diff --git a/README.md b/README.md
index f984e7e..022a38a 100644
--- a/README.md
+++ b/README.md
@@ -53,7 +53,7 @@
 ### Installation
 
 1. Download or clone this repository.
-2. Copy the `I2CMotor`, `I2CMasterUtils`, and related library folders to your Arduino `libraries` directory.
+2. Copy the `I2CMotor`, and related library folders to your Arduino `libraries` directory.
 3. Restart the Arduino IDE.
 
 #### File Overview
@@ -61,8 +61,6 @@
 | File/Folder         | Purpose                                                      |
 |---------------------|-------------------------------------------------------------|
 | `I2CMotor.h/.cpp`   | Arduino class for controlling a DC motor via I2C            |
-| `I2CMasterUtils.h/.cpp` | Utility functions for scanning I2C bus and changing addresses |
-| `I2CCommands.h`     | I2C command definitions (e.g., address change command code) |
 | `Master.ino`        | Example sketch for I2C master (controller)                  |
 | `Slave.ino`         | Example sketch for I2C slave (motor driver)                 |
 | `keywords.txt`      | Arduino IDE syntax highlighting                             |
@@ -81,18 +79,36 @@ The I2CMotor offers exceptional versatility, as it can function as a standalone
 #### 1. Include the Library
 
 ```cpp
-#include 
 #include "I2CMotor.h"
-#include "I2CMasterUtils.h"
 ```
 
 #### 2. Master Example
 
+
+
 - Upload `Master.ino` to your Arduino master device.
-- Use the serial monitor to:
-  - Scan for devices: enter `s`
-  - Change a device address: enter `ch  ` (e.g., `ch 55 56`)
-  - Set motor speed and direction: enter ` ` (e.g., `75 1` for 75% speed, forward)
+- Use the following functions to control and configure your motor:
+
+  - `motor.identify();`  
+    *Scan and identify the connected motor.*
+
+  - `motor.setDeviceName("Name");`  
+    *Assign a new name to the motor.*
+
+  - `motor.setMinMax(Min, Max);`  
+    *Set the minimum and maximum speed limits for the motor.*
+
+  - `motor.setMotorDirection(MotorNum, Direction);`  
+    *Set the rotation direction for a specific motor.  
+    - `MotorNum`: The number of the motor you want to control.  
+    - `Direction`: Use `1` for clockwise, `2` for counter-clockwise.*
+
+  - `motor.setMotorSpeed(MotorNum, Speed);`  
+    *Set the speed for a specific motor.  
+    - `MotorNum`: The number of the motor you want to control.  
+    - `Speed`: Desired speed value.*
+
+---
 
 #### 3. Slave Example
 
@@ -103,44 +119,28 @@ The I2CMotor offers exceptional versatility, as it can function as a standalone
 
 ### API Overview
 
-**I2CMotor**
 
-- `I2CMotor(uint8_t address = 0x55);`  
-  Create a motor object with a given I2C address.
-- `void begin();`  
-  Initialize I2C communication.
-- `void setSpeed(uint8_t speed, uint8_t direction);`  
-  Set motor speed (0–100) and direction (0 or 1).
-- `void stop();`  
-  Stop the motor.
-- `void setAddress(uint8_t newAddress);`  
-  Change the I2C address used by this object.
-
-**I2CMasterUtils**
-
-- `scanI2C(Stream &output = Serial);`  
-  Scan and print all I2C device addresses.
-- `changeSlaveAddress(uint8_t oldAddr, uint8_t newAddr, Stream &output = Serial);`  
-  Send command to change a device's I2C address.
-- `parseChangeAddressCommand(const String &input, uint8_t &oldAddr, uint8_t &newAddr);`  
-  Parse address change command from serial input.
-
----
-
-### Example Serial Commands
-
-- `s`  
-  Scan I2C bus for devices.
-- `ch 55 56`  
-  Change device address from `0x55` to `0x56`.
-- `75 1`  
-  Set motor speed to 75%, direction to forward (1).
+| Function | Description | Parameters | Return Type |
+|----------|-------------|------------|-------------|
+| `I2CMotor()` | Default constructor. | – | – |
+| `I2CMotor(uint8_t sda, uint8_t scl, uint32_t freq)` | Constructor with I2C pin and frequency configuration. | `sda` (I2C SDA pin), `scl` (I2C SCL pin), `freq` (I2C frequency) | – |
+| `void begin()` | Initializes I2C communication and scans for the motor controller. | – | – |
+| `bool found()` | Checks if a motor controller was found. | – | `bool` |
+| `uint8_t address()` | Returns the detected motor controller I2C address. | – | `uint8_t` |
+| `String identify()` | Requests and returns the identification string from the motor controller. | – | `String` |
+| `void setDeviceName(const char* newname)` | Sets a new name for the motor controller. | `newname` (C-string) | – |
+| `void setMinMax(uint8_t min_pwm, uint8_t max_pwm)` | Sets minimum and maximum PWM (speed) values. | `min_pwm`, `max_pwm` | – |
+| `void setMotorDirection(uint8_t motor, uint8_t dir)` | Sets direction for a specified motor. | `motor` (motor number), `dir` (1: CW, 2: CCW) | – |
+| `void setMotorSpeed(uint8_t motor, uint8_t speed_percent)` | Sets speed (as percentage) for a specified motor. | `motor` (motor number), `speed_percent` | – |
+| `void emergencyStop()` | Sends an emergency stop command to the motor controller. | – | – |
+| `uint8_t scanForMotorController()` | Scans the I2C bus for a compatible motor controller and returns its address. | – | `uint8_t` |
+| `String queryIdentification(uint8_t addr)` | Requests and returns identification string for a given I2C address. | `addr` (I2C address) | `String` |
 
 ---
 
 ### Notes
 
-- The default I2C address is `0x55`. You can change it using the provided command.
+- The default I2C address is `0x08`. You can change it using the provided command.
 - The slave stores its address in EEPROM and will remember it after reset.
 - Modify pin definitions in `Slave.ino` as needed for your hardware.