diff --git a/Source/MotorWing/Driver/Readme.md b/Source/MotorWing/Driver/Readme.md
index 7408286..9412b03 100644
--- a/Source/MotorWing/Driver/Readme.md
+++ b/Source/MotorWing/Driver/Readme.md
@@ -26,7 +26,6 @@ public override Task Initialize()
 
     var i2CBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);
     motorWing = new MotorWing(i2CBus, new Frequency(100, Frequency.UnitType.Hertz), 0x61);
-    motorWing.Initialize();
 
     return Task.CompletedTask;
 }
@@ -34,16 +33,16 @@ public override Task Initialize()
 public override async Task Run()
 {
     //Get DC motor 1
-    var dcMotor1 = motorWing.GetMotor(1);
+    var dcMotor1 = motorWing.GetMotor(MotorWing.DCMotorIndex.Motor1);
 
     //Get DC motor 2
-    var dcMotor2 = motorWing.GetMotor(2);
+    var dcMotor2 = motorWing.GetMotor(MotorWing.DCMotorIndex.Motor2);
 
     //Get Stepper motor number 2
-    var stepper = motorWing.GetStepper(2, 200);
+    var stepper = motorWing.GetStepper(MotorWing.StepperMotorIndex.Motor2, 200);
 
-    dcMotor1.Run(Commmand.FORWARD);
-    dcMotor2.Run(Commmand.BACKWARD);
+    dcMotor1.Run(MotorWing.Direction.Forward);
+    dcMotor2.Run(MotorWing.Direction.Reverse);
 
     while (true)
     {
diff --git a/Source/ServoWing/Driver/Readme.md b/Source/ServoWing/Driver/Readme.md
index f979937..5e26b75 100644
--- a/Source/ServoWing/Driver/Readme.md
+++ b/Source/ServoWing/Driver/Readme.md
@@ -19,7 +19,7 @@ You can install the library from within Visual studio using the the NuGet Packag
 
 ```csharp
 ServoWing servoWing;
-Servo servo;
+AngularServo servo;
 
 public override Task Initialize()
 {
@@ -27,7 +27,9 @@ public override Task Initialize()
 
     servoWing = new ServoWing(Device.CreateI2cBus(I2cBusSpeed.FastPlus));
 
-    servo = servoWing.GetServo(0, NamedServoConfigs.SG90);
+    servo = servoWing.GetServo(0,
+        new AngularServo.PulseAngle(NamedServoConfigs.SG90.MinimumAngle, new TimePeriod(NamedServoConfigs.SG90.MinimumPulseDuration, TimePeriod.UnitType.Milliseconds)),
+        new AngularServo.PulseAngle(NamedServoConfigs.SG90.MaximumAngle, new TimePeriod(NamedServoConfigs.SG90.MaximumPulseDuration, TimePeriod.UnitType.Milliseconds)));
 
     return Task.CompletedTask;
 }
@@ -37,19 +39,19 @@ public override async Task Run()
     while (true)
     {
         Console.WriteLine("0");
-        await servo.RotateTo(new Angle(0, AU.Degrees));
+        servo.RotateTo(new Angle(0, AU.Degrees));
         await Task.Delay(1000);
 
         Console.WriteLine("45");
-        await servo.RotateTo(new Angle(45, AU.Degrees));
+        servo.RotateTo(new Angle(45, AU.Degrees));
         await Task.Delay(1000);
 
         Console.WriteLine("90");
-        await servo.RotateTo(new Angle(90, AU.Degrees));
+        servo.RotateTo(new Angle(90, AU.Degrees));
         await Task.Delay(1000);
 
         Console.WriteLine("135");
-        await servo.RotateTo(new Angle(135, AU.Degrees));
+        servo.RotateTo(new Angle(135, AU.Degrees));
         await Task.Delay(1000);
     }
 }