diff --git a/README.md b/README.md
index 4fbb7517..3dcc7385 100644
--- a/README.md
+++ b/README.md
@@ -29,27 +29,13 @@ Therefore this is an attempt to:
    - For official driver boards see [<span class="simple">Simple<span class="foc">FOC</span>Boards</span>](https://docs.simplefoc.com/boards)
    - Many many more boards developed by the community members, see [<span class="simple">Simple<span class="foc">FOC</span>Community</span>](https://community.simplefoc.com/)
 
-> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.4
-> - ESP32 MCUs extended support [#414](https://github.com/simplefoc/Arduino-FOC/pull/414)
->   - Transition to the arduino-esp32 version v3.x (ESP-IDF v5.x) [#387](https://github.com/espressif/arduino-esp32/releases)
->   - New support for MCPWM driver
->   - New support for LEDC drivers - center-aligned PWM and 6PWM available 
->   - Rewritten and simplified the fast ADC driver code (`adcRead`) - for low-side and inline current sensing.
-> - Stepper motors current sensing support [#421](https://github.com/simplefoc/Arduino-FOC/pull/421)
->   - Support for current sensing (low-side and inline) - [see in docs](https://docs.simplefoc.com/current_sense)
->   - Support for true FOC control - `foc_current` torque control - [see in docs](https://docs.simplefoc.com/motion_control)
-> - New current sense alignment procedure  [#422](https://github.com/simplefoc/Arduino-FOC/pull/422) - [see in docs](https://docs.simplefoc.com/current_sense_align)
->   - Support for steppers
->   - Much more robust and reliable
->   - More verbose and informative 
-> - Support for HallSensors without interrupts [#424](https://docs.simplefoc.com/https://github.com/simplefoc/Arduino-FOC/pull/424) - [see in docs](hall_sensors) 
-> - Docs
->   - A short guide to debugging of common issues
->   - A short guide to the units in the library - [see in docs](https://docs.simplefoc.com/library_units)
-> - See the complete list of bugfixes and new features of v2.3.4 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/11) 
-
-
-## Arduino *SimpleFOClibrary* v2.3.4
+> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.5
+> - Motor characterization code thanks to @mcells
+> - Bugfix for ESP32 C6 thanks to @kondor1622
+> - See the complete list of bugfixes and new features of v2.3.5 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/12) 
+
+
+## Arduino *SimpleFOClibrary* v2.3.5
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">
diff --git a/library.properties b/library.properties
index 5daa49d9..354a2118 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Simple FOC
-version=2.3.4
+version=2.3.5
 author=Simplefoc <info@simplefoc.com>
 maintainer=Simplefoc <info@simplefoc.com>
 sentence=A library demistifying FOC for BLDC motors
diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp
index 501a8bc9..5ad8a93f 100644
--- a/src/BLDCMotor.cpp
+++ b/src/BLDCMotor.cpp
@@ -290,9 +290,7 @@ int BLDCMotor::alignSensor() {
     zero_electric_angle = electricalAngle();
     //zero_electric_angle =  _normalizeAngle(_electricalAngle(sensor_direction*sensor->getAngle(), pole_pairs));
     _delay(20);
-    if(monitor_port){
-      SIMPLEFOC_DEBUG("MOT: Zero elec. angle: ", zero_electric_angle);
-    }
+    SIMPLEFOC_DEBUG("MOT: Zero elec. angle: ", zero_electric_angle);
     // stop everything
     setPhaseVoltage(0, 0, 0);
     _delay(200);
diff --git a/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.cpp b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.cpp
index a481c6ff..80d936d1 100644
--- a/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.cpp
+++ b/src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.cpp
@@ -181,7 +181,7 @@ uint8_t _findNextTimer(int group){
 */
 int _findBestGroup(int no_pins, long pwm_freq, int* group, int* timer){
   // an empty group is always the best option
-  for(int i=0; i<2; i++){
+  for(int i=0; i<SOC_MCPWM_GROUPS; i++){
     if(!group_pins_used[i]){
       *group = i;
       *timer=0; // use the first timer in an empty group
@@ -196,7 +196,7 @@ int _findBestGroup(int no_pins, long pwm_freq, int* group, int* timer){
     // second best option is if there is a group with 
     // pair number of pwms available as we can then 
     // set the pwm frequency 
-    for(int i=0; i<2; i++){
+    for(int i=0; i<SOC_MCPWM_GROUPS; i++){
       if(_hasAvailablePins(i, no_pins+1)) {
         *group=i;
         *timer = _findNextTimer(i);
@@ -204,7 +204,7 @@ int _findBestGroup(int no_pins, long pwm_freq, int* group, int* timer){
       }
     }
     // third best option is any group that has enough pins
-    for(int i=0; i<2; i++){
+    for(int i=0; i<SOC_MCPWM_GROUPS; i++){
       if(_hasAvailablePins(i, no_pins)) {
         *group=i;
         *timer = _findLastTimer(i);
diff --git a/src/sensors/Encoder.h b/src/sensors/Encoder.h
index af6a5ab6..ab494d13 100644
--- a/src/sensors/Encoder.h
+++ b/src/sensors/Encoder.h
@@ -68,7 +68,7 @@ class Encoder: public Sensor{
     /**
      * returns 0 if it does need search for absolute zero
      * 0 - encoder without index 
-     * 1 - ecoder with index
+     * 1 - encoder with index
      */
     int needsSearch() override;