From bbb76723795383ba4f79a6b4a299fa7235dff7cc Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Mon, 13 Nov 2017 16:48:54 -0500
Subject: [PATCH] typos

---
 README.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 85619e0..1d1a1c1 100644
--- a/README.md
+++ b/README.md
@@ -6,8 +6,8 @@ This project is largely a follow-on to [my Teensy-Powered Brushless Motor Contro
 
 TESC, April 2016 - August 2016  
 *As the world turns,  
-so did those motors,  
-once around is never enough*  
+so did those motors.  
+Once around is never enough*  
 
 Eulagies aside, I am still motivated to do this. Brushless motors are the go-to motive force for electromechanical systems. By that I mean that just about any time you see a robot-like thing, or machine, moving about, there's a big likelihood that the thing doing-the-moving has a brushless motor in it's guts - or some variant thereof (stepper motors count as BLDCs in my books).  
 
@@ -19,7 +19,7 @@ Eulagies aside, I am still motivated to do this. Brushless motors are the go-to
 
 And a GIF. While the rotor rotates, different switches are connected to current, and the coils - to - pads relationship is set up such that the current will cause the motor to rotate. Pardon my abbreviated explanation.
 
-![brushed-dc]((https://gitlab.cba.mit.edu/jakeread/mkbldcdriver/raw/master/images/brushed-dc.gif)
+![brushed-dc](https://gitlab.cba.mit.edu/jakeread/mkbldcdriver/raw/master/images/brushed-dc.gif)
 
 Brushes are awesome - and make motors very simple. You just pump voltage (so current) through the rotor, and things happen. However, there are resistive losses at the brushes, as well as friction losses.
 
@@ -27,7 +27,7 @@ With the advent of transistor technology (for switching logic AND for switching
 
 **(3) Brushless Motors rotate the magnetic field with switches** - so we can make the coils stationary, and 'artificially' switch the direction and timing of current flowing through them. Here's a nice GIF of sinusoidal commutation (where phase currents follow a nice, smooth wave).
 
-![bldc-animation]((https://gitlab.cba.mit.edu/jakeread/mkbldcdriver/raw/master/images/bldc-motor-vectors.gif)
+![bldc-animation](https://gitlab.cba.mit.edu/jakeread/mkbldcdriver/raw/master/images/bldc-motor-vectors.gif)
 
 We can see the three current vectors (that translate into a combined magnetic field vector). We also have a simpler type of switching, where we only turn two of the three phases on at a time. You can see an example of that [here](https://www.youtube.com/watch?v=oFI7VW6WGR4) - including a nice diagram of the switch setup.
 
-- 
GitLab