diff --git a/.github/workflows/sync-labels.yml b/.github/workflows/sync-labels.yml
index 986bda6..94938f3 100644
--- a/.github/workflows/sync-labels.yml
+++ b/.github/workflows/sync-labels.yml
@@ -31,7 +31,7 @@ jobs:
 
       - name: Download JSON schema for labels configuration file
         id: download-schema
-        uses: carlosperate/download-file-action@v1
+        uses: carlosperate/download-file-action@v2
         with:
           file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/arduino-tooling-gh-label-configuration-schema.json
           location: ${{ runner.temp }}/label-configuration-schema
@@ -65,7 +65,7 @@ jobs:
 
     steps:
       - name: Download
-        uses: carlosperate/download-file-action@v1
+        uses: carlosperate/download-file-action@v2
         with:
           file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/${{ matrix.filename }}
 
@@ -114,7 +114,7 @@ jobs:
           path: ${{ env.CONFIGURATIONS_FOLDER }}
 
       - name: Remove unneeded artifact
-        uses: geekyeggo/delete-artifact@v1
+        uses: geekyeggo/delete-artifact@v2
         with:
           name: ${{ env.CONFIGURATIONS_ARTIFACT }}
 
diff --git a/.gitignore b/.gitignore
index b1babc9..9fa72d9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
 extras/build
+.vscode
diff --git a/examples/Braccio_Record_and_Replay/AppState.cpp b/examples/Braccio_Record_and_Replay/AppState.cpp
index bc8c875..d25cac7 100644
--- a/examples/Braccio_Record_and_Replay/AppState.cpp
+++ b/examples/Braccio_Record_and_Replay/AppState.cpp
@@ -137,6 +137,41 @@ State * IdleState::handle_OnZeroPosition()
   return new ZeroState();
 }
 
+State * IdleState::handle_OnTimerTick()
+{
+  /* If data has been recorded and a serial command is
+   * sent to the device then all recorded positions are
+   * sent to the PC.
+   */
+  if (!sample_cnt)
+    return this;
+
+  if (!Serial)
+    return this;
+
+  if (!Serial.available())
+    return this;
+
+  if (Serial.read() == 'r')
+  {
+    for (int i = 0; i < sample_cnt; i += 6)
+    {
+      char msg[64] = {0};
+      snprintf(msg, sizeof(msg), "%d;%0.2f;%0.2f;%0.2f;%0.2f;%0.2f;%0.2f;",
+               i / 6,
+               sample_buf[i + 0],
+               sample_buf[i + 1],
+               sample_buf[i + 2],
+               sample_buf[i + 3],
+               sample_buf[i + 4],
+               sample_buf[i + 5]);
+      Serial.println(msg);
+    }
+  }
+
+  return this;
+}
+
 /**************************************************************************************
  * RecordState
  **************************************************************************************/
diff --git a/examples/Braccio_Record_and_Replay/AppState.h b/examples/Braccio_Record_and_Replay/AppState.h
index 09fd28b..0888f26 100644
--- a/examples/Braccio_Record_and_Replay/AppState.h
+++ b/examples/Braccio_Record_and_Replay/AppState.h
@@ -70,6 +70,7 @@ class IdleState : public State
   virtual State * handle_OnRecord      () override;
   virtual State * handle_OnReplay      () override;
   virtual State * handle_OnZeroPosition() override;
+  virtual State * handle_OnTimerTick   () override;
 };
 
 class RecordState : public State
diff --git a/examples/Braccio_Record_and_Replay/Braccio_Record_and_Replay.ino b/examples/Braccio_Record_and_Replay/Braccio_Record_and_Replay.ino
index 8e0439d..88e6b06 100644
--- a/examples/Braccio_Record_and_Replay/Braccio_Record_and_Replay.ino
+++ b/examples/Braccio_Record_and_Replay/Braccio_Record_and_Replay.ino
@@ -18,8 +18,11 @@ RecordAndReplayApp app;
 
 void setup()
 {
-  if (Braccio.begin(custom_main_menu)) {
+  if (Braccio.begin(custom_main_menu))
+  {
     app.enableButtons();
+    /* Allow greater angular velocity than the default one. */
+    Braccio.setAngularVelocity(45.0f);
   }
 }
 
diff --git a/examples/Braccio_Record_and_Replay/README.md b/examples/Braccio_Record_and_Replay/README.md
new file mode 100644
index 0000000..9010372
--- /dev/null
+++ b/examples/Braccio_Record_and_Replay/README.md
@@ -0,0 +1,11 @@
+`Braccio_Record_and_Replay`
+===========================
+For debug purposes all recorded angles can be received via serial command. The approach to do this is:
+* Start `minicom`.
+```bash
+minicom -D /dev/ttyACM0  -C angle_log.csv
+```
+* Press `Record` and record some angles.
+* Retrieve the recorded angles by sending `r` (Press `r`). You'll see the output on your console which will automagically be stored in the CSV file.
+* Close `minicom` with `Ctrl + A, Q`.
+
diff --git a/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino b/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino
index 4d2f5ea..679fd73 100644
--- a/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino
+++ b/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino
@@ -54,8 +54,6 @@ void setup()
 
   if (Braccio.begin(directionScreen))
   {
-    /* Configure Braccio. */
-    Braccio.speed(speed_grade_t(120)/*MEDIUM*/);
     /* Move to home position. */
     Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
     delay(500);
diff --git a/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino b/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino
new file mode 100644
index 0000000..7206a1b
--- /dev/null
+++ b/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino
@@ -0,0 +1,117 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
+#define BUTTON_SELECT  3
+#define BUTTON_ENTER   6
+#define TIME_DELAY     2000
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+static float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
+static auto gripper    = Braccio.get(1);
+static auto wristRoll  = Braccio.get(2);
+static auto wristPitch = Braccio.get(3);
+static auto elbow      = Braccio.get(4);
+static auto shoulder   = Braccio.get(5);
+static auto base       = Braccio.get(6);
+
+float angles[6];
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup() {
+  if (Braccio.begin())
+  {
+    /* Warning: keep a safe distance from the robot and watch out for the robot's
+       movement. It could be speedy and hit someone. */
+    /* Move to home position. */
+    Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
+    delay(TIME_DELAY);
+  }
+}
+
+void loop() {
+  int pressedKey = Braccio.getKey();
+
+  if (pressedKey == BUTTON_ENTER)
+  {
+    // Pinch movement
+    gripper.move().to(230.0f);         delay(TIME_DELAY);
+    gripper.move().to(HOME_POS[0]);    delay(TIME_DELAY);
+
+    // // Wrist Roll movement
+    wristRoll.move().to(0.0f);          delay(TIME_DELAY);
+    wristRoll.move().to(HOME_POS[1]);   delay(TIME_DELAY);
+    wristRoll.move().to(315.0f);        delay(TIME_DELAY);
+    wristRoll.move().to(HOME_POS[1]);   delay(TIME_DELAY);
+
+    // // Wrist Pitch movement
+    wristPitch.move().to(70.0f);       delay(TIME_DELAY);
+    wristPitch.move().to(HOME_POS[2]); delay(TIME_DELAY);
+    wristPitch.move().to(260.0f);      delay(TIME_DELAY);
+    wristPitch.move().to(HOME_POS[2]); delay(TIME_DELAY);
+
+    // Elbow movement
+    for(float i=HOME_POS[3]; i >= 70.0; i-=5)
+        { elbow.move().to(i);          delay(TIME_DELAY/2000); }
+    elbow.move().to(HOME_POS[3]);      delay(TIME_DELAY);
+    for(float i=HOME_POS[3]; i <= 260.0; i+=5)
+        { elbow.move().to(i);          delay(TIME_DELAY/2000); }
+    elbow.move().to(HOME_POS[3]);      delay(TIME_DELAY);
+
+    // Shoulder movement
+    shoulder.move().to(120.0f);       delay(TIME_DELAY/2);
+    shoulder.move().to(90.0f);        delay(TIME_DELAY/2);
+    shoulder.move().to(120.0f);       delay(TIME_DELAY/2);
+    shoulder.move().to(HOME_POS[4]);  delay(TIME_DELAY);
+    shoulder.move().to(200.0f);       delay(TIME_DELAY/2);
+    shoulder.move().to(230.0f);       delay(TIME_DELAY/2);
+    shoulder.move().to(200.0f);       delay(TIME_DELAY/2);
+    shoulder.move().to(HOME_POS[4]);  delay(TIME_DELAY);
+
+    // Base movement
+    base.move().to(0.0f);              delay(TIME_DELAY);
+    base.move().to(HOME_POS[5]);       delay(TIME_DELAY);
+    base.move().to(315.0f);            delay(TIME_DELAY);
+    base.move().to(HOME_POS[5]);       delay(TIME_DELAY);
+
+    while(pressedKey == BUTTON_ENTER) { pressedKey = Braccio.getKey(); }
+  }
+
+  if (pressedKey == BUTTON_SELECT)
+  {
+    // Fetch the joints positions
+    Braccio.positions(angles);
+
+    // Print the joint angles
+    Serial.println("************* Joints Angles *************");
+    Serial.println("|\tMotor ID\t|\tAngle\t|");
+    Serial.println("----------------------------------------");
+    Serial.print("| 1 - Gripper\t\t|\t" + String(angles[0]) + "\t|\n" + 
+                 "| 2 - Wrist Rotation\t|\t" + String(angles[1]) + "\t|\n" +
+                 "| 3 - Wrist Vertical\t|\t" + String(angles[2]) + "\t|\n" + 
+                 "| 4 - Elbow\t\t|\t" + String(angles[3]) + "\t|\n" + 
+                 "| 5 - Shoulder\t\t|\t" + String(angles[4]) + "\t|\n" + 
+                 "| 6 - Base\t\t|\t" + String(angles[5]) + "\t|\n" +
+                 "*****************************************\n\n\n\n\n");
+
+    while(pressedKey == BUTTON_SELECT) { pressedKey = Braccio.getKey(); }
+    
+  }
+}
\ No newline at end of file
diff --git a/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Navigating_the_display_menu/Navigating_the_display_menu.ino b/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Navigating_the_display_menu/Navigating_the_display_menu.ino
new file mode 100644
index 0000000..a6b107b
--- /dev/null
+++ b/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Navigating_the_display_menu/Navigating_the_display_menu.ino
@@ -0,0 +1,81 @@
+#include <Braccio++.h>
+
+#define MARGIN_LEFT   0
+#define MARGIN_TOP    0
+
+// Arduino Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_ORANGE     0xE47128
+#define COLOR_YELLOW     0xE5AD24
+#define COLOR_WHITE      0xFFFFFF
+
+static const char * btnm_map[] = {"Option 1", "Option 2", "\n",
+                                  "Option 3", "Option 4", "\n",
+                                  "Option 5", "Option 6", "\0"
+                                 };
+
+void setup() {
+  if (!Braccio.begin(customMenu)) {
+    if (Serial) Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
+}
+
+void loop() {
+  // Let here empty.
+}
+
+void customMenu(){
+  Braccio.lvgl_lock();
+
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE));
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_YELLOW));
+  lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL));
+  lv_style_set_border_width(&style_btn, 2);
+  lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL));
+  
+  
+  lv_obj_t * btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP);
+  
+  lv_obj_add_style(btnm, &style_bg, 0);
+  lv_obj_add_style(btnm, &style_btn, LV_PART_ITEMS);
+
+  lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 3, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 4, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 5, LV_BTNMATRIX_CTRL_CHECKABLE);
+
+  lv_btnmatrix_set_one_checked(btnm, true);
+  
+  lv_obj_add_event_cb(btnm, eventHandler, LV_EVENT_ALL, NULL);
+
+  Braccio.lvgl_unlock();
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+static void eventHandler(lv_event_t * e){
+  Braccio.lvgl_lock();
+  
+  lv_event_code_t code = lv_event_get_code(e);
+  lv_obj_t * obj = lv_event_get_target(e);
+  if (code == LV_EVENT_CLICKED) {
+    uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+    const char * txt = lv_btnmatrix_get_btn_text(obj, id);
+
+    LV_LOG_USER("%s was selected\n", txt);
+    Serial.println(String(txt) + " was selected.");
+  }
+  
+  Braccio.lvgl_unlock();
+}
\ No newline at end of file
diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino
diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/sketch.json b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/sketch.json
similarity index 100%
rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/sketch.json
rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/sketch.json
diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino
diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/btn_style.ino.NANO_RP2040_CONNECT.bin b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/btn_style.ino.NANO_RP2040_CONNECT.bin
similarity index 100%
rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/btn_style.ino.NANO_RP2040_CONNECT.bin
rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/btn_style.ino.NANO_RP2040_CONNECT.bin
diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/sketch.json b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/sketch.json
similarity index 100%
rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/sketch.json
rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/sketch.json
diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino
diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino
diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino
diff --git a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino
diff --git a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino
diff --git a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino
diff --git a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino
diff --git a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino
diff --git a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino
diff --git a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino
diff --git a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino
diff --git a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino
diff --git a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino
diff --git a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino
diff --git a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino
similarity index 100%
rename from examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino
rename to examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino
diff --git a/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino b/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino
index bd0c162..dee140c 100644
--- a/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino
+++ b/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino
@@ -1,6 +1,19 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
 #include <Braccio++.h>
 
-// Variables
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
+#define TIME_DELAY     1000
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
 // Braccio ++ joints
 auto gripper    = Braccio.get(1);
 auto wristRoll  = Braccio.get(2);
@@ -9,31 +22,28 @@ auto elbow      = Braccio.get(4);
 auto shoulder   = Braccio.get(5);
 auto base       = Braccio.get(6);
 
-float initialGripper = 160.0;
 float initialBase = 90.0;
-float initialAngle = 150.0;
+float initialAngle = 157.5;
+
 float angles[6];
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
-  Braccio.begin();
-  delay(500); // Waits for the Braccio initialization
-  
-  // You can choose the speed beforehand with
-  Braccio.speed(SLOW); // could be FAST or MEDIUM or SLOW
-
-  // Send motors initial angle
-  gripper.move().to(initialGripper);
-  delay(100);
-  wristRoll.move().to(initialAngle);
-  delay(100);
-  wristPitch.move().to(initialAngle);
-  delay(100);
-  elbow.move().to(initialAngle);
-  delay(100);
-  shoulder.move().to(initialAngle);
-  delay(100);
-  base.move().to(initialBase); 
-  delay(100);
+  if (Braccio.begin()){
+    /* Warning: keep a safe distance from the robot and watch out for the robot's
+       movement. It could be speedy and hit someone. */
+
+    /* Move to home position. */
+    gripper.move().to(initialAngle);       delay(TIME_DELAY);
+    wristRoll.move().to(initialAngle);     delay(TIME_DELAY);
+    wristPitch.move().to(initialAngle);    delay(TIME_DELAY);
+    elbow.move().to(initialAngle);         delay(TIME_DELAY);
+    shoulder.move().to(initialAngle);      delay(TIME_DELAY);
+    base.move().to(initialBase);           delay(TIME_DELAY);
+  }
 
   Serial.begin(115200);
   while(!Serial){}
@@ -56,5 +66,5 @@ void loop() {
   Serial.println("*****************************************\n\n\n\n\n");
   Serial.println("\n\n\n\n");
   
-  delay(1000);
+  delay(TIME_DELAY);
 }
diff --git a/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino b/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino
index 2bda3b1..f969acb 100644
--- a/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino
+++ b/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino
@@ -1,7 +1,27 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
 #include <Braccio++.h>
 
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
 #define BUTTON_ENTER   6
+#define TIME_DELAY     1000
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
 
+float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+float const WAVE_POS[6] = {180.0, 260.0, 157.5, 157.5, 157.5, 180.0};
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+ 
 // Braccio ++ joints
 auto gripper    = Braccio.get(1);
 auto wristRoll  = Braccio.get(2);
@@ -10,27 +30,27 @@ auto elbow      = Braccio.get(4);
 auto shoulder   = Braccio.get(5);
 auto base       = Braccio.get(6);
 
-/* Variables */
-// initialAngles[6] = {gripper, wristRoll, wristPitch, elbow, shoulder, base}
-float homePos[6] = {160.0, 150.0, 220.0, 220.0, 100.0, 180.0};
-float wavePos[6] = {180.0, 250.0, 145.0, 150.0, 150.0, 90.0};
-
 bool movement = false; // Flag to initialize joints' movements
 
-void setup() {
-  Braccio.begin();
-  delay(500); // Waits for the Braccio initialization
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
 
-  // You can choose the speed beforehand with
-  Braccio.speed(SLOW); // could be FAST or MEDIUM or SLOW
+void setup() {
+  if (Braccio.begin()){
+    /* Warning:
+       Keep a safe distance from the robot until you make sure the code is properly
+       working. Be mindful of the robot’s movement prior to that, as it could be
+       speedy and accidentally hit someone.
+    */
 
-  // Set motors initial angle
-  // Should move all the motors at once
-  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
-  delay(500);
+    /* Move to home position. */
+    Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
+    delay(TIME_DELAY);
+  }
 }
 
-// Waving whit Wrist pitch
+// Waving with Wrist pitch
 void loop() {
   int pressedKey = Braccio.getKey();
 
@@ -38,16 +58,13 @@ void loop() {
     movement = true; // Trigger joints' movements
 
   if (movement) {
-    Braccio.moveTo(wavePos[0], wavePos[1], wavePos[2], wavePos[3], wavePos[4], wavePos[5]);
-    delay(1000);
-
-    for (int i = 1; i <= 10; i++) {
-      wristPitch.move().to(100.0f);
-      delay(300);
-      wristPitch.move().to(190.0f);
-      delay(600);
-      wristPitch.move().to(145.0f);
-      delay(300);
+    Braccio.moveTo(WAVE_POS[0], WAVE_POS[1], WAVE_POS[2], WAVE_POS[3], WAVE_POS[4], WAVE_POS[5]);
+    delay(TIME_DELAY);
+
+    for (int i = 1; i <= 5; i++) {
+      wristPitch.move().to(120.0f);         delay(TIME_DELAY);
+      wristPitch.move().to(200.0f);         delay(2*TIME_DELAY);
+      wristPitch.move().to(WAVE_POS[3]);
     }
 
     movement = false; // Stop joints' movements
diff --git a/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino b/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino
index 2999342..cee77a0 100644
--- a/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino
+++ b/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino
@@ -1,6 +1,26 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
 #include <Braccio++.h>
 
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
 #define BUTTON_ENTER    6
+#define TIME_DELAY      1000
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+static float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+static float const AGREE_POS[6] = {160.0, 160.0, 210.0, 240.0, 100.0, 180.0};
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
 
 // Braccio ++ joints
 auto gripper    = Braccio.get(1);
@@ -10,23 +30,21 @@ auto elbow      = Braccio.get(4);
 auto shoulder   = Braccio.get(5);
 auto base       = Braccio.get(6);
 
-/* Variables */
-// initialAngles[6] = {gripper, wristRoll, wristPitch, elbow, shoulder, base}
-float homePos[6] = {160.0, 150.0, 220.0, 220.0, 100.0, 180.0};
-
 bool movement = false; // Flag to initialize joints' movements
 
-void setup() {
-  Braccio.begin();
-  delay(500); // Waits for the Braccio initialization
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
 
-  // You can choose the speed beforehand with
-  Braccio.speed(SLOW); // could be FAST or MEDIUM or SLOW
+void setup() {
+  if (Braccio.begin()){
+    /* Warning: keep a safe distance from the robot and watch out for the robot's
+       movement. It could be speedy and hit someone. */
 
-  // Set motors initial angle
-  // Should move all the motors at once
-  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
-  delay(500);
+    /* Move to home position. */
+    Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
+    delay(500);
+  }
 }
 
 void loop() {
@@ -36,18 +54,15 @@ void loop() {
     movement = true; // Trigger joints' movements
 
   if (movement) {
-    Braccio.moveTo(160.0, 150.0, 220.0, 220.0, 100.0, 270.0);
-    delay(1000);
+    Braccio.moveTo(AGREE_POS[0], AGREE_POS[1], AGREE_POS[2], AGREE_POS[3], AGREE_POS[4], AGREE_POS[5]);
+    delay(TIME_DELAY/10);
 
     for (int i = 1; i <= 10; i++) {
-      wristPitch.move().to(190.0f);
-      delay(200);
-      wristPitch.move().to(250.0f);
-      delay(400);
-      wristPitch.move().to(220.0f);
-      delay(200);
+      wristPitch.move().to(190.0f);       delay(TIME_DELAY/2);
+      wristPitch.move().to(240.0f);       delay(TIME_DELAY);
+      wristPitch.move().to(AGREE_POS[3]);
     }
 
-    movement = false; // Stop joints' moviments
+    movement = false; // Stop joints' movements
   }
 }
diff --git a/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio/01_Controlling_Manually_Braccio.ino b/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio/01_Controlling_Manually_Braccio.ino
index 4d2f5ea..679fd73 100644
--- a/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio/01_Controlling_Manually_Braccio.ino
+++ b/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio/01_Controlling_Manually_Braccio.ino
@@ -54,8 +54,6 @@ void setup()
 
   if (Braccio.begin(directionScreen))
   {
-    /* Configure Braccio. */
-    Braccio.speed(speed_grade_t(120)/*MEDIUM*/);
     /* Move to home position. */
     Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
     delay(500);
diff --git a/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_Manual_Control_Challenge/02_Manual_Control_Challenge.ino b/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_Manual_Control_Challenge/02_Manual_Control_Challenge.ino
index 4d2f5ea..679fd73 100644
--- a/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_Manual_Control_Challenge/02_Manual_Control_Challenge.ino
+++ b/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_Manual_Control_Challenge/02_Manual_Control_Challenge.ino
@@ -54,8 +54,6 @@ void setup()
 
   if (Braccio.begin(directionScreen))
   {
-    /* Configure Braccio. */
-    Braccio.speed(speed_grade_t(120)/*MEDIUM*/);
     /* Move to home position. */
     Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
     delay(500);
diff --git a/examples/Platform_Tutorials/projects/p03-record-replay-mode/01_Braccio_Record_and_Replay/01_Braccio_Record_and_Replay.ino b/examples/Platform_Tutorials/projects/p03-record-replay-mode/01_Braccio_Record_and_Replay/01_Braccio_Record_and_Replay.ino
index c5180cf..5456ea5 100644
--- a/examples/Platform_Tutorials/projects/p03-record-replay-mode/01_Braccio_Record_and_Replay/01_Braccio_Record_and_Replay.ino
+++ b/examples/Platform_Tutorials/projects/p03-record-replay-mode/01_Braccio_Record_and_Replay/01_Braccio_Record_and_Replay.ino
@@ -20,6 +20,8 @@ void setup()
 {
   if (Braccio.begin(custom_main_menu)) {
     app.enableButtons();
+    /* Allow greater angular velocity than the default one. */
+    Braccio.setAngularVelocity(45.0f);
   }
 }
 
diff --git a/examples/Tools/Braccio_Basic/Braccio_Basic.ino b/examples/Tools/Braccio_Basic/Braccio_Basic.ino
index ebc00c7..0ea708c 100644
--- a/examples/Tools/Braccio_Basic/Braccio_Basic.ino
+++ b/examples/Tools/Braccio_Basic/Braccio_Basic.ino
@@ -79,15 +79,16 @@ void setup()
 
   Braccio.moveTo(home_position[0], home_position[1], home_position[2], home_position[3], home_position[4], home_position[5]);
   delay(1000);
+  Braccio.setAngularVelocity(45.0f); /* 45 deg/sec */
 }
 
 void loop()
 {
   if (move_joint)
   {
-    Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) - 45.0f).in(1s);
-    delay(1000);
-    Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) + 45.0f).in(1s);
-    delay(1000);
+    Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) - 45.0f);
+    delay(2000);
+    Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) + 45.0f);
+    delay(2000);
   }
 }
diff --git a/examples/Tools/Braccio_LearnByDoing/Braccio_LearnByDoing.ino b/examples/Tools/Braccio_LearnByDoing/Braccio_LearnByDoing.ino
deleted file mode 100644
index 3cc189d..0000000
--- a/examples/Tools/Braccio_LearnByDoing/Braccio_LearnByDoing.ino
+++ /dev/null
@@ -1,158 +0,0 @@
-/*
- * @brief Learn the arm an movement and replay it.
- */
-
-/**************************************************************************************
- * INCLUDE
- **************************************************************************************/
-
-#include <Braccio++.h>
-#include "FlashIAPBlockDevice.h"
-#include "FATFileSystem.h"
-
-/**************************************************************************************
- * VARIABLES
- **************************************************************************************/
-
-enum states {
-  LEARN,
-  REPEAT,
-  IDLE
-};
-
-int state = IDLE;
-
-float values[10000];
-float* idx = values;
-float* final_idx = 0;
-
-/**************************************************************************************
- * FUNCTIONS
- **************************************************************************************/
-
-static void event_handler(lv_event_t * e) {
-  lv_event_code_t code = lv_event_get_code(e);
-  lv_obj_t * obj = lv_event_get_target(e);
-
-  if (code == LV_EVENT_KEY && lv_indev_get_key(lv_indev_get_act()) == LV_KEY_HOME) {
-    state = IDLE;
-    return;
-  }
-
-  if (code == LV_EVENT_CLICKED) {
-    uint32_t id = lv_btnmatrix_get_selected_btn(obj);
-    const char * txt = lv_btnmatrix_get_btn_text(obj, id);
-
-    if (state == LEARN) {
-      final_idx = idx;
-    }
-
-    idx = values;
-
-    FILE* f;
-    switch (id) {
-      case 0:
-        state = LEARN;
-        Braccio.disengage();
-        Serial.println("LEARN");
-        break;
-      case 1:
-        state = REPEAT;
-        Braccio.engage();
-        Serial.println("REPEAT");
-        break;
-      case 2:
-        state = IDLE;
-        f = fopen("/fs/movements", "wb");
-        fwrite(values, 1, (final_idx - values) * sizeof(float), f);
-        fflush(f);
-        fclose(f);
-        Serial.print("SAVED ");
-        Serial.print((final_idx - values) * sizeof(float));
-        Serial.println(" bytes");
-        break;
-      case 3:
-        state = IDLE;
-        f = fopen("/fs/movements", "rb");
-        final_idx = values + fread(values, 1, sizeof(values), f) / sizeof(float);
-        fclose(f);
-        Serial.print("LOADED ");
-        Serial.print((final_idx - values) * sizeof(float));
-        Serial.println(" bytes");
-        break;
-      default:
-        state = IDLE;
-        Serial.println("IDLE");
-        break;
-    }
-  }
-}
-
-static lv_obj_t *counter;
-
-static const char * btnm_map[] = { "Learn", "\n", "Replay", "\n", "Save in flash", "\n", "Load from flash", "\n", "Idle", "\n", "\0" };
-
-void customMenu() {
-  lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
-  lv_btnmatrix_set_map(btnm1, btnm_map);
-  lv_btnmatrix_set_btn_ctrl(btnm1, 0, LV_BTNMATRIX_CTRL_CHECKABLE);
-  lv_btnmatrix_set_btn_ctrl(btnm1, 1, LV_BTNMATRIX_CTRL_CHECKABLE);
-  lv_btnmatrix_set_btn_ctrl(btnm1, 2, LV_BTNMATRIX_CTRL_CHECKABLE);
-  lv_btnmatrix_set_btn_ctrl(btnm1, 3, LV_BTNMATRIX_CTRL_CHECKABLE);
-  lv_btnmatrix_set_btn_ctrl(btnm1, 4, LV_BTNMATRIX_CTRL_CHECKABLE);
-  lv_obj_align(btnm1, LV_ALIGN_CENTER, 0, 0);
-  counter = lv_label_create(btnm1);
-  lv_label_set_text_fmt(counter, "%d" , 0);
-  lv_obj_align(counter, LV_ALIGN_CENTER, 0, 50);
-  lv_obj_add_event_cb(btnm1, event_handler, LV_EVENT_ALL, NULL);
-  Braccio.connectJoystickTo(btnm1);
-}
-
-static FlashIAPBlockDevice bd(XIP_BASE + 0x100000, 0x100000);
-static mbed::FATFileSystem fs("fs");
-
-/**************************************************************************************
- * SETUP/LOOP
- **************************************************************************************/
-
-void setup()
-{
-  Serial.begin(115200);
-  for (auto const start = millis(); !Serial && ((millis() - start) < 5000); delay(10)) { }
-
-  // Mount file system for load/store movements
-  int err = fs.mount(&bd);
-  if (err) {
-    err = fs.reformat(&bd);
-  }
-
-  if (!Braccio.begin(customMenu)) {
-    if (Serial) Serial.println("Braccio.begin() failed.");
-    for(;;) { }
-  }
-  Serial.println("Replicate a movement");
-}
-
-void loop()
-{
-  if (state == LEARN) {
-    Braccio.positions(idx);
-    idx += 6;
-  }
-  if (state == REPEAT) {
-    Braccio.moveTo(idx[0], idx[1], idx[2], idx[3], idx[4], idx[5]);
-    idx += 6;
-    if (idx >= final_idx) {
-      Serial.println("Repeat done");
-      state = IDLE;
-    }
-  }
-  if (idx - values >= sizeof(values)) {
-    Serial.println("IDLE");
-    state = IDLE;
-  }
-  delay(100);
-  if (state != IDLE) {
-    lv_label_set_text_fmt(counter, "%d" , idx - values);
-  }
-}
diff --git a/examples/Tools/Factory_Set_Initial_Servo_Position/Factory_Set_Initial_Servo_Position.ino b/examples/Tools/Factory_Set_Initial_Servo_Position/Factory_Set_Initial_Servo_Position.ino
index f833ffd..64ff66b 100644
--- a/examples/Tools/Factory_Set_Initial_Servo_Position/Factory_Set_Initial_Servo_Position.ino
+++ b/examples/Tools/Factory_Set_Initial_Servo_Position/Factory_Set_Initial_Servo_Position.ino
@@ -85,7 +85,7 @@ bool set_initial_servo_position(int const id, float const target_angle)
   for ( float current_angle = Braccio.get(id).position();
        !isTargetAngleReached(EPSILON) && !isTimeout(start);)
   {
-    Braccio.get(id).move().to(target_angle).in(200ms);
+    Braccio.get(id).move().to(target_angle);
     delay(250);
   
     char msg[64] = {0};
diff --git a/examples/Tools/Test_Motor_Angular_Control/Test_Motor_Angular_Control.ino b/examples/Tools/Test_Motor_Angular_Control/Test_Motor_Angular_Control.ino
index bba4fd5..cb97616 100644
--- a/examples/Tools/Test_Motor_Angular_Control/Test_Motor_Angular_Control.ino
+++ b/examples/Tools/Test_Motor_Angular_Control/Test_Motor_Angular_Control.ino
@@ -31,13 +31,13 @@ void test_motor(int const id)
   delay(500);
 
   Serial.print("Drive to start . ");
-  Braccio.get(id).move().to(0.0f).in(1s);
+  Braccio.get(id).move().to(0.0f);
   Serial.println("OK.");
   delay(1500);
 
   for (float target_angle = 0.0f; target_angle < SmartServoClass::MAX_ANGLE; target_angle += 1.0f)
   {
-    Braccio.get(id).move().to(target_angle).in(200ms);
+    Braccio.get(id).move().to(target_angle);
     delay(250);
 
     char msg[64] = {0};
diff --git a/library.properties b/library.properties
index b33976a..52628ed 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Arduino_Braccio_plusplus
-version=1.3.2
+version=1.3.3
 author=Arduino
 maintainer=Arduino <info@arduino.cc>
 sentence=Board support library for the Arduino Braccio++ 6-DOF robot arm.
diff --git a/src/Braccio++.cpp b/src/Braccio++.cpp
index a0ddbfc..82c3776 100644
--- a/src/Braccio++.cpp
+++ b/src/Braccio++.cpp
@@ -136,7 +136,8 @@ bool BraccioClass::begin(voidFuncPtr custom_menu, bool const wait_for_all_motor_
     lvgl_defaultMenu();
 
   _servos.begin();
-  _servos.setTime(SLOW);
+  _servos.setMaxTorque(SmartServoClass::TORQUE_MAX);
+  _servos.setAngularVelocity(SmartServoClass::DEFAULT_ANGULAR_VELOCITY_deg_per_sec);
   _servos.setPositionMode(PositionMode::IMMEDIATE);
 
   _motors_connected_thd.start(mbed::callback(this, &BraccioClass::motorConnectedThreadFunc));
diff --git a/src/Braccio++.h b/src/Braccio++.h
index 5ba6db9..565b9ab 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -38,16 +38,6 @@
 #include <chrono>
 using namespace std::chrono;
 
-/**************************************************************************************
- * TYPEDEF
- **************************************************************************************/
-
-enum speed_grade_t {
-  FAST = 10,
-  MEDIUM = 100,
-  SLOW = 1000,
-};
-
 /**************************************************************************************
  * FORWARD DECLARATION
  **************************************************************************************/
@@ -80,8 +70,11 @@ class BraccioClass
   void positions(float * buffer);
   void positions(float & a1, float & a2, float & a3, float & a4, float & a5, float & a6);
 
-  inline void speed(speed_grade_t const speed_grade) { _servos.setTime(speed_grade); }
-  inline void speed(int const id, speed_grade_t const speed_grade) { _servos.setTime(id, speed_grade); }
+  inline void setMaxTorque(uint16_t const max_torque) { _servos.setMaxTorque(max_torque); }
+  inline void setMaxTorque(int const id, uint16_t const max_torque) { _servos.setMaxTorque(id, max_torque); }
+
+  inline void  setAngularVelocity(float const angular_velocity_deg_per_sec) { _servos.setAngularVelocity(angular_velocity_deg_per_sec); }
+  inline float getAngularVelocity() const { return _servos.getAngularVelocity(); }
 
   inline void disengage(int const id = SmartServoClass::BROADCAST) { _servos.disengage(id); }
   inline void engage   (int const id = SmartServoClass::BROADCAST) { _servos.engage(id); }
@@ -184,10 +177,10 @@ class Servo
   inline void disengage() { _servos.disengage(_id); }
   inline void engage()    { _servos.engage(_id); }
   inline bool engaged()   { return _servos.isEngaged(_id); }
+  inline void setMaxTorque(uint16_t const max_torque) { _servos.setMaxTorque(_id, max_torque); }
 
-  inline Servo & move()                                    { return *this; }
-  inline Servo & to  (float const angle)                   { _servos.setPosition(_id, angle); return *this; }
-  inline Servo & in  (std::chrono::milliseconds const len) { _servos.setTime(_id, len.count()); return *this; }
+  inline Servo & move()                  { return *this; }
+  inline Servo & to  (float const angle) { _servos.setPosition(_id, angle); return *this; }
 
   inline float position()            { return _servos.getPosition(_id); }
   inline bool  connected()           { return Braccio.connected(_id); }
diff --git a/src/lib/motors/RS485.cpp b/src/lib/motors/RS485.cpp
index efa610f..484730a 100644
--- a/src/lib/motors/RS485.cpp
+++ b/src/lib/motors/RS485.cpp
@@ -51,15 +51,11 @@ void RS485Class::begin(unsigned long baudrate, uint16_t config, int predelay, in
   _predelay = predelay;
   _postdelay = postdelay;
 
-  if (_dePin > -1) {
-    pinMode(_dePin, OUTPUT);
-    digitalWrite(_dePin, LOW);
-  }
+  pinMode(_dePin, OUTPUT);
+  digitalWrite(_dePin, LOW);
 
-  if (_rePin > -1) {
-    pinMode(_rePin, OUTPUT);
-    digitalWrite(_rePin, HIGH);
-  }
+  pinMode(_rePin, OUTPUT);
+  digitalWrite(_rePin, HIGH);
 
   _transmisionBegun = false;
 
@@ -70,15 +66,11 @@ void RS485Class::end()
 {
   _serial->end();
 
-  if (_rePin > -1) {
-    digitalWrite(_rePin, LOW);
-    pinMode(_dePin, INPUT);
-  }
+  digitalWrite(_rePin, LOW);
+  pinMode(_dePin, INPUT);
   
-  if (_dePin > -1) {
-    digitalWrite(_dePin, LOW);
-    pinMode(_rePin, INPUT);
-  }
+  digitalWrite(_dePin, LOW);
+  pinMode(_rePin, INPUT);
 }
 
 int RS485Class::available()
@@ -118,10 +110,8 @@ RS485Class::operator bool()
 
 void RS485Class::beginTransmission()
 {
-  if (_dePin > -1) {
-    digitalWrite(_dePin, HIGH);
-    if (_predelay) delayMicroseconds(_predelay);
-  }
+  digitalWrite(_dePin, HIGH);
+  if (_predelay) delayMicroseconds(_predelay);
 
   _transmisionBegun = true;
 }
@@ -130,26 +120,20 @@ void RS485Class::endTransmission()
 {
   _serial->flush();
 
-  if (_dePin > -1) {
-    if (_postdelay) delayMicroseconds(_postdelay);
-    digitalWrite(_dePin, LOW);
-  }
+  if (_postdelay) delayMicroseconds(_postdelay);
+  digitalWrite(_dePin, LOW);
 
   _transmisionBegun = false;
 }
 
 void RS485Class::receive()
 {
-  if (_rePin > -1) {
-    digitalWrite(_rePin, LOW);
-  }
+  digitalWrite(_rePin, LOW);
 }
 
 void RS485Class::noReceive()
 {
-  if (_rePin > -1) {
-    digitalWrite(_rePin, HIGH);
-  }
+  digitalWrite(_rePin, HIGH);
 }
 
 void RS485Class::sendBreak(unsigned int duration)
@@ -171,10 +155,3 @@ void RS485Class::sendBreakMicroseconds(unsigned int duration)
   delayMicroseconds(duration);
   _serial->begin(_baudrate, _config);
 }
-
-void RS485Class::setPins(int txPin, int dePin, int rePin)
-{
-  _txPin = txPin;
-  _dePin = dePin;
-  _rePin = rePin;
-}
\ No newline at end of file
diff --git a/src/lib/motors/RS485.h b/src/lib/motors/RS485.h
index d7476c4..38b0a05 100644
--- a/src/lib/motors/RS485.h
+++ b/src/lib/motors/RS485.h
@@ -66,8 +66,6 @@ class RS485Class : public Stream {
     void sendBreak(unsigned int duration);
     void sendBreakMicroseconds(unsigned int duration);
 
-    void setPins(int txPin, int dePin, int rePin);
-
   private:
     HardwareSerial* _serial;
     int _txPin;
diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp
index 397e960..1d5f031 100644
--- a/src/lib/motors/SmartServo.cpp
+++ b/src/lib/motors/SmartServo.cpp
@@ -31,6 +31,7 @@
 SmartServoClass::SmartServoClass(RS485Class & RS485)
 : _RS485{RS485}
 , _errors{0}
+, _angular_velocity_deg_per_sec{DEFAULT_ANGULAR_VELOCITY_deg_per_sec}
 , _onError{}
 , _mtx{}
 {
@@ -62,7 +63,7 @@ void SmartServoClass::sendPacket()
   _RS485.endTransmission();
   // should now receive an echo of what we just sent
   while (_RS485.available() < len) {
-    delay(100);
+    delayMicroseconds(10);
   }
   // discard the echo
   int i = len;
@@ -198,27 +199,54 @@ void SmartServoClass::begin()
     _targetSpeed[idToArrayIndex(i)] = 1000;
 }
 
-void SmartServoClass::setPosition(uint8_t const id, float const angle)
+void SmartServoClass::setPosition(uint8_t const id, float const angle_deg)
 {
-  if (!isValidAngle(angle))
+  if (!isValidAngle(angle_deg))
     return;
 
-  mbed::ScopedLock<rtos::Mutex> lock(_mtx);
-  if (isValidId(id))
+  if (!isValidId(id))
+    return;
+
+  float const target_position_deg = angle_deg;
+  float const actual_position_deg = getPosition(id);
+  if (actual_position_deg < 0.0f)
+    return;
+
+  float    const abs_position_diff_deg = fabs(target_position_deg - actual_position_deg);
+  float    const limited_runtime_sec   = abs_position_diff_deg / _angular_velocity_deg_per_sec;
+  uint16_t const limited_runtime_ms    = static_cast<uint16_t>(limited_runtime_sec * 1000.f);
+
+  if (_positionMode == PositionMode::IMMEDIATE)
   {
-    _targetPosition[idToArrayIndex(id)] = angleToPosition(angle);
-    if (_positionMode==PositionMode::IMMEDIATE) {
-      writeWordCmd(id, REG(SmartServoRegister::TARGET_POSITION_H), angleToPosition(angle));
-    }
-  }  
+    mbed::ScopedLock<rtos::Mutex> lock(_mtx);
+    writeWordCmd(id, REG(SmartServoRegister::RUN_TIME_H), limited_runtime_ms);
+    writeWordCmd(id, REG(SmartServoRegister::TARGET_POSITION_H), angleToPosition(target_position_deg));
+  }
+  else if (_positionMode == PositionMode::SYNC)
+  {
+    _targetSpeed[idToArrayIndex(id)] = limited_runtime_ms;
+    _targetPosition[idToArrayIndex(id)] = angleToPosition(target_position_deg);
+  }
 }
 
 float SmartServoClass::getPosition(uint8_t const id)
 {
+  if (!isValidId(id))
+    return -1.0f;
+
   mbed::ScopedLock<rtos::Mutex> lock(_mtx);
-  float ret = -1;
-  if (isValidId(id))
-    return positionToAngle(readWordCmd(id, REG(SmartServoRegister::POSITION_H)));
+  int position = readWordCmd(id, REG(SmartServoRegister::POSITION_H));
+   
+  // retry one more time
+  if (position < 0) {
+    delay(1);
+    position = readWordCmd(id, REG(SmartServoRegister::POSITION_H));
+  }
+ 
+  if (position < 0) 
+    return -1.0f;
+ 
+  return positionToAngle(position);
 }
 
 void SmartServoClass::center(uint8_t const id, uint16_t const position)
@@ -261,29 +289,41 @@ void SmartServoClass::setTorque(uint8_t const id, bool const torque)
 
 void SmartServoClass::setTime(uint16_t const time)
 {
-  mbed::ScopedLock<rtos::Mutex> lock(_mtx);
   for (int i = MIN_MOTOR_ID; i <= MAX_MOTOR_ID; i++)
     _targetSpeed[idToArrayIndex(i)] = time;
+
+  mbed::ScopedLock<rtos::Mutex> lock(_mtx);
   writeWordCmd(BROADCAST, REG(SmartServoRegister::RUN_TIME_H), time);
 }
 
 void SmartServoClass::setTime(uint8_t const id, uint16_t const time)
 {
+  if (!isValidId(id))
+    return;
+
+  if (id == BROADCAST)
+    return;
+
+  _targetSpeed[idToArrayIndex(id)] = time;
+
   mbed::ScopedLock<rtos::Mutex> lock(_mtx);
-  if ((id >= MIN_MOTOR_ID) && (id <= MAX_MOTOR_ID)) _targetSpeed[idToArrayIndex(id)] = time;
   writeWordCmd(id, REG(SmartServoRegister::RUN_TIME_H), time);
 }
 
-void SmartServoClass::setMaxTorque(uint16_t const torque)
+uint16_t SmartServoClass::getTime(uint8_t const id)
 {
   mbed::ScopedLock<rtos::Mutex> lock(_mtx);
-  writeWordCmd(BROADCAST, REG(SmartServoRegister::MAX_TORQUE_H), torque);
+  return readWordCmd(id, REG(SmartServoRegister::RUN_TIME_H));
 }
 
-void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const torque)
+void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const max_torque)
 {
   mbed::ScopedLock<rtos::Mutex> lock(_mtx);
-  writeWordCmd(id+1, REG(SmartServoRegister::MAX_TORQUE_H), torque);
+
+  if (max_torque > TORQUE_MAX)
+    writeWordCmd(id, REG(SmartServoRegister::MAX_TORQUE_H), TORQUE_MAX);
+  else
+    writeWordCmd(id, REG(SmartServoRegister::MAX_TORQUE_H), max_torque);
 }
 
 void SmartServoClass::setID(uint8_t const id)
diff --git a/src/lib/motors/SmartServo.h b/src/lib/motors/SmartServo.h
index 46d6927..d7186b6 100644
--- a/src/lib/motors/SmartServo.h
+++ b/src/lib/motors/SmartServo.h
@@ -46,19 +46,19 @@ class SmartServoClass
 
   inline void setPositionMode(PositionMode const mode) { _positionMode = mode; }
 
-  void setPosition(uint8_t const id, float const angle);
-
+  void  setPosition(uint8_t const id, float const angle_deg);
   float getPosition(uint8_t const id);
 
+  inline void  setAngularVelocity(float const angular_velocity_deg_per_sec) { _angular_velocity_deg_per_sec = angular_velocity_deg_per_sec; }
+  inline float getAngularVelocity() const { return _angular_velocity_deg_per_sec; }
+
   void synchronize();
 
   void setTorque(bool const torque);
-
   void setTorque(uint8_t const id, bool const torque);
 
-  void setMaxTorque(uint16_t const torque);
-
-  void setMaxTorque(uint8_t const id, uint16_t const torque);
+         void setMaxTorque(uint8_t const id, uint16_t const max_torque);
+  inline void setMaxTorque(uint16_t const max_torque) { setMaxTorque(BROADCAST, max_torque); }
 
   void setID(uint8_t const id);
 
@@ -75,8 +75,9 @@ class SmartServoClass
   void setMaxAngle(uint16_t const max_angle);
   void setMaxAngle(uint8_t const id, uint16_t const max_angle);
 
-  void setTime(uint16_t const time);
-  void setTime(uint8_t const id, uint16_t const time);
+  void     setTime(uint16_t const time);
+  void     setTime(uint8_t const id, uint16_t const time);
+  uint16_t getTime(uint8_t const id);
 
   void center(uint8_t const id, uint16_t const position);
 
@@ -97,6 +98,10 @@ class SmartServoClass
   static int   constexpr MAX_MOTOR_ID = 6;
   static int   constexpr NUM_MOTORS = 6;
   static float constexpr MAX_ANGLE = 315.0f;
+  static float constexpr DEFAULT_ANGULAR_VELOCITY_deg_per_sec = 20.0f;
+
+  static uint16_t constexpr TORQUE_MIN =    0;
+  static uint16_t constexpr TORQUE_MAX = 1000;
 
   static size_t idToArrayIndex(size_t const id) { return (id - 1); }
 
@@ -126,6 +131,7 @@ class SmartServoClass
 
   RS485Class& _RS485;
   int _errors;
+  float _angular_velocity_deg_per_sec;
   mbed::Callback<void()> _onError;
   rtos::Mutex _mtx;