diff --git a/CHANGELOG.md b/CHANGELOG.md
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+# Changelog
+
+All notable changes to this library. The format follows
+[Keep a Changelog](https://keepachangelog.com/en/1.1.0/), and versions follow
+[Semantic Versioning](https://semver.org/) (before 1.0, a minor version may
+change the API).
+
+## [0.3.0] - 2026-11-11
+
+### Added
+
+- `FasEngine`: a `StepEngine` on FastAccelStepper, with pulses and ramps in
+  hardware on the ESP32.
+- `EngineStepper<Engine>`: a `Stepper` that owns its engine, so one `new` builds
+  a whole axis on any engine.
+- `StepProfile::accelerationFor()`, so an engine that ramps in hardware can use
+  the same profile.
+- Per-axis soft limits (`setLimits()`), armed once the position is known.
+- Hobby servos on the ESP32 through `ESP32Servo`.
+- MIT license, GitHub Actions CI (native tests and example builds for Uno and
+  ESP32), and guides in `docs/`.
+
+### Fixed
+
+- An endstop pressed right after a resync is now seen at once. Homing used to
+  overshoot by up to 5 ms of travel when it started close to the switch.
+
+## [0.2.0] - 2026-10-29
+
+### Added
+
+- `StepEngine` interface: a `Stepper` decides what the axis does, an engine makes
+  the pulses. `PolledEngine` times them against `micros()` on any board.
+- `Endstop` slots at each end of an axis, and two-pass homing (`homeAxis()`,
+  `StepperManager::home()`).
+- `StepProfile` speed profiles, with `LinearRamp`.
+- `MotorManager<T>`, shared by `ServoManager` and the new `StepperManager`.
+- Idle power release on a shared enable line.
+- Compile-time log levels and a configurable output stream (`Log.h`).
+- Native unit tests against a fake Arduino core, example sketches, and
+  `scripts/check.sh`.
+
+### Changed
+
+- `Motor` is renamed `AngularMotor`, and its angle fields use camelCase.
+- `StepMotor` and `HomedStepper` are replaced by the `Stepper` hierarchy and
+  `Endstop`.
+
+## [0.1.0] - 2026-09-03
+
+- First version, extracted from the Ruka arm: servo motors (`Servo` and PCA9685)
+  and a stepper, driven through a manager.
+
+[0.3.0]: https://github.com/AndrewwSSS/MotorControl/releases/tag/v0.3.0
+[0.2.0]: https://github.com/AndrewwSSS/MotorControl/compare/add262a...fd8cedc
+[0.1.0]: https://github.com/AndrewwSSS/MotorControl/commit/add262a
diff --git a/library.json b/library.json
index 048a8a3..4d764be 100644
--- a/library.json
+++ b/library.json
@@ -1,6 +1,6 @@
 {
   "name": "MotorControl",
-  "version": "0.2.0",
+  "version": "0.3.0",
   "license": "MIT",
   "description": "Actuator abstraction (hobby servo, PCA9685 servo, stepper axes on pluggable step engines) plus a manager that drives a fleet of them non-blockingly, with endstops and homing, idle power release and pluggable speed profiles.",
   "keywords": "motor, servo, stepper, pca9685, a4988, endstop, homing, robotics",