diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml
index fc16dff..4310a32 100644
--- a/.github/workflows/ccpp.yml
+++ b/.github/workflows/ccpp.yml
@@ -26,32 +26,32 @@ jobs:
           - arduino:mbed_rp2040:pico                 # rpi pico          
         include:
           - arduino-boards-fqbn: arduino:avr:uno
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: arduino:sam:arduino_due_x
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: arduino:samd:nano_33_iot
-            required-libraries: Simple FOC 
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: arduino:mbed_rp2040:pico
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4
             platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
           # - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1
           #   platform-url: https://dl.espressif.com/dl/package_esp32_index.json
           #   required-libraries: Simple FOC
           #   sketch-names: '**.ino'
           - arduino-boards-fqbn: esp32:esp32:esp32 # esp32 
-            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
-            required-libraries: Simple FOC
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2
-            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
-            required-libraries: Simple FOC
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
       # Do not cancel all jobs / architectures if one job fails
       fail-fast: false
     steps:
diff --git a/README.md b/README.md
index b9ec1a9..98d5e76 100644
--- a/README.md
+++ b/README.md
@@ -6,7 +6,7 @@
 ![Release](https://www.ardu-badge.com/badge/SimpleDCMotor.svg?)
 
 
-Release 1.0.1 for SimpleFOC 2.3.1
+Release 1.0.2 for SimpleFOC 2.3.1 or later
 
 :warning: code in development! Please help us test it!
 
@@ -130,6 +130,7 @@ void setup() {
 
   driver.voltage_power_supply = 10.0f;
   driver.voltage_limit = 10.0f;
+  driver.pwm_frequency = 5000;
   motor.torque_controller = TorqueControlType::voltage;
   motor.controller = MotionControlType::torque;
 
diff --git a/examples/dc-open-loop/dc-open-loop.ino b/examples/dc-open-loop/dc-open-loop.ino
index 10f4ab5..9e8ab12 100644
--- a/examples/dc-open-loop/dc-open-loop.ino
+++ b/examples/dc-open-loop/dc-open-loop.ino
@@ -13,12 +13,12 @@
 #include <Arduino.h>
 
 #include "SimpleFOC.h"
-#include "SimpleFOCDCMotor.h"
+#include "SimpleDCMotor.h"
 
 // DCDriver object - this is the only thing needed for open-loop control.
 // There are different types to choose from, please select the correct one
 // that matches your motor driver hardware.
-DCDriverSpeedDir driver = DCDriverSpeedDir(2, 3);
+DCDriver1PWM1Dir driver = DCDriver1PWM1Dir(2, 3);
 
 /**
  * Setup function, in which you should intialize the driver.
diff --git a/examples/dc-torque-voltage/dc-torque-voltage.ino b/examples/dc-torque-voltage/dc-torque-voltage.ino
index e69fcad..82e570b 100644
--- a/examples/dc-torque-voltage/dc-torque-voltage.ino
+++ b/examples/dc-torque-voltage/dc-torque-voltage.ino
@@ -16,7 +16,7 @@
 #include <Arduino.h>
 
 #include "SimpleFOC.h"
-#include "SimpleFOCDCMotor.h"
+#include "SimpleDCMotor.h"
 
 
 // DCMotor object
@@ -46,6 +46,7 @@ void setup() {
   // if you want, you can limit the voltage used by the driver.
   // This value has to be same as or lower than the power supply voltage.
   driver.voltage_limit = 10.0f;
+  // often, you will want to set a lower PWM frequency than the default
   driver.pwm_frequency = 5000;
   // init driver
   driver.init();
diff --git a/library.properties b/library.properties
index 1dd34fd..4754ea2 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=SimpleDCMotor
-version=1.0.1
+version=1.0.2
 author=Simplefoc <info@simplefoc.com>
 maintainer=Simplefoc <info@simplefoc.com>
 sentence=A library enabling DC motor control with SimpleFOC.
diff --git a/src/DCMotor.cpp b/src/DCMotor.cpp
index e16f1f7..451e13a 100644
--- a/src/DCMotor.cpp
+++ b/src/DCMotor.cpp
@@ -56,7 +56,7 @@ void DCMotor::init() {
     enable();
     _delay(50);
 
-    if (!_isset(sensor_direction)) {
+    if (sensor_direction==Direction::UNKNOWN) {
         sensor_direction = Direction::CW;
         SIMPLEFOC_DEBUG("MOT: Sensor Dir: CW");
     }