diff --git a/CHANGELOG.md b/CHANGELOG.md
new file mode 100644
index 0000000..3a1b750
--- /dev/null
+++ b/CHANGELOG.md
@@ -0,0 +1,11 @@
+# Changelog
+
+## [0.1.7] - XXXXXX
+### Added
+- no_std support
+
+## [0.1.6] - 2021-05-01
+### Changed
+- Improved algorithm to calculate the maximum possible acceleration
+## [0.1.0] - 2020-10-9
+Initial Release
\ No newline at end of file
diff --git a/Cargo.toml b/Cargo.toml
index 2e8ccf5..23d7bd8 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -20,6 +20,16 @@ path = "src/lib.rs"
 name = "plot"
 path = "examples/plot.rs"
 
-[dependencies]
+[dependencies.num-traits]
+# todo https://doc.rust-lang.org/cargo/reference/specifying-dependencies.html#platform-specific-dependencies
+version = "0.2"
+default-features = false
+features = ["libm"]
+
 [dev-dependencies]
-gnuplot = "0.0.37"
\ No newline at end of file
+gnuplot = "0.0.37"
+
+
+[features]
+default = ["std"]
+std = []
\ No newline at end of file
diff --git a/README.md b/README.md
index b4cdab3..e700ea4 100644
--- a/README.md
+++ b/README.md
@@ -31,7 +31,8 @@ An S-Curve consists of 7 phases:
   let constraints = SCurveConstraints {
               max_jerk: 3.,
               max_acceleration: 2.0,
-              max_velocity: 3.};
+              max_velocity: 3.
+  };
   let  start_conditions = SCurveStartConditions {
       q0: 0., // start position
       q1: 10., // end position
@@ -39,11 +40,17 @@ An S-Curve consists of 7 phases:
       v1: 0. // end velocity
   };
 let input  =  SCurveInput{constraints, start_conditions};
-let (params,s_curve) = s_curve_generator( & input,Derivative::Velocity);
+let (params, s_curve) = s_curve_generator( &input,Derivative::Velocity);
 for i in 0..101 {
       println!("{}", s_curve(i as f64 * params.time_intervals.total_duration() / 100.));
   }
   ```
+## no-std support
+
+To use scurve in an environment without the standard library you can set ```default_features = false``` for the crate.
+Then you have to use the eval_{position,velocity,acceleration,jerk} directly.
+
+
 #### License
 Copyright (c) 2020 Marco Boneberger
 Licensed under either of [Apache License, Version 2.0](LICENSE-APACHE) or [MIT license](LICENSE-MIT) at your option. 
diff --git a/src/lib.rs b/src/lib.rs
index 3debe04..068b1ee 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -15,7 +15,8 @@
 *  let constraints = SCurveConstraints {
 *              max_jerk: 3.,
 *              max_acceleration: 2.0,
-*              max_velocity: 3.};
+*              max_velocity: 3.
+*          };
 *          let  start_conditions = SCurveStartConditions {
 *              q0: 0., // start position
 *              q1: 10., // end position
@@ -23,7 +24,7 @@
 *              v1: 0. // end velocity
 *          };
 *          let input = SCurveInput{constraints, start_conditions};
-*          let (params,s_curve) = s_curve_generator(&input,Derivative::Velocity);
+*          let (params, s_curve) = s_curve_generator(&input,Derivative::Velocity);
 *          for i in 0..101 {
 *              println!("{}", s_curve(i as f64 * params.time_intervals.total_duration() / 100.));
 *          }
@@ -31,6 +32,9 @@
 *
 */
 
+#[cfg(not(feature = "std"))]
+use num_traits::float::Float;
+
 /**
  * Struct which contains the desired limits for jerk, acceleration and velocity in SI units.
  *  These are only the limits. It can happen that the acceleration or Velocity will be actually lower
@@ -333,7 +337,8 @@ impl SCurveInput {
     }
 }
 
-fn eval_position(p: &SCurveParameters, t: f64) -> f64 {
+/// calculates the current position of the trajectory given the SCurve parameters and a time t in seconds.
+pub fn eval_position(p: &SCurveParameters, t: f64) -> f64 {
     let times = &p.time_intervals;
     if t < 0. {
         return p.conditions.q0;
@@ -369,8 +374,8 @@ fn eval_position(p: &SCurveParameters, t: f64) -> f64 {
         p.conditions.q1
     }
 }
-
-fn eval_velocity(p: &SCurveParameters, t: f64) -> f64 {
+/// calculates the current velocity of the trajectory given the SCurve parameters and a time t in seconds.
+pub fn eval_velocity(p: &SCurveParameters, t: f64) -> f64 {
     let times = &p.time_intervals;
     if t < 0. {
         return p.conditions.v0;
@@ -394,7 +399,8 @@ fn eval_velocity(p: &SCurveParameters, t: f64) -> f64 {
     }
 }
 
-fn eval_acceleration(p: &SCurveParameters, t: f64) -> f64 {
+/// calculates the current acceleration of the trajectory given the SCurve parameters and a time t in seconds.
+pub fn eval_acceleration(p: &SCurveParameters, t: f64) -> f64 {
     let times = &p.time_intervals;
     if t < 0. {
         0.
@@ -416,8 +422,8 @@ fn eval_acceleration(p: &SCurveParameters, t: f64) -> f64 {
         0.
     }
 }
-
-fn eval_jerk(p: &SCurveParameters, t: f64) -> f64 {
+/// calculates the current jerk of the trajectory given the SCurve parameters and a time t in seconds.
+pub fn eval_jerk(p: &SCurveParameters, t: f64) -> f64 {
     let times = &p.time_intervals;
     if t < times.t_j1 {
         p.j_max
@@ -439,6 +445,7 @@ fn eval_jerk(p: &SCurveParameters, t: f64) -> f64 {
 /// returns the S-Curve parameters and a function which maps time  [0,t] to Position, Velocity,
 /// Acceleration or Jerk, depending on what you set as Derivative. Note that the acceleration
 /// and velocity could be decreased if it is not possible to achieve them.
+#[cfg(feature = "std")]
 pub fn s_curve_generator(
     input_parameters: &SCurveInput,
     derivative: Derivative,
@@ -466,9 +473,9 @@ pub fn s_curve_generator(
 
 #[cfg(test)]
 mod tests {
-    use crate::{
-        s_curve_generator, Derivative, SCurveConstraints, SCurveInput, SCurveStartConditions,
-    };
+    #[cfg(feature = "std")]
+    use crate::{s_curve_generator, Derivative};
+    use crate::{SCurveConstraints, SCurveInput, SCurveStartConditions};
 
     #[test]
     fn timings_3_9() {
@@ -575,6 +582,7 @@ mod tests {
     }
 
     #[test]
+    #[cfg(feature = "std")]
     fn simple_curve() {
         let constraints = SCurveConstraints {
             max_jerk: 30.,