diff --git a/Cargo.toml b/Cargo.toml
index 07aeec2..4602caa 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -2,7 +2,7 @@
 members = [
     # Device types
     "node",
-    "master",
+    "commander",
     # Examples
     "examples/playground"
 ]
diff --git a/README.md b/README.md
index 51b089d..f84712c 100644
--- a/README.md
+++ b/README.md
@@ -1,19 +1,25 @@
 # Physical
 
-Physical is a library for interacting with the physical world from a computer. This can broadly be broken down into two categories:
+Physical is a library for interacting with the physical world from a computer. This can broadly be broken down into two
+categories:
 
 * Collecting and digitizing data from the physical world.
 * Controlling devices that take physical action.
 
 ## Concepts
+
 The main concepts of Physical are:
-* Peripheral: A peripheral is a board that hosts physical I/O and usually does analog to digital conversion or 
-  digital to analog conversion. A peripheral cannot function on its own, it must be connected to a node. This is more 
-  narrow than the definition of a peripheral in embedded systems generally. Peripheral support is done on the basis 
-  of complete boards, not individual components like an ADC. Abstractions for individual components should be made 
-  separately, such as in BFHAL.
-* Node: A node hosts peripherals. A node can have a master but does not need one. A node can ignore or even override 
-  commands from the master computer. In a complex system, nodes are intended to be kept simple, less likely to 
-  encounter an error than the master, and in many cases should check for obvious problems in commands from the master.
-* Master: A master hosts nodes. It is possible for a device to be both a node and a master at the same time, 
-  although it may not be the best idea to make such a setup.
\ No newline at end of file
+
+* Peripheral: A peripheral is a board that hosts physical I/O and usually does analog to digital conversion or
+  digital to analog conversion. A peripheral cannot function on its own, it must be connected to a node. This is more
+  narrow than the definition of a peripheral in embedded systems generally. Peripheral support is done on the basis
+  of complete boards, not individual components like an ADC. Abstractions for individual components should be made
+  separately, such as in BFPOWER drivers.
+* Node: A node hosts peripherals. A node can have a commander but does not need one. A node can ignore or even override
+  commands from the commander. In a complex system, nodes are intended to be kept simple, less likely to
+  encounter an error than the commander, and in some cases should check for obvious problems in commands from the
+  commander.
+* Commander: A commander hosts nodes. It is possible for a device to be both a node and a commander at the same time,
+  although it may not be the best idea to make such a setup. There is no concept of nesting commanders built into
+  Physical. If some kind of abstraction for a computer that commands multiple commanders, which command nodes, is 
+  necessary, it should be made for that specific application.
\ No newline at end of file
diff --git a/master/Cargo.toml b/commander/Cargo.toml
similarity index 77%
rename from master/Cargo.toml
rename to commander/Cargo.toml
index 0e4d485..185bae4 100644
--- a/master/Cargo.toml
+++ b/commander/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
-name = "physical-master"
-description = "A master hosts nodes."
+name = "physical-commander"
+description = "A commander hosts nodes."
 version.workspace = true
 edition.workspace = true
 repository.workspace = true
diff --git a/master/src/lib.rs b/commander/src/lib.rs
similarity index 100%
rename from master/src/lib.rs
rename to commander/src/lib.rs