minimal branch link

Author: askuric

README.md

@@ -1,4 +1,4 @@
-# Arduino Field Oriented Control (FOC) library
+# Arduino Simple Field Oriented Control (FOC) library 
 
 
 ![Library Compile](https://github.com/askuric/Arduino-FOC/workflows/Library%20Compile/badge.svg)
@@ -14,6 +14,8 @@ Proper low cost FOC supporting boards are very hard to find these days and even
  and demistify FOC control in a simple way. 
 
 
+For minimal version of the code more suitable for experimenting please visit the [minimal branch](https://github.com/askuric/Arduino-FOC/tree/minimal).
+
 #### The closest you can get to FOC support and low cost (I was able to find) is:
 
 <a href="https://odriverobotics.com/" >Odroid</a> | <a href="https://www.youtube.com/watch?v=g2BHEdvW9bU">Trinamic</a>
@@ -45,13 +47,13 @@ Alternatively the library supports the arduino based gimbal controllers such as:
 - HMBGC V2.2 ([Ebay](https://www.ebay.com/itm/HMBGC-V2-0-3-Axle-Gimbal-Controller-Control-Plate-Board-Module-with-Sensor/351497840990?hash=item51d6e7695e:g:BAsAAOSw0QFXBxrZ:rk:1:pf:1))
 
 
-## Arduino FOC Shield V1.2
+## Arduino Simple FOC Shield V1.2
 
 At this moment we are developing an open source version of Arduin shiled specifically for FOC motor control. 
 We already have prototypes of the board and we are in the testing phase. We will be coming out with the details very soon!
 
 ### Features
-- Plug and play capability with the Arduino FOC library
+- Plug and play capability with the Arduino Simple FOC library
 - Price in the range of \$20-\$40
 - Gerber files and BOM available Open Source
 
@@ -105,7 +107,7 @@ Motor phases `a`,`b`,`c` and encoder channels `A` and `B` have to be oriented ri
 
 
 
-# Arduino FOC library code
+# Arduino Simple FOC library code
 The code is organised into a librarie. The library contains two classes `BLDCmotor` and `Endcoder`. `BLDCmotor` contains all the necessary FOC algorithm funcitons as well as PI controllers for the velocity and angle control.  `Encoder`  deals with the encoder interupt funcitons, calcualtes motor angle and velocity( using the [Mixed Time Frequency Method](https://github.com/askuric/Arduino-Mixed-Time-Frequency-Method)).
 
 ## Encoder setup
@@ -316,7 +318,7 @@ This function aligns encoder and motor zero positions and intialises FOC variabl
 
 ### Real-time execution `loop()`
 
-The real time execution of the Arduino FOC library is govenred by two funcitons `motor.loopFOC()` and `motor.move(float target)`.
+The real time execution of the Arduino Simple FOC library is govenred by two funcitons `motor.loopFOC()` and `motor.move(float target)`.
 ```cpp
 // iterative state calculation calculating angle
 // and setting FOC pahse voltage