DOCS removed a lot od typos

Author: askuric

README.md

@@ -1,59 +1,72 @@
 # Arduino Simple Field Oriented Control (FOC) library 
 
-
 ![Library Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Compile/badge.svg)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 [![arduino-library-badge](https://www.ardu-badge.com/badge/Simple%20FOC.svg?)](https://www.ardu-badge.com/badge/Simple%20FOC.svg)
 
 Proper low-cost and low-power FOC supporting boards are very hard to find these days and even may not exist. Even harder to find is a stable and simple FOC algorithm code capable of running on Arduino devices. 
 Therefore this is an attempt to: 
-- Demistify FOC algorithm and make a robust but simple Arduino library: [Arduino SimpleFOC library](https://askuric.github.io/Arduino-FOC/arduino_simplefoc_library_showcase)
-- Develop a modular BLDCdriver boards: [Arduino SimpleFOC shield](https://askuric.github.io/Arduino-FOC/arduino_simplefoc_shield_showcase).
+- Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino SimpleFOC library](https://askuric.github.io/Arduino-FOC/arduino_simplefoc_library_showcase)
+- Develop a modular BLDC driver board: [Arduino SimpleFOC shield](https://askuric.github.io/Arduino-FOC/arduino_simplefoc_shield_showcase).
+
+## Arduino SimpleFOCShield
 
-## Arduino SimpleFOC Shield
-<p align="center"><img src="https://askuric.github.io/Arduino-FOC/extras/Images/shield_to_v13.jpg" height="235px">   <img src="https://askuric.github.io/Arduino-FOC/extras/Images/shield_bo_v13.jpg"  height="235px"> <img src="https://askuric.github.io/Arduino-FOC/extras/Images/simple_foc_shield_v13_small.gif"  height="235px"></p>
+<p align="">
+<a href="https://youtu.be/G5pbo0C6ujE">
+<img src="https://askuric.github.io/Arduino-FOC/extras/Images/foc_shield_video.jpg"  height="350px">
+</a>
+</p>
 
 ### Features
+
 - **Plug & play**: Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> 
 - **Low-cost**: Price in the range of \$20-\$40
 - **Open Source**: Gerber files and BOM available
 - **Stackable**: running 2 motors in the same time
+##### If you are interested in this board, preorder your version on this link: [Arduino Simple FOC Shield](https://askuric.github.io/simplefoc_shield_product)
+
+<p align=""><img src="https://askuric.github.io/Arduino-FOC/extras/Images/shield_to_v13.jpg" height="180px">   <img src="https://askuric.github.io/Arduino-FOC/extras/Images/shield_bo_v13.jpg"  height="180px"> <img src="https://askuric.github.io/Arduino-FOC/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
 
-##### If you are interested in this board, find more information on this link: [Arduino Simple FOC Shield](https://askuric.github.io/simplefoc.html)
 
 ## Arduino SimpleFOClibrary
-[![](https://askuric.github.io/Arduino-FOC/extras/Images/youtube.png)](https://youtu.be/N_fRYf7Z80k)
 
-This video demonstrates the Simple FOC library basic usage, electronic connections and shows its capabilities.
+<p align="">
+<a href="https://youtu.be/N_fRYf7Z80k">
+<img src="https://askuric.github.io/Arduino-FOC/extras/Images/youtube.png"  height="350px">
+</a>
+</p>
 
+This video demonstrates the Simple FOC library basic usage, electronic connections and shows its capabilities.
 
 ### Features
-- **Arduino compatibe**: Arduino library code
+- **Arduino compatible**: Arduino library code
 - **Easy to setup and configure**: 
   - Easy hardware configuration
   - Easy [tuning the control loops](https://askuric.github.io/Arduino-FOC/control_loops)
 - **Modular**:
   - Supports as many [sensors ,  BLDC motors  and  driver boards](https://askuric.github.io/Arduino-FOC/electrical_connections) as possible
-  - Supports as many applicaiton requirements as possible
+  - Supports as many application requirements as possible
 - **Plug & play**: Arduino SimpleFOC shield
 
+<p align=""> <img src="https://askuric.github.io/Arduino-FOC/extras/Images/uno_l6234.jpg"  height="170px">  <img src="https://askuric.github.io/Arduino-FOC/extras/Images/hmbgc_v22.jpg" height="170px">  <img src="https://askuric.github.io/Arduino-FOC/extras/Images/foc_shield_v12.jpg"  height="170px"></p>
+
 ## Getting Started
 Depending on if you want to use this library as the plug and play Arduino library or you want to get insight in the algorithm and make changes there are two ways to install this code.
 
 - Full library installation [Docs](https://askuric.github.io/Arduino-FOC/library_download)
-- Minimal code instalation [Docs](https://askuric.github.io/Arduino-FOC/minimal_download)
+- Minimal code installation [Docs](https://askuric.github.io/Arduino-FOC/minimal_download)
 
 ### Arduino SimpleFOC library installation to Arduino IDE
 #### Arduino Library Manager 
-The simplest way to get hold of the library is direclty by using Arduino IDE and its integrated Library Manager. 
+The simplest way to get hold of the library is directly by using Arduino IDE and its integrated Library Manager. 
 - Open Arduino IDE and start Arduino Library Manager by clicking: `Tools > Manage Libraries...`.
-- Serarch for `Simple FOC` library and install the lates version.
+- Search for `Simple FOC` library and install the latest version.
 - Reopen Arduino IDE and you should have the library examples in `File > Examples > Simple FOC`.
 
 ### Using Github website 
 - Go to the [github repository](https://github.com/askuric/Arduino-FOC)
 - Click first on `Clone or Download > Download ZIP`. 
-- Unzip it and place it in `Arduino Libraries` forlder. Windows: `Documents > Arduino > libraries`.  
+- Unzip it and place it in `Arduino Libraries` folder. Windows: `Documents > Arduino > libraries`.  
 - Reopen Arduino IDE and you should have the library examples in `File > Examples > Simple FOC`.
 
 ### Using terminal
@@ -64,15 +77,15 @@ git clone https://github.com/askuric/Arduino-FOC.git
 ```
 - Reopen Arduino IDE and you should have the library examples in `File > Examples > Simple FOC`.
 
-###  SimpleFOC library minimal scketch example
+###  SimpleFOC library minimal sketch example
 
 For those willing to experiment and to modify the code I suggest using the [minimal version](https://github.com/askuric/Arduino-FOC/tree/minimal) of the code. 
- > This code is completely indepenedet and you can run it as any other Arduino Schetch without the need for any libraries. 
+ > This code is completely independent and you can run it as any other Arduino Sketch without the need for any libraries. 
 
-#### Github webiste downlaod
+#### Github website download
 - Go to [minimal branch](https://github.com/askuric/Arduino-FOC/tree/minimal) 
-- Downlaod the code by clicking on the `Clone or Download > Download ZIP`.
-- Unzip it and open the schetch in Arduino IDE. 
+- Download the code by clicking on the `Clone or Download > Download ZIP`.
+- Unzip it and open the sketch in Arduino IDE. 
 
 #### Using terminal
 - Open the terminal:
@@ -90,5 +103,5 @@ Find out more information about the Arduino SimpleFOC project in [docs website](
 Branch  | Description | Status
 ------------ | ------------- | ------------ 
 [master](https://github.com/askuric/Arduino-FOC) | Stable and tested library version | ![Library Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Compile/badge.svg)
-[dev](https://github.com/askuric/Arduino-FOC/tree/dev) | Developement library version | ![Library Dev Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Dev%20Compile/badge.svg?branch=dev)
+[dev](https://github.com/askuric/Arduino-FOC/tree/dev) | Development library version | ![Library Dev Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Dev%20Compile/badge.svg?branch=dev)
 [minimal](https://github.com/askuric/Arduino-FOC/tree/minimal) | Minimal Arduino example with integrated library | ![MinimalBuild](https://github.com/askuric/Arduino-FOC/workflows/MinimalBuild/badge.svg?branch=minimal)

examples/encoder_examples/HMBGC_example/HMBGC_example.ino

@@ -14,7 +14,7 @@ BLDCMotor motor = BLDCMotor(9, 10, 11, 11);
 //  - ppr           - impulses per rotation  (cpr=ppr*4)
 //  - index pin     - (optional input)
 Encoder encoder = Encoder(A0, A1, 8192);
-// interrupt ruotine intialisation
+// interrupt routine intialisation
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 
@@ -30,14 +30,14 @@ void setup() {
   encoder.quadrature = Quadrature::ENABLE;
 
   // check if you need internal pullups
-  // Pullup::EXTERN - external pullup added  - dafault
+  // Pullup::EXTERN - external pullup added  - default
   // Pullup::INTERN - needs internal arduino pullup
   encoder.pullup = Pullup::EXTERN;
 
   // initialise encoder hardware
   encoder.init();
 
-  // interrupt intitialisation
+  // interrupt initialization
   PciManager.registerListener(&listenerA);
   PciManager.registerListener(&listenerB);
 
@@ -56,7 +56,7 @@ void setup() {
   // default P=0.5 I = 10
   motor.PI_velocity.P = 0.2;
   motor.PI_velocity.I = 20;
-  //defualt voltage_power_supply/2
+  //default voltage_power_supply/2
   motor.PI_velocity.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
@@ -74,7 +74,7 @@ void setup() {
   // link the motor to the sensor
   motor.linkSensor(&encoder);
 
-  // intialise motor
+  // initialize motor
   motor.init();
   // align encoder and start FOC
   motor.initFOC();
@@ -88,18 +88,18 @@ float target_velocity=0;
 
 void loop() {
   // iterative state calculation calculating angle
-  // and setting FOC pahse voltage
-  // the faster you run this funciton the better
+  // and setting FOC phase voltage
+  // the faster you run this function the better
   // in arduino loop it should have ~1kHz
   // the best would be to be in ~10kHz range
   motor.loopFOC();
 
-  // 0.5 hertz sine weve
+  // 0.5 hertz sine wave
   //target_velocity = sin( micros()*1e-6 *2*M_PI * 0.5 );
 
   // iterative function setting the outter loop target
   // velocity, position or voltage
-  // this funciton can be run at much lower frequency than loopFOC funciton
+  // this function can be run at much lower frequency than loopFOC function
   // it can go as low as ~50Hz
   motor.move(target_velocity);
 

examples/encoder_examples/angle_control/angle_control.ino

@@ -18,7 +18,7 @@ BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
 //  - index pin     - (optional input) 
 Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, A0);
 
-// Interrupt rutine intialisation
+// Interrupt routine intialisation
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -37,7 +37,7 @@ void setup() {
   encoder.quadrature = Quadrature::ENABLE;
 
   // check if you need internal pullups
-  // Pullup::EXTERN - external pullup added - dafault
+  // Pullup::EXTERN - external pullup added - default
   // Pullup::INTERN - needs internal arduino pullup
   encoder.pullup = Pullup::EXTERN;
 
@@ -74,7 +74,7 @@ void setup() {
   // default P=0.5 I = 10
   motor.PI_velocity.P = 0.2;
   motor.PI_velocity.I = 20;
-  //defualt voltage_power_supply/2
+  //default voltage_power_supply/2
   motor.PI_velocity.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
@@ -88,7 +88,7 @@ void setup() {
   // angle P controller 
   // default P=20
   motor.P_angle.P = 20;
-  //  maximal velocity of the poisiiton control
+  //  maximal velocity of the position control
   // default 20
   motor.P_angle.velocity_limit = 4;
 
@@ -100,7 +100,7 @@ void setup() {
   // link the motor to the sensor
   motor.linkSensor(&encoder);
 
-  // intialise motor
+  // initialize motor
   motor.init();
   // align encoder and start FOC
   motor.initFOC();
@@ -116,15 +116,15 @@ float target_angle = 0;
 
 void loop() {
   // iterative state calculation calculating angle
-  // and setting FOC pahse voltage
-  // the faster you run this funciton the better
+  // and setting FOC phase voltage
+  // the faster you run this function the better
   // in arduino loop it should have ~1kHz
   // the best would be to be in ~10kHz range
   motor.loopFOC();
 
   // iterative function setting the outter loop target
   // velocity, position or voltage
-  // this funciton can be run at much lower frequency than loopFOC funciton
+  // this function can be run at much lower frequency than loopFOC function
   // it can go as low as ~50Hz
   motor.move(target_angle);
 

examples/encoder_examples/change_direction/change_direction.ino

@@ -15,7 +15,7 @@ BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
 //  - index pin     - (optional input) 
 Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192);
 
-// Interrupt rutine intialisation
+// Interrupt routine intialisation
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -30,7 +30,7 @@ void setup() {
   encoder.quadrature = Quadrature::ENABLE;
 
   // check if you need internal pullups
-  // Pullup::EXTERN - external pullup added - dafault
+  // Pullup::EXTERN - external pullup added - default
   // Pullup::INTERN - needs internal arduino pullup
   encoder.pullup = Pullup::EXTERN;
 
@@ -65,7 +65,7 @@ void setup() {
   // default P=0.5 I = 10
   motor.PI_velocity.P = 0.2;
   motor.PI_velocity.I = 20;
-  //defualt voltage_power_supply/2
+  //default voltage_power_supply/2
   motor.PI_velocity.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
@@ -82,7 +82,7 @@ void setup() {
 
   // link the motor to the sensor
   motor.linkSensor(&encoder);
-  // intialise motor
+  // initialise motor
   motor.init();
   // align encoder and start FOC
   motor.initFOC();
@@ -98,13 +98,13 @@ int t = 0;
 
 void loop() {
   // iterative state calculation calculating angle
-  // and setting FOC pahse voltage
-  // the faster you run this funciton the better
+  // and setting FOC phase voltage
+  // the faster you run this function the better
   // in arduino loop it should have ~1kHz
   // the best would be to be in ~10kHz range
   motor.loopFOC();
 
-  // direction chnaging logic
+  // direction changing logic
   // change direction each 1000 loop passes
   target_velocity *= (t >= 1000) ? -1 : 1; 
   // loop passes counter
@@ -113,7 +113,7 @@ void loop() {
 
   // iterative function setting the outter loop target
   // velocity, position or voltage
-  // this funciton can be run at much lower frequency than loopFOC funciton
+  // this function can be run at much lower frequency than loopFOC function
   // it can go as low as ~50Hz
   motor.move(target_velocity);
 

examples/encoder_examples/encoder_example/encoder_example.ino

@@ -5,7 +5,7 @@
 #define arduinoInt2 3             // Arduino UNO interrupt 1
 
 Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192);
-// interrupt ruotine intialisation
+// interrupt routine intialisation
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 
@@ -19,7 +19,7 @@ void setup() {
   encoder.quadrature = Quadrature::ENABLE;
 
   // check if you need internal pullups
-  // Pullup::EXTERN - external pullup added  - dafault
+  // Pullup::EXTERN - external pullup added  - default
   // Pullup::INTERN - needs internal arduino pullup
   encoder.pullup = Pullup::EXTERN;
 

examples/encoder_examples/find_pole_pairs_number/find_pole_pairs_number.ino

@@ -9,7 +9,7 @@
 BLDCMotor motor = BLDCMotor(9, 10, 11, 0, 8);
 //  Encoder(int encA, int encB , int cpr, int index)
 Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192);
-// interrupt ruotine intialisation
+// interrupt routine intialisation
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 
@@ -23,7 +23,7 @@ void setup() {
   encoder.quadrature = Quadrature::ENABLE;
 
   // check if you need internal pullups
-  // Pullup::EXTERN - external pullup added - dafault
+  // Pullup::EXTERN - external pullup added - default
   // Pullup::INTERN - needs internal arduino pullup
   encoder.pullup = Pullup::EXTERN;
 
@@ -41,7 +41,7 @@ void setup() {
 
   // link the motor to the sensor
   motor.linkSensor(&encoder);
-  // intialise motor
+  // initialize motor
   motor.init();
 
 
@@ -74,7 +74,7 @@ void setup() {
   motor.setPhaseVoltage(0,0);
   _delay(1000);
 
-  // caluclate the pole pair number
+  // calculate the pole pair number
   int pp = round((pp_search_angle)/(angle_end-angle_begin));
 
   Serial.print("Estimated pole pairs number is: ");
@@ -91,14 +91,14 @@ void setup() {
   // a bit of debugging the result
   if(pp <= 0 ){
     Serial.println("Pole pair number cannot be negative");
-    Serial.println(" - Try changing the search_voltage vlaue or motor/encoder configuration.");
+    Serial.println(" - Try changing the search_voltage value or motor/encoder configuration.");
     return;
   }else if(pp > 30){
     Serial.println("Pole pair number very high, possible error.");
   }else{
     Serial.println("If pp is estimated well your motor should turn now!");
     Serial.println(" - If it is not moving try to relaunch the program!");
-    Serial.println(" - You can also try to adjust the target votage using serial terminal!");
+    Serial.println(" - You can also try to adjust the target voltage using serial terminal!");
   }