added better inital code page + commander updated + suggested PWM form 50 to 20khz

Author: askuric

docs/simplefoc_library/code/communication/commander/index.md

@@ -245,6 +245,18 @@ Commander provides a very simple way to extend the command list and implement ne
 - [Custom commands](commander_custom) - create your own callbacks
 
 
+## Commander with Serial Monitor in Arudino IDE
+
+
+Once the commander interface is added to the code you will be able to communicate to it using the Serial Monitor of the Arduino IDE
+
+<img src="extras/Images/commander.png">
+
+Commander paramters in the serial monitor are the same as for every other Arduino code working with the `Serial`. 
+Make sure to:
+- Set the baudrate number the same as in the `ino` file : for examle if in the `ino` file you have `Serial.begin(115200)`, the baud rate should be `115200`
+- Make sure to set the termination character to `newline`
+
 ## *Simple**FOC**Studio* by [@JorgeMaker](https://github.com/JorgeMaker)
 
 SimpleFOCStudio is an awesome application built by [@JorgeMaker](https://github.com/JorgeMaker) which we will try to keep up to date with out library. It is a python application that uses commander interface for tunning and configuring the motor. 

docs/simplefoc_library/code/communication/commander/motor.md

@@ -29,7 +29,8 @@ When using a standard callback for `BLDCMotor` and `StepperMotor` classes:`comma
   -  **C** - Current  
   -  **U** - Voltage   
   -  **V** - Velocity  
-- **R** - Motor phase resistance               
+- **R** - Motor phase resistance                
+- **K** - Motor KV rating              
 - **S** - Sensor offsets     
   - **M** - sensor offset          
   - **E** - sensor electrical zero             
@@ -70,10 +71,10 @@ For example if you have a BLDC motor added to the `commander`:
 BLDCMotor motor = ....
 Commander commander = ...
 
-void onTarget(char* cmd){ commander.target(&motor,cmd); }
+void onMotor(char* cmd){ commander.motor(&motor,cmd); }
 void setup(){
   ...
-  commander.add('M',onTarget,"my motor motion");
+  commander.add('M',onMotor,"my motor motion");
   ...
 }
 void loop(){

docs/simplefoc_library/code/drivers/bldc_driver/bldc_driver_3pwm.md

@@ -61,7 +61,7 @@ You can also always ask the community for help - <a href="https://community.simp
 // pwm frequency to be used [Hz]
 // for atmega328 fixed to 32kHz
 // esp32/stm32/teensy configurable
-driver.pwm_frequency = 50000;
+driver.pwm_frequency = 20000;
 ```
 <blockquote class="warning">
 ⚠️ Arduino devices based on ATMega328 chips have fixed pwm frequency of 32kHz.
@@ -142,7 +142,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
 void setup() {
 
   // pwm frequency to be used [Hz]
-  driver.pwm_frequency = 50000;
+  driver.pwm_frequency = 20000;
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
   // Max DC voltage allowed - default voltage_power_supply
@@ -175,7 +175,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8, 7, 6);
 void setup() {
 
   // pwm frequency to be used [Hz]
-  driver.pwm_frequency = 50000;
+  driver.pwm_frequency = 20000;
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
   // Max DC voltage allowed - default voltage_power_supply

docs/simplefoc_library/code/drivers/bldc_driver/bldc_driver_6pwm.md

@@ -114,7 +114,7 @@ You can also always ask the community for help - <a href="https://community.simp
 // pwm frequency to be used [Hz]
 // for atmega328 fixed to 32kHz
 // esp32/stm32/teensy configurable
-driver.pwm_frequency = 50000;
+driver.pwm_frequency = 20000;
 ```
 <blockquote class="warning">
 ⚠️ Arduino devices based on ATMega328 chips have fixed pwm frequency of 32kHz.
@@ -209,7 +209,7 @@ BLDCDriver6PWM driver = BLDCDriver6PWM(5, 6, 9,10, 3, 11, 8);
 void setup() {
 
   // pwm frequency to be used [Hz]
-  driver.pwm_frequency = 50000;
+  driver.pwm_frequency = 20000;
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
   // Max DC voltage allowed - default voltage_power_supply

docs/simplefoc_library/code/drivers/stepper_driver/stepper_driver_2pwm.md

@@ -58,7 +58,7 @@ StepperDriver2PWM driver = StepperDriver2PWM(3, 4, 5, 6, 11, 12);
 // pwm frequency to be used [Hz]
 // for atmega328 fixed to 32kHz
 // esp32/stm32/teensy configurable
-driver.pwm_frequency = 50000;
+driver.pwm_frequency = 20000;
 ```
 <blockquote class="warning">
 ⚠️ Arduino devices based on ATMega328 chips have fixed pwm frequency of 32kHz.

docs/simplefoc_library/code/drivers/stepper_driver/stepper_driver_4pwm.md

@@ -36,7 +36,7 @@ StepperDriver4PWM driver = StepperDriver4PWM(5, 6, 9, 10, 7,  8);
 // pwm frequency to be used [Hz]
 // for atmega328 fixed to 32kHz
 // esp32/stm32/teensy configurable
-driver.pwm_frequency = 50000;
+driver.pwm_frequency = 20000;
 ```
 <blockquote class="warning">
 ⚠️ Arduino devices based on ATMega328 chips have fixed pwm frequency of 32kHz.
@@ -100,7 +100,7 @@ StepperDriver4PWM driver = StepperDriver4PWM(5, 6, 9,10, 7, 8);
 void setup() {
 
   // pwm frequency to be used [Hz]
-  driver.pwm_frequency = 50000;
+  driver.pwm_frequency = 20000;
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
   // Max DC voltage allowed - default voltage_power_supply

docs/simplefoc_library/code/from_scratch.md

@@ -62,7 +62,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
 
 void setup() {
   // pwm frequency to be used [Hz]
-  driver.pwm_frequency = 50000;
+  driver.pwm_frequency = 20000;
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
   // Max DC voltage allowed - default voltage_power_supply