://github.com/PyCQA/flake8) linters on all python files within the panda repo.
+In addition, we run the [pylint](https://www.pylint.org/) and [flake8](https://github.com/PyCQA/flake8) linters on all python files within the panda repo.
 
-Hardware
-------
+## Hardware
 
 Check out the hardware [guide](https://github.com/commaai/panda/blob/master/docs/guide.pdf)
 
-Licensing
-------
+## Licensing
 
 panda software is released under the MIT license unless otherwise specified.
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