spelling corrections thanks Carelsbergh Stijn 🇧🇪

Author: runger1101001

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

@@ -12,7 +12,7 @@ has_toc: false
 
 # Commander interface
 
-Commander is a simple and flexible interface monitoring, supervision, configuration and control using the G-code like communication protocol. The communication is based on `ASCII` character command ids which makes simple and efficient to parse on any mcu. After the command id has been received the function attached to this command is called and provided the remaining string of characters received which follows the command character. 
+Commander is a simple and flexible interface monitoring, supervision, configuration and control using the G-code like communication protocol. The communication is based on `ASCII` character command ids which makes simple and efficient to parse on any MCU. After the command id has been received the function attached to this command is called and provided the remaining string of characters received which follows the command character. 
 
 <img src="extras/Images/cmd_motor.gif" class="img100">
 <img src="extras/Images/cmd_motor_get.gif" class="img100">
@@ -166,7 +166,6 @@ void loop(){
 }
 ```
 Or maybe you wish to tune the velocity PID and you and change the target value of the motor and you wish to remove unnecessary memory overhead due to the other functionalities you do nto necessarily need, then your code could look something like:
-something like this:
 ```cpp
 BLDCMotor motor = .....
 Commander commander = ....

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

@@ -25,7 +25,7 @@ Motion control interface in the `Commander` can be integrated in user's applicat
 
 
 ## Target setting in one line
-Commander interface enables the user to set the target value for the motion control as well as the limits at once. However different motion control strategies have different numbers of limits (angle, velocity, torque) so depending of the motion control mode used the behavior of the command will change:
+Commander interface enables the user to set the target value for the motion control as well as the limits at once. However different motion control strategies have different numbers of limits (angle, velocity, torque) so depending of the motion control mode used the behaviour of the command will change:
 
 This feature is available to the user if any one of the three interfaces is added to the `Commander`.
 

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

@@ -34,7 +34,7 @@ void loop(){
 }
 ```
 
-You will be able to configure (set and get) itfrom serial monitor:
+You will be able to configure (set and get) it from serial monitor:
 ```sh
 $ ?           # list available commands 
 A: my variable

docs/simplefoc_library/code/communication/step_dir.md

@@ -63,7 +63,7 @@ step_dir.attach(&my_value);
 ```
 
 <blockquote class="warning"><p class="heading">⚠️ BEWARE: Suboptimal performance</p>
-The simplest forms of communication such as step/dir are designed to be handled in hardware and software, interrupt based, implementation of these communication interfaces is usually not the optimal solution. It will provide the user a good base for testing purposes, but it is hard guarantee long-term robustness.  
+The simplest forms of communication such as step/dir are designed to be handled in hardware and software, interrupt based, implementation of these communication interfaces is usually not the optimal solution. It will provide the user a good base for testing purposes, but it is hard to guarantee long-term robustness.  
 </blockquote>
 
 

docs/simplefoc_library/code/current_sense/index.md

@@ -20,7 +20,7 @@ Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> ha
 
 <img src="extras/Images/comparison_cs.png" class="width40">
 
-up to this moment ( [check the releases <i class="fa fa-tag"></i>](https://github.com/simplefoc/Arduino-FOC/releases) ), Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> supports in-line current sensing for almost all platforms and low-side current sensing on ESP32 boards, stm32 (f1, f4 and g4 families - one motor), samd21 (one motor) and on the stm32 based B_G431B_ESC1 boards (one motor). 
+up to this moment ( [check the releases <i class="fa fa-tag"></i>](https://github.com/simplefoc/Arduino-FOC/releases) ), Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> supports in-line current sensing for almost all platforms and low-side current sensing on ESP32 boards, stm32 (f1, f4 and g4 families - one motor), SAMD21 (one motor) and on the STM32 based B-G431B-ESC1 boards (one motor). 
 
 Each one of the current sensing classes will implement all the necessary functionalities for simple and robust implementation of FOC algorithm:
 - Hardware config
@@ -31,7 +31,7 @@ Each one of the current sensing classes will implement all the necessary functio
   - Adaptive alignment with driver phases
 - Reading the phase currents
   - Calculation of the current vector magnitude 
-  - Calculation of the FOC d and q currents 
+  - Calculation of the FOC D and Q currents 
 
 Each of the implemented classes can be used as stand-alone classes and they can be used to read current values on BLDC driver outputs out of scope of the Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span>, see example codes in `utils > current_sense_test`.
 In order for FOC algorithm to work the current sense classes are linked to a `BLDCMotor` class which uses the driver to read the FOC currents.   
@@ -47,18 +47,19 @@ MCU | In-line | Low-side | High-side
 --- | --- |--- |--- 
 Arduino (8-bit) | ✔️ | ❌ |  ❌
 Arduino DUE  | ✔️ | ❌ |  ❌
-stm32 (in general) | ✔️ | ❌ |  ❌
-stm32f1 family | ✔️ | ✔️ (one motor) |  ❌
-stm32f4 family | ✔️ | ✔️ (one motor) |  ❌
-stm32g4 family | ✔️ | ✔️ (one motor) |  ❌
-stm32 B_G431B_ESC1 | ✔️ | ✔️ |  ❌
-esp32 | ✔️ | ✔️ |  ❌
-esp8266 | ❌ | ❌ |  ❌ 
-samd21 | ✔️ | ✔️ (one motor) |  ❌ 
-samd51 | ✔️ | ❌ |  ❌ 
-teensy | ✔️ | ❌ |  ❌
+STM32 (in general) | ✔️ | ❌ |  ❌
+STM32F1 family | ✔️ | ✔️ (one motor) |  ❌
+STM32F4 family | ✔️ | ✔️ (one motor) |  ❌
+STM32G4 family | ✔️ | ✔️ (one motor) |  ❌
+STM32 B-G431B-ESC1 | ✔️ | ✔️ |  ❌
+ESP32 | ✔️ | ✔️ |  ❌
+ESP8266 | ❌ | ❌ |  ❌ 
+SAMD21 | ✔️ | ✔️ (one motor) |  ❌ 
+SAMD51 | ✔️ | ❌ |  ❌ 
+Teensy | ✔️ | ❌ |  ❌
 Raspberry Pi Pico | ✔️ | ❌ |  ❌
 Portenta H7 | ✔️ | ❌ |  ❌
 
 ## Digging deeper
+
 For more theoretical explanations and source code implementations of the current sensing and its integration into the FOC and motion  check out the [digging deeper section](digging_deeper).

docs/simplefoc_library/code/current_sense/inline.md

@@ -17,19 +17,19 @@ Inline current sensing technique is the simplest one to use and the most precise
 
 ## Current sensing support per MCU architecture
 
-In-line current sensing is currently supported for almost all MCU architectures supported by the <span class="simple">Simple<span class="foc">FOC</span>library</span>. Only not supported architecture is the ESP8266 which does not have 2 ADC pins, making it unable to run FOC. 
+In-line current sensing is currently supported for almost all MCU architectures supported by the <span class="simple">Simple<span class="foc">FOC</span>library</span>. The only not supported architecture is the ESP8266 which does not have 2 ADC pins, making it unable to run FOC. 
 
 MCU | In-line Current sensing
 --- | --- 
 Arduino (8-bit) | ✔️ 
 Arduino DUE  | ✔️ 
-stm32  | ✔️ 
-stm32 B_G431B_ESC1 | ✔️ 
-esp32 | ✔️ 
-esp8266 | ❌  
-samd21 | ✔️  
-samd51 | ✔️  
-teensy | ✔️ 
+STM32  | ✔️ 
+STM32 B_G431B_ESC1 | ✔️ 
+ESP32 | ✔️ 
+ESP8266 | ❌  
+SAMD21 | ✔️  
+SAMD51 | ✔️  
+Teensy | ✔️ 
 Raspberry Pi Pico | ✔️ 
 Portenta H7 | ✔️ 
 

docs/simplefoc_library/code/current_sense/low_side.md

@@ -21,22 +21,22 @@ Low side current sensing for all the architectures is on our road-map and we are
 
 ## Current sensing support per MCU architecture
 
-Low side current sensing is currently supported for several MCU architectures supported by the <span class="simple">Simple<span class="foc">FOC</span>library</span>. ESP32 architecture has the most generic support, supporting multiple motors per chip. Stm32 families f1, f4 and g4 are initially supported and support low-side sensing for only one motor. A special case of the stm32 board is the BG431_ESC1 development kit which has very specific low-side implementation for its hardware configuration, and it is fully supported by the library. Samd21 architecture is under development, it has an initial support for only one motor, but for now as it has not been extensively tested, we suggest not to rely on our implementation.
+Low side current sensing is currently supported for several MCU architectures supported by the <span class="simple">Simple<span class="foc">FOC</span>library</span>. ESP32 architecture has the most generic support, supporting multiple motors per chip. Stm32 families f1, f4 and g4 are initially supported and support low-side sensing for only one motor. A special case of the STM32 board is the B-G431-ESC1 development kit which has very specific low-side implementation for its hardware configuration, and it is fully supported by the library. Samd21 architecture is under development, it has an initial support for only one motor, but for now as it has not been extensively tested, we suggest not to rely on our implementation.
 
 MCU | Low-side  Current sensing
 --- | --- 
 Arduino (8-bit) |  ❌
 Arduino DUE  |  ❌
-stm32 (in general) |❌ 
-stm32f1 family | ✔️ (one motor) 
-stm32f4 family | ✔️ (one motor) 
-stm32g4 family | ✔️ (one motor) 
-stm32 B_G431B_ESC1 | ✔️ 
-esp32 |✔️ 
-esp8266 | ❌ 
-samd21 | ✔️/❌ (one motor, poorly tested) 
-samd51 | ❌ 
-teensy |  ❌
+STM32 (in general) |❌ 
+STM32f1 family | ✔️ (one motor) 
+STM32f4 family | ✔️ (one motor) 
+STM32g4 family | ✔️ (one motor) 
+STM32 B_G431B_ESC1 | ✔️ 
+ESP32 |✔️ 
+ESP8266 | ❌ 
+SAMD21 | ✔️/❌ (one motor, poorly tested) 
+SAMD51 | ❌ 
+Teensy |  ❌
 Raspberry Pi Pico | ❌
 Portenta H7 |  ❌
 
@@ -233,8 +233,7 @@ If you are sure in your configuration and if you wish to skip the alignment proc
 current_sense.skip_align = true;
 ```
 
-For example  [AliExpress DRV8302 board](https://fr.aliexpress.com/wholesale?catId=0&initiative_id=SB_20211003032006&SearchText=bldc+drv8302) , you would have a code similar to this:
-For example, Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span> v2, you would have a code similar to this:
+For example for the [AliExpress DRV8302 board](https://fr.aliexpress.com/wholesale?catId=0&initiative_id=SB_20211003032006&SearchText=bldc+drv8302), you would have code similar to this:
 ```cpp
 // one possible combination of current sensing pins for SimpleFOCShield v2
 // shunt - 5milliOhm

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

@@ -9,15 +9,15 @@ grand_grand_parent: Writing the Code
 grand_grand_grand_parent: Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span>
 ---
 
-# BLDC driver 3PWM - `BLDCDriver3PWM`
+# BLDC driver 3 PWM - `BLDCDriver3PWM`
 
 This is the class which provides an abstraction layer of most of the common 3PWM bldc drivers out there. Basically any BLDC driver board that can be run using 3PWM signals can be represented with this class.
 Examples:
 - Arduino <span class="simple">Simple<span class="foc">FOC</span>Shield</span>
 - Arduino <span class="simple">Simple<span class="foc">FOC</span> <span class="power">Power</span>Shield</span>
 - L6234 breakout board
 - HMBGC v2.2
-- DRV830x ( can be run in 3pwm or 6pwm mode )
+- DRV830x ( can be run in 3 PWM or 6 PWM mode )
 - X-NUCLEO-IHM07M1
 - etc.
 
@@ -164,7 +164,7 @@ void loop() {
 }
 ```
 
-An example code of the BLDC driver with three enable pins, one for each phase. This code will put one phase at the time to the high-impedance mode and pun 3 and 6 Volts on the remaining two. 
+An example code of the BLDC driver with three enable pins, one for each phase. This code will put one phase at the time to the high-impedance mode and put 3 and 6 Volts on the remaining two. 
 ```cpp
 // BLDC driver standalone example
 #include <SimpleFOC.h>