updated broken links

Author: askuric

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

@@ -233,9 +233,9 @@ If you wish to change the character id of a certain command that is the place to
 
 In general we can separate the commands into:
 - [Commander commands](#commander-commands) - commands specific for the `Commander` class
-- [PID commands](commands_pid)  - commands specific for the `PIDController` class 
-- [Low pass filter commands](command_lpf) - commands specific for the `LowPassFilter` class
-- [Motor commands](command_motor) - commands specific for the `FOCMotor` classes
+- [PID commands](commander_pid)  - commands specific for the `PIDController` class 
+- [Low pass filter commands](commander_pid) - commands specific for the `LowPassFilter` class
+- [Motor commands](commander_motor) - commands specific for the `FOCMotor` classes
 
 When adding the `scalar` variable to the commander or the motion control `target` the only command letter used is the one provided to the `commander.add`. 
 - [Scaler variable](commander_scalar) - adding the scalar `float` variable

docs/simplefoc_library/code/motion_control/closed_loop_control/angle.md

@@ -201,4 +201,4 @@ Here is one project example which uses position control and describes the full h
     </a>
 </div>
 
-Find more projects in the [example projects](example_projects) section.
+Find more projects in the [example projects](examples) section.

docs/simplefoc_library/code/motion_control/closed_loop_control/torque_control/index.md

@@ -61,7 +61,7 @@ The torque control loop is used as a base for all other motion control loops.  F
 
 ## Configuration parameters
 Depending on the torque control type you wish to use there are different parameters that you need to consider. 
-- [Voltage mode](voltage_mode)  - the simplest one - no parameters except maybe `motor.phase_resistance`
+- [Voltage mode](voltage_torque_mode)  - the simplest one - no parameters except maybe `motor.phase_resistance`
 - [DC current mode](dc_current_torque_mode) - 1xPID controller + 1xLPF
 - [FOC current mode](foc_current_torque_mode) - 2xPID controller + 2xLPF filters 
 
@@ -95,4 +95,4 @@ Here is one very cool project example which uses torque control and describes th
     </a>
 </div>
 
-Find more projects in the [example projects](example_projects) section.
+Find more projects in the [example projects](examples) section.

docs/simplefoc_library/code/motion_control/closed_loop_control/velocity.md

@@ -164,4 +164,4 @@ Here are two project examples which use velocity motion control and describe the
     </a>
 </div>
 
-Find more projects in the [example projects](example_projects) section.
+Find more projects in the [example projects](examples) section.

docs/simplefoc_library/code/motors/bldc_motors.md

@@ -56,7 +56,7 @@ Working with currents instead of voltages is better in may ways, since the torqu
 
 It is important to say that once you specify the phase resistance value, you will most probably have to retune the [velocity motion control](velocity_loop) and [angle motion control](angle_loop) parameters, due to the reason that the voltages and currents values are in different orders of magnitude. The rule of thumb is to divide all the `P`, `I` and `D` gains with the `motor.phase_resistance` value. That will be a good staring point.
 
-Finally, this parameter is suggested to be used if one whats to switch in real time in between voltage ([voltage mode](voltage_mode)) and current based ([DC current](dc_current_torque_mode) and [FOC current](foc_current_torque_mode)) torque control strategies. Since in this way all the torque control loops will have current as input (target value) the user will not have to change the motion control parameters (PID values). 
+Finally, this parameter is suggested to be used if one whats to switch in real time in between voltage ([voltage mode](voltage_torque_mode)) and current based ([DC current](dc_current_torque_mode) and [FOC current](foc_current_torque_mode)) torque control strategies. Since in this way all the torque control loops will have current as input (target value) the user will not have to change the motion control parameters (PID values). 
 
 <blockquote class="info">
 <p class="heading">Open-loop motion control will use KV and phase resitance values  </p>
@@ -157,11 +157,11 @@ Read more in the [torque control docs](voltage_torque_mode).
 
 ### Step 5.5 Torque control mode
 There are 3 different torque control modes implemented in the Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span>: 
-- [Voltage mode](voltage_mode)
+- [Voltage mode](voltage_torque_mode)
 - [DC current](dc_current_torque_mode)
 - [FOC current](foc_current_torque_mode)
 
-[DC current](dc_current_torque_mode) and [FOC current](foc_current_torque_mode) require current sensing and are controlling current and limiting the real current the motor is drawing, whereas [voltage mode](voltage_mode) approximates the motor current and does not use any current sensing. Read more in [torque control docs](torque_control).
+[DC current](dc_current_torque_mode) and [FOC current](foc_current_torque_mode) require current sensing and are controlling current and limiting the real current the motor is drawing, whereas [voltage mode](voltage_torque_mode) approximates the motor current and does not use any current sensing. Read more in [torque control docs](torque_control).
 
 The torque mode can be set by changing the motor attribute `torque_controller`.
 ```cpp
@@ -308,7 +308,7 @@ The faster you can run this function the better, here is approximative loops exe
 <table>
 <tr>
 <td>MCU</td>
-<td><a href="voltage_mode">Voltage mode</a></td>
+<td><a href="voltage_torque_mode">Voltage mode</a></td>
 <td><a href="dc_current_torque_mode">DC current</a></td>
 <td><a href="foc_current_torque_mode">FOC current</a></td>
 </tr>

docs/simplefoc_library/code/motors/stepper_motors.md

@@ -57,7 +57,7 @@ Working with currents instead of voltages is better in may ways, since the torqu
 
 It is important to say that once you specify the phase resistance value, you will most probably have to retune the [velocity motion control](velocity_loop) and [angle motion control](angle_loop) parameters, due to the reason that the voltages and currents values are in different orders of magnitude. The rule of thumb is to divide all the `P`, `I` and `D` gains with the `motor.phase_resistance` value. That will be a good staring point.
 
-Finally, this parameter is suggested to be used if one whats to switch in real time in between voltage ([voltage mode](voltage_mode)) and current based ([DC current](dc_current_torque_mode) and [FOC current](foc_current_torque_mode)) torque control strategies. Since in this way all the torque control loops will have current as input (target value) the user will not have to change the motion control parameters (PID values). 
+Finally, this parameter is suggested to be used if one whats to switch in real time in between voltage ([voltage mode](voltage_torque_mode)) and current based ([DC current](dc_current_torque_mode) and [FOC current](foc_current_torque_mode)) torque control strategies. Since in this way all the torque control loops will have current as input (target value) the user will not have to change the motion control parameters (PID values). 
 
 <blockquote class="info">
 <p class="heading">Open-loop motion control will use KV and phase resitance values  </p>