stijncarelsbergh · Aug 21, 2026 · Oct 4, 2026 · Oct 5, 2026 · Oct 5, 2026 · Oct 7, 2026
diff --git a/README.md b/README.md
@@ -39,7 +39,7 @@ Therefore this is an attempt to:
 >   - BG341 low-side current sense sync was lost in v2.3.5 - fixed [#482](https://github.com/simplefoc/Arduino-FOC/pull/482)
 > - ESP32 
 >   - Many ESP32 safety optimisations by [@uLipe](https://github.com/uLipe): [#490](https://github.com/simplefoc/Arduino-FOC/pull/490),[#491](https://github.com/simplefoc/Arduino-FOC/pull/491),[#492](https://github.com/simplefoc/Arduino-FOC/pull/492),[#493](https://github.com/simplefoc/Arduino-FOC/pull/493),[#495](https://github.com/simplefoc/Arduino-FOC/pull/495)
->   - Better ADC-Timer alignement for more stable current sensing [See this commit](https://github.com/simplefoc/Arduino-FOC/commit/877699b4db4e6e3ecc16b16cc4337af928e746f4)
+>   - Better ADC-Timer alignment for more stable current sensing [See this commit](https://github.com/simplefoc/Arduino-FOC/commit/877699b4db4e6e3ecc16b16cc4337af928e746f4)
 >   - Now compiles for all v3.x arduino-esp32 versions (v2.3.5 was compatible with v3.2.x) 
 >   - `adcRead` small refactor - no more magic numbers
 > - Others
@@ -101,7 +101,7 @@ This video is a bit outdated but it demonstrates the *Simple**FOC**library* basi
    - Built-in communication and monitoring via Serial, I2C, or custom protocols
 - **Cross-platform**:
    - Seamless code transfer from one microcontroller family to another 
-   - Supports multiple [MCU architectures](https://docs.simplefoc.commicrocontrollers):
+   - Supports multiple [MCU architectures](https://docs.simplefoc.com/microcontrollers):
       - Arduino: UNO R4, UNO, MEGA, DUE, Leonardo, Nano, Nano33, MKR ....
       - STM32 (Nucleo, Bluepill, B-G431B-ESC1, H7 family, etc.)
       - ESP32 (ESP32, ESP32-S2, ESP32-S3, ESP32-C3, ESP32-C6)

diff --git a/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino b/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino
@@ -14,7 +14,7 @@ LowsideCurrentSense currentSense = LowsideCurrentSense(0.003f, -64.0f/7.0f, A_OP
 // encoder instance
 Encoder encoder = Encoder(A_HALL2, A_HALL3, 2048, A_HALL1);
 
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -62,7 +62,7 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::velocity;
 
-  // contoller configuration 
+  // controller configuration 
   // default parameters in defaults.h
 
   // velocity PI controller parameters

diff --git a/...xamples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino b/...xamples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino
@@ -17,7 +17,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(PB6, PB7, PB8, PB5);
 // encoder instance
 Encoder encoder = Encoder(PA8, PA9, 8192, PA10);
 
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -60,7 +60,7 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::velocity;
 
-  // contoller configuration
+  // controller configuration
   // default parameters in defaults.h
 
   // velocity PI controller parameters

diff --git a/...Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino b/...Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino
@@ -60,7 +60,7 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::angle;
 
-  // contoller configuration
+  // controller configuration
   // default parameters in defaults.h
 
   // velocity PI controller parameters

diff --git a/..._examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino b/..._examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino
@@ -31,7 +31,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(INH_A, INH_B, INH_C, EN_GATE);
 // encoder instance
 Encoder encoder = Encoder(2, 3, 8192);
 
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -82,7 +82,7 @@ void setup() {
   // set control loop type to be used
   motor.controller = MotionControlType::torque;
 
-  // contoller configuration based on the controll type
+  // controller configuration based on the control type
   motor.PID_velocity.P = 0.2f;
   motor.PID_velocity.I = 20;
   // default voltage_power_supply
@@ -104,7 +104,7 @@ void setup() {
   // align encoder and start FOC
   motor.initFOC();
 
-  // set the inital target value
+  // set the initial target value
   motor.target = 2;
 
   // define the motor id
@@ -125,7 +125,7 @@ void loop() {
 
   // iterative function setting the outter loop target
   // velocity, position or voltage
-  // if tatget not set in parameter uses motor.target variable
+  // if target not set in parameter uses motor.target variable
   motor.move();
 
   // user communication

diff --git a/..._examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino b/..._examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino
@@ -34,7 +34,7 @@ BLDCDriver6PWM driver = BLDCDriver6PWM(INH_A,INL_A, INH_B,INL_B, INH_C,INL_C, EN
 // encoder instance
 Encoder encoder = Encoder(2, 3, 8192);
 
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -83,7 +83,7 @@ void setup() {
   // set control loop type to be used
   motor.controller = MotionControlType::torque;
 
-  // contoller configuration based on the controll type
+  // controller configuration based on the control type
   motor.PID_velocity.P = 0.2f;
   motor.PID_velocity.I = 20;
   // default voltage_power_supply
@@ -105,7 +105,7 @@ void setup() {
   // align encoder and start FOC
   motor.initFOC();
 
-  // set the inital target value
+  // set the initial target value
   motor.target = 2;
 
   // define the motor id
@@ -124,7 +124,7 @@ void loop() {
 
   // iterative function setting the outter loop target
   // velocity, position or voltage
-  // if tatget not set in parameter uses motor.target variable
+  // if target not set in parameter uses motor.target variable
   motor.move();
 
   // user communication

diff --git a/...examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino b/...examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino
@@ -39,7 +39,7 @@ LowsideCurrentSense cs = LowsideCurrentSense(0.005f, 12.22f, IOUTA, IOUTB, IOUTC
 // encoder instance
 Encoder encoder = Encoder(22, 23, 500);
 
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -137,7 +137,7 @@ void setup() {
   // align encoder and start FOC
   motor.initFOC();
 
-  // set the inital target value
+  // set the initial target value
   motor.target = 0;
 
   // define the motor id

diff --git a/...examples/DRV8302_driver/stm32_current_control_low_side/stm32_current_control_low_side.ino b/...examples/DRV8302_driver/stm32_current_control_low_side/stm32_current_control_low_side.ino
@@ -39,7 +39,7 @@ LowsideCurrentSense cs = LowsideCurrentSense(0.005f, 12.22f, IOUTA, IOUTB, IOUTC
 // encoder instance
 Encoder encoder = Encoder(PB14, PB15, 2048);
 
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -137,7 +137,7 @@ void setup() {
   // align encoder and start FOC
   motor.initFOC();
 
-  // set the inital target value
+  // set the initial target value
   motor.target = 0;
 
   // define the motor id

diff --git a/...ples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino b/...ples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino
@@ -42,7 +42,7 @@ LowsideCurrentSense cs = LowsideCurrentSense(0.005f, 12.22f, IOUTA, IOUTB);
 // encoder instance
 Encoder encoder = Encoder(10, 11, 2048);
 
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -138,7 +138,7 @@ void setup() {
   // align encoder and start FOC
   motor.initFOC();
 
-  // set the inital target value
+  // set the initial target value
   motor.target = 0;
 
   // define the motor id

diff --git a/...ardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino b/...ardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino
@@ -11,7 +11,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27, 7);
 // encoder instance
 Encoder encoder = Encoder(4, 2, 1024);
 
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -52,7 +52,7 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::velocity;
 
-  // contoller configuration
+  // controller configuration
   // default parameters in defaults.h
 
   // velocity PI controller parameters

diff --git a/...specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino b/...specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino
@@ -57,7 +57,7 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::angle;
 
-  // contoller configuration
+  // controller configuration
   // default parameters in defaults.h
 
   // velocity PI controller parameters

diff --git a/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino b/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino
@@ -24,7 +24,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11);
 // encoder instance
 Encoder encoder = Encoder(A0, A1, 2048);
 
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -68,7 +68,7 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::angle;
 
-  // contoller configuration
+  // controller configuration
   // default parameters in defaults.h
 
   // velocity PI controller parameters

diff --git a/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino b/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino
@@ -30,7 +30,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11);
 // encoder instance
 Encoder encoder = Encoder(A0, A1, 8192);
 
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}

diff --git a/...dware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino b/...dware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino
@@ -15,7 +15,7 @@
 #define M0_INL_A PB13
 #define M0_INL_B PB14
 #define M0_INL_C PB15
-// M0 currnets
+// M0 currents
 #define M0_IB PC0
 #define M0_IC PC1
 // Odrive M0 encoder pinout
@@ -31,7 +31,7 @@
 #define M1_INL_A PA7
 #define M1_INL_B PB0
 #define M1_INL_C PB1
-// M0 currnets
+// M0 currents
 #define M1_IB PC2
 #define M1_IC PC3
 // Odrive M1 encoder pinout
@@ -62,7 +62,7 @@ void doMotor(char* cmd) { command.motor(&motor, cmd); }
 LowsideCurrentSense current_sense = LowsideCurrentSense(0.0005f, 10.0f, _NC, M0_IB, M0_IC);
 
 Encoder encoder = Encoder(M0_ENC_A, M0_ENC_B, 500,M0_ENC_Z);
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}

diff --git a/...ples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino b/...ples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino
@@ -15,7 +15,7 @@
 #define M0_INL_A PB13
 #define M0_INL_B PB14
 #define M0_INL_C PB15
-// M0 currnets
+// M0 currents
 #define M0_IB PC0
 #define M0_IC PC1
 // Odrive M0 encoder pinout
@@ -31,7 +31,7 @@
 #define M1_INL_A PA7
 #define M1_INL_B PB0
 #define M1_INL_C PB1
-// M0 currnets
+// M0 currents
 #define M1_IB PC2
 #define M1_IC PC3
 // Odrive M1 encoder pinout

diff --git a/examples/hardware_specific_examples/SAMD_examples/README.md b/examples/hardware_specific_examples/SAMD_examples/README.md
@@ -41,7 +41,7 @@ Note: in all of the above note that you *cannot* set the timers or WOs used - th
 So it is matter of choosing the right pins, nothing else.
 
 Note also: Unfortunately you can't set the PWM frequency. It is currently fixed at 24KHz. This is a tradeoff between limiting PWM resolution vs
-increasing frequency, and also due to keeping the pin assignemts flexible, which would not be possible if we ran the timers at different rates.
+increasing frequency, and also due to keeping the pin assignments flexible, which would not be possible if we ran the timers at different rates.
 
 ## Status
 

diff --git a/...leFOC-PowerShield/version_v02/single_full_control_example/single_full_control_example.ino b/...leFOC-PowerShield/version_v02/single_full_control_example/single_full_control_example.ino
@@ -47,7 +47,7 @@ void setup() {
   motor.torque_controller = TorqueControlType::foc_current;
   motor.controller = MotionControlType::torque;
 
-  // contoller configuration based on the controll type
+  // controller configuration based on the control type
   motor.PID_velocity.P = 0.05f;
   motor.PID_velocity.I = 1;
   motor.PID_velocity.D = 0;
@@ -64,7 +64,7 @@ void setup() {
 
   // comment out if not needed
   motor.useMonitoring(Serial);
-  motor.monitor_downsample = 0; // disable intially
+  motor.monitor_downsample = 0; // disable initially
   motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle
 
   // current sense init and linking
@@ -76,7 +76,7 @@ void setup() {
   // align encoder and start FOC
   motor.initFOC();
 
-  // set the inital target value
+  // set the initial target value
   motor.target = 0;
 
   // subscribe motor to the commander

diff --git a/examples/hardware_specific_examples/SimpleFOCMini/angle_control/angle_control.ino b/examples/hardware_specific_examples/SimpleFOCMini/angle_control/angle_control.ino
@@ -28,7 +28,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(11, 10, 9, 8);
 
 // encoder instance
 Encoder encoder = Encoder(2, 3, 500);
-// Interrupt routine intialisation
+// Interrupt routine initialization
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -69,7 +69,7 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::angle;
 
-  // contoller configuration
+  // controller configuration
   // default parameters in defaults.h
 
   // velocity PI controller parameters

diff --git a/...es/SimpleFOCShield/version_v1/double_full_control_example/double_full_control_example.ino b/...es/SimpleFOCShield/version_v1/double_full_control_example/double_full_control_example.ino
@@ -61,13 +61,13 @@ void setup() {
   motor1.controller = MotionControlType::torque;
   motor2.controller = MotionControlType::torque;
 
-  // contoller configuration based on the controll type
+  // controller configuration based on the control type
   motor1.PID_velocity.P = 0.05f;
   motor1.PID_velocity.I = 1;
   motor1.PID_velocity.D = 0;
   // default voltage_power_supply
   motor1.voltage_limit = 12;
-  // contoller configuration based on the controll type
+  // controller configuration based on the control type
   motor2.PID_velocity.P = 0.05f;
   motor2.PID_velocity.I = 1;
   motor2.PID_velocity.D = 0;
@@ -92,7 +92,7 @@ void setup() {
   // align encoder and start FOC
   motor2.initFOC();
 
-  // set the inital target value
+  // set the initial target value
   motor1.target = 2;
   motor2.target = 2;
 

diff --git a/...es/SimpleFOCShield/version_v1/single_full_control_example/single_full_control_example.ino b/...es/SimpleFOCShield/version_v1/single_full_control_example/single_full_control_example.ino
@@ -39,7 +39,7 @@ void setup() {
   // set control loop type to be used
   motor.controller = MotionControlType::torque;
 
-  // contoller configuration based on the controll type
+  // controller configuration based on the control type
   motor.PID_velocity.P = 0.05f;
   motor.PID_velocity.I = 1;
   motor.PID_velocity.D = 0;
@@ -56,15 +56,15 @@ void setup() {
 
   // comment out if not needed
   motor.useMonitoring(Serial);
-  motor.monitor_downsample = 0; // disable intially
+  motor.monitor_downsample = 0; // disable initially
   motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle
 
   // initialise motor
   motor.init();
   // align encoder and start FOC
   motor.initFOC();
 
-  // set the inital target value
+  // set the initial target value
   motor.target = 2;
 
   // subscribe motor to the commander