diff --git a/examples/tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino b/examples/tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino
new file mode 100644
index 0000000..1cc8416
--- /dev/null
+++ b/examples/tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino
@@ -0,0 +1,20 @@
+ #include "Braccio++.h"
+
+void customMenu() {
+  lv_obj_t * btn1 = lv_btn_create(lv_scr_act());
+  lv_obj_set_size(btn1, 120, 75);
+  lv_obj_t * label1 = lv_label_create(btn1);
+  lv_label_set_text(label1, "BTN 1");
+  lv_obj_align(btn1, LV_ALIGN_CENTER, 0, 0);
+  lv_obj_center(label1);
+}
+
+void setup() {
+  // put your setup code here, to run once:
+  Braccio.begin(customMenu);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}
diff --git a/examples/tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/sketch.json b/examples/tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/sketch.json
new file mode 100644
index 0000000..45332f0
--- /dev/null
+++ b/examples/tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/sketch.json
@@ -0,0 +1,7 @@
+{
+  "cpu": {
+    "fqbn": "arduino:mbed_nano:nanorp2040connect",
+    "name": "Arduino Nano RP2040 Connect",
+    "port": "serial:///dev/ttyACM0"
+  }
+}
\ No newline at end of file
diff --git a/examples/tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino b/examples/tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino
new file mode 100644
index 0000000..8818453
--- /dev/null
+++ b/examples/tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino
@@ -0,0 +1,39 @@
+#include "Braccio++.h"
+
+// Arduino Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_ORANGE     0xE47128
+#define COLOR_YELLOW     0xE5AD24
+#define COLOR_WHITE      0xFFFFFF
+
+
+void customMenu() {
+  static lv_style_t style;
+  lv_style_init(&style);
+  lv_style_set_bg_color(&style, lv_color_hex(COLOR_WHITE));
+  lv_style_set_border_color(&style, lv_color_hex(COLOR_TEAL));
+  lv_style_set_border_width(&style, 5);
+  lv_style_set_text_color(&style, lv_color_hex(COLOR_ORANGE));
+
+  lv_obj_t * btn1 = lv_btn_create(lv_scr_act()); 
+  lv_obj_set_size(btn1, 120, 75);
+  
+  lv_obj_t * label1 = lv_label_create(btn1);
+  lv_label_set_text(label1, "BTN 1");
+  
+  lv_obj_align(btn1, LV_ALIGN_CENTER, 0, 0);
+  lv_obj_center(label1);
+
+  lv_obj_add_style(btn1, &style, 0);
+}
+
+void setup() {
+  // put your setup code here, to run once:
+  Braccio.begin(customMenu);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}
diff --git a/examples/tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/btn_style.ino.NANO_RP2040_CONNECT.bin b/examples/tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/btn_style.ino.NANO_RP2040_CONNECT.bin
new file mode 100755
index 0000000..00d92a9
Binary files /dev/null and b/examples/tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/btn_style.ino.NANO_RP2040_CONNECT.bin differ
diff --git a/examples/tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/sketch.json b/examples/tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/sketch.json
new file mode 100644
index 0000000..abdab11
--- /dev/null
+++ b/examples/tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/sketch.json
@@ -0,0 +1,6 @@
+{
+  "cpu": {
+    "fqbn": "arduino:mbed_nano:nanorp2040connect",
+    "port": ""
+  }
+}
\ No newline at end of file
diff --git a/examples/tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino b/examples/tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino
new file mode 100644
index 0000000..1a4f832
--- /dev/null
+++ b/examples/tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino
@@ -0,0 +1,46 @@
+#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", "\0"
+                                 };
+
+void customMenu() {
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL));
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_WHITE));
+  lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW));
+  lv_style_set_border_width(&style_btn, 2);
+  lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL));
+  
+  
+  lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm1, btnm_map);
+  lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP);
+  
+  lv_obj_add_style(btnm1, &style_bg, 0);
+  lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS);
+}
+
+void setup() {
+  // put your setup code here, to run once:
+  Braccio.begin(customMenu);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}
diff --git a/examples/tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino b/examples/tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino
new file mode 100644
index 0000000..1d4a705
--- /dev/null
+++ b/examples/tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino
@@ -0,0 +1,46 @@
+#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
+
+static const char * btnm_map[] = {"OPTION 1", "OPTION 2", "OPTION 3", "\n",
+                                   "OPTION 4", "OPTION 5", "\0"
+                                 };
+
+void customMenu(){
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL));
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(0xFFFFFF));
+  lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW));
+  lv_style_set_border_width(&style_btn, 2);
+  lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL));
+  
+  
+  lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm1, btnm_map);
+  lv_btnmatrix_set_btn_width(btnm1, 3, 2);  // Make "Option 4" twice as wide as "Option 5"
+  lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP);
+  
+  lv_obj_add_style(btnm1, &style_bg, 0);
+  lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS);
+}
+
+void setup() {
+  // put your setup code here, to run once:
+  Braccio.begin(customMenu);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}
diff --git a/examples/tutorials/lessons/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino b/examples/tutorials/lessons/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino
new file mode 100644
index 0000000..50e760c
--- /dev/null
+++ b/examples/tutorials/lessons/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino
@@ -0,0 +1,46 @@
+#include "Braccio++.h"
+
+#define MARGIN_LEFT   0
+#define MARGIN_TOP    0
+
+#define COLOR_BG         0xA69F80
+#define COLOR_BTN        0xF2C36B
+#define COLOR_BORDER     0x591202
+#define COLOR_TEXT       0xA65221
+
+static const char * btnm_map[] = {"BTN 1", "\n",
+                                  "BTN 2", "BTN 3", "\n",
+                                  "BTN 4", "BTN 5", "\0"
+                                 };
+
+void customMenu() {
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_BG));
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_BTN));
+  lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_BORDER));
+  lv_style_set_border_width(&style_btn, 2);
+  lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEXT));
+  
+  
+  lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm1, btnm_map);
+  lv_btnmatrix_set_btn_width(btnm1, 1, 2);  // Make "Button 2" twice as wide as "Button 3"
+  lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP);
+  
+  lv_obj_add_style(btnm1, &style_bg, 0);
+  lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS);
+}
+
+void setup() {
+  // put your setup code here, to run once:
+  Braccio.begin(customMenu);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}
diff --git a/examples/tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino b/examples/tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino
new file mode 100644
index 0000000..db53831
--- /dev/null
+++ b/examples/tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino
@@ -0,0 +1,30 @@
+#include "Braccio++.h"
+
+String message = "";
+
+String checkJoystick(int input){
+  String joystick[] = { "",
+    "Joystick left was moved!",
+    "Joystick right was moved!",
+    "Joystick select button was pressed!",
+    "Joystick up was moved!",
+    "Joystick down was moved!"};
+   return joystick[input];
+}
+
+void setup() {
+  Serial.begin(115200);
+  while(!Serial){}
+  Braccio.begin();
+  Serial.println("Press any button or move the joystick.");
+}
+
+void loop() {
+  int joystickPos = Braccio.getKey();
+  message = checkJoystick(joystickPos);
+  if(message != ""){
+    Serial.println(message);
+    message = "";
+  }
+  delay(500);
+}
diff --git a/examples/tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino b/examples/tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino
new file mode 100644
index 0000000..e1c118c
--- /dev/null
+++ b/examples/tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino
@@ -0,0 +1,70 @@
+#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"
+                                 };
+
+static void eventHandler(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_PRESSED) {
+    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.");
+  }
+}
+
+void customMenu(){
+  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 * btnm1 = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm1, btnm_map);
+  lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP);
+  
+  lv_obj_add_style(btnm1, &style_bg, 0);
+  lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS);
+
+  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_btnmatrix_set_btn_ctrl(btnm1, 5, LV_BTNMATRIX_CTRL_CHECKABLE);
+
+  lv_btnmatrix_set_one_checked(btnm1, true);
+  
+  lv_obj_add_event_cb(btnm1, eventHandler, LV_EVENT_ALL, NULL);
+  
+  Braccio.connectJoystickTo(btnm1);
+}
+
+void setup() {
+  Braccio.begin(customMenu);
+}
+
+void loop() {
+  
+}
diff --git a/examples/tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino b/examples/tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino
new file mode 100644
index 0000000..8a25ba3
--- /dev/null
+++ b/examples/tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino
@@ -0,0 +1,70 @@
+#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"
+                                 };
+
+static void eventHandler(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_PRESSING) {
+    uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+    const char * txt = lv_btnmatrix_get_btn_text(obj, id);
+
+    LV_LOG_USER("%s is pressed\n", txt);
+    Serial.println(String(txt) + " is pressed.");
+  }
+}
+
+void customMenu(){
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL));
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_WHITE));
+  lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW));
+  lv_style_set_border_width(&style_btn, 2);
+  lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL));
+
+
+  lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm1, btnm_map);
+  lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP);
+
+  lv_obj_add_style(btnm1, &style_bg, 0);
+  lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS);
+
+  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_btnmatrix_set_btn_ctrl(btnm1, 5, LV_BTNMATRIX_CTRL_CHECKABLE);
+
+  lv_btnmatrix_set_one_checked(btnm1, true);
+
+  lv_obj_add_event_cb(btnm1, eventHandler, LV_EVENT_ALL, NULL);
+
+  Braccio.connectJoystickTo(btnm1);
+}
+
+void setup() {
+  Braccio.begin(customMenu);
+}
+
+void loop() {
+
+}
diff --git a/examples/tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino b/examples/tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino
new file mode 100644
index 0000000..f3a9ca9
--- /dev/null
+++ b/examples/tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino
@@ -0,0 +1,70 @@
+#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"
+                                 };
+
+static void eventHandler(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_RELEASED) {
+    uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+    const char * txt = lv_btnmatrix_get_btn_text(obj, id);
+
+    LV_LOG_USER("%s was released\n", txt);
+    Serial.println(String(txt) + " was released.");
+  }
+}
+
+void customMenu(){
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL));
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_WHITE));
+  lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW));
+  lv_style_set_border_width(&style_btn, 2);
+  lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL));
+
+
+  lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm1, btnm_map);
+  lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP);
+
+  lv_obj_add_style(btnm1, &style_bg, 0);
+  lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS);
+
+  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_btnmatrix_set_btn_ctrl(btnm1, 5, LV_BTNMATRIX_CTRL_CHECKABLE);
+
+  lv_btnmatrix_set_one_checked(btnm1, true);
+
+  lv_obj_add_event_cb(btnm1, eventHandler, LV_EVENT_ALL, NULL);
+
+  Braccio.connectJoystickTo(btnm1);
+}
+
+void setup() {
+  Braccio.begin(customMenu);
+}
+
+void loop() {
+
+}
diff --git a/examples/tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino b/examples/tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino
new file mode 100644
index 0000000..faa1e04
--- /dev/null
+++ b/examples/tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino
@@ -0,0 +1,41 @@
+#include "Braccio++.h"
+
+int motorID= 0;
+
+void setup() {
+  Braccio.begin();
+  delay(500);
+  
+  Serial.begin(115200);
+  while(!Serial){}
+}
+
+void loop() {
+  Serial.println("To start, send any key to the serial port:");
+  while((Serial.available() <= 0)){};
+  Serial.read(); // Clear the serial buffer
+  
+  for(motorID = 1; motorID <=6; motorID++){
+    Serial.println("\nMoving the motor " + String(motorID));
+    Serial.println("Current angle 0.0 (zero)");
+    
+    Braccio.move(motorID).to(0.0f);
+    delay(2000);  // delay between movements
+
+    Serial.println("Current angle 90.0");
+    Braccio.move(motorID).to(90.0f);
+    delay(2000);  // delay between movements
+
+    Serial.println("Current angle 180.0");
+    Braccio.move(motorID).to(180.0f);
+    delay(2000);  // delay between movements
+
+    Serial.println("Current angle 270.0");
+    Braccio.move(motorID).to(270.0f);
+    delay(2000);  // delay between movements
+
+    Serial.println("Current angle 315.0\n");
+    Braccio.move(motorID).to(315.0f);
+    delay(2000);  // delay between movements
+  }
+}
diff --git a/examples/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/tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino
new file mode 100644
index 0000000..861dd5b
--- /dev/null
+++ b/examples/tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino
@@ -0,0 +1,66 @@
+#include "Braccio++.h"
+
+#define BUTTON_ENTER 6
+
+int motorID = 0;
+boolean movement = false;
+float initialAngle = 0.0;
+
+void setup() {
+  Braccio.begin();
+
+  delay(500); // Waits for the Braccio initialization
+
+  // Sets the initial angle for the motors
+  for(int i = 1; i <= 6; i++){
+    Braccio.move(i).to(0.0f);
+    delay(1000); // Necessary to set the motor ID correctly
+  }
+  
+  Serial.begin(115200);
+  
+  Serial.println("Press the Enter Button to select the motor 1.");
+}
+
+void loop() {
+  // Check if the control key pressed is the Enter Button
+  if(Braccio.getKey() == BUTTON_ENTER){
+    
+    if(motorID <= 6){
+      
+      motorID++;  // Increment the ID
+      
+      if(motorID > 6){
+        motorID = 1; // Restart the ID to motor 1
+      }
+    }
+      
+    movement = true; // Flag allows the motor to move
+    
+    while(Braccio.getKey() == BUTTON_ENTER); // Avoids more than one increment
+    Serial.println("Motor " + String(motorID) + " selected.");
+  }
+
+  if(movement){
+    
+    for (float angle = 0.0; angle <= 315.0; angle+=45.0){
+      Braccio.move(motorID).to(angle);
+      
+      Serial.println("Motor " + String(motorID) + " - current angle: " + String(angle));
+      delay(250);
+    }
+
+    delay(500);
+    
+    for (float angle = 315.0; angle >= 0.0; angle-=45.0){
+      Braccio.move(motorID).to(angle);
+      
+      Serial.println("Motor " + String(motorID) + " - current angle: " + String(angle));
+      delay(250);
+    }
+    
+    movement = false;
+    
+    Serial.println("\n\nPress the Enter Button to select the next motor.\n\n");
+  }
+}
diff --git a/examples/tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino b/examples/tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino
new file mode 100644
index 0000000..30ad751
--- /dev/null
+++ b/examples/tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino
@@ -0,0 +1,63 @@
+#include "Braccio++.h"
+
+#define JOYSTICK_LEFT        1
+#define JOYSTICK_RIGHT       2
+#define JOYSTICK_SEL_BUTTON  3
+#define JOYSTICK_UP          4
+#define JOYSTICK_DOWN        5
+#define BUTTON_ENTER         6
+
+int motorID = 0;
+float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f; // 315 degrees / 2 = 157.5 degrees
+float currentAngle = initialAngle;
+
+void setup() {
+  Braccio.begin(); // Initialize Braccio
+  
+  delay(500); // Waits for the Braccio initialization
+  
+  // Sets the initial angle for the motors
+  for(int i = 1; i <= 6; i++){
+    Braccio.move(i).to(initialAngle);
+    delay(1000); // Necessary to set the motor ID correctly
+  }
+    
+  Serial.begin(115200);
+  
+  Serial.println("Press the Enter Button to select the motor 1.");
+}
+
+void loop() {
+  int pressedKey = Braccio.getKey();
+  
+  // Check if the control key pressed is the Enter Button
+  if(pressedKey == BUTTON_ENTER){
+    if(motorID < 6){
+      
+      motorID++;  // Increment the ID
+      
+    } else {
+      motorID = 1; // Restart the ID to motor 1
+    }
+    
+    currentAngle = initialAngle;
+    
+    while(Braccio.getKey() == BUTTON_ENTER); // Avoids more than one increment
+
+    Serial.println("Motor " + String(motorID) + " selected.");
+    Serial.println("Use the left and right joystick to move the selected motor.");
+  }
+
+  // Check if the Joystick Left is pressed
+  if(pressedKey == JOYSTICK_LEFT){
+    currentAngle = currentAngle + 5.00;
+  }
+
+  // Check if the Joystick Right is pressed
+  if(pressedKey == JOYSTICK_RIGHT){
+    currentAngle = currentAngle - 5.00;
+  }
+  
+  Braccio.move(motorID).to(currentAngle); // Moves the motor to the new angle
+  delay(100);
+}
diff --git a/examples/tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino b/examples/tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino
new file mode 100644
index 0000000..11302ff
--- /dev/null
+++ b/examples/tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino
@@ -0,0 +1,77 @@
+#include "Braccio++.h"
+
+#define JOYSTICK_LEFT        1
+#define JOYSTICK_RIGHT       2
+#define JOYSTICK_SEL_BUTTON  3
+#define JOYSTICK_UP          4
+#define JOYSTICK_DOWN        5
+#define BUTTON_ENTER         6
+
+int motorID = 0;
+float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f;
+float currentAngle = initialAngle;
+
+void setup() {
+  Braccio.begin();
+  delay(500); // Waits for the Braccio initialization
+
+  // Sets the initial angle for the motors
+  for (int i = 1; i <= 6; i++) {
+    Braccio.move(i).to(initialAngle);
+    delay(1000); // Necessary to set the motor ID correctly
+  }
+
+  Serial.begin(115200);
+  while (!Serial) {}
+
+  Serial.println("Press the up and down joystick to select one motor.");
+}
+
+void loop() {
+  int pressedKey = Braccio.getKey();
+
+  // Check if the control key pressed is the Joystick Up
+  if (pressedKey == JOYSTICK_UP) {
+
+    if (motorID < 6) {
+      motorID++;  // Increment the ID
+    } else {
+      motorID = 1; // Restart the ID to motor 1
+    }
+
+    currentAngle = initialAngle;
+    
+    while (Braccio.getKey() == JOYSTICK_UP); // Avoids more than one increment
+
+    Serial.println("Motor " + String(motorID) + " selected.");
+    Serial.println("Use the left and right joystick to move the selected motor.");
+  }
+
+  // Check if the control key pressed is the Joystick Down
+  if (pressedKey == JOYSTICK_DOWN) {
+
+    if (motorID > 1) {
+      motorID--;  // Increment the ID
+    } else {
+      motorID = 6; // Select motor 6
+    }
+
+    while (Braccio.getKey() == JOYSTICK_DOWN); // Avoids more than one increment
+
+    Serial.println("Motor " + String(motorID) + " selected.");
+    Serial.println("Use the left and right joystick to move the selected motor.");
+  }
+
+  // Check if the Joystick Left is pressed
+  if (pressedKey == JOYSTICK_LEFT) {
+    currentAngle = currentAngle + 5.00;
+  }
+
+  // Check if the Joystick Right is pressed
+  if (pressedKey == JOYSTICK_RIGHT) {
+    currentAngle = currentAngle - 5.00;
+  }
+
+  Braccio.move(motorID).to(currentAngle); // Moves the motor to the new angle
+  delay(100);
+}
diff --git a/examples/tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino b/examples/tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino
new file mode 100644
index 0000000..bad15f8
--- /dev/null
+++ b/examples/tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino
@@ -0,0 +1,97 @@
+#include "Braccio++.h"
+
+#define JOYSTICK_LEFT        1
+#define JOYSTICK_RIGHT       2
+#define JOYSTICK_SEL_BUTTON  3
+#define JOYSTICK_UP          4
+#define JOYSTICK_DOWN        5
+#define BUTTON_ENTER         6
+
+// Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_ORANGE     0xE47128
+
+int motorID = 1;
+float initialAngle = 0.0;
+float currentAngle = initialAngle;
+float angles[6];
+
+static lv_obj_t * meter;
+lv_meter_indicator_t * indic;
+
+
+static void eventHandlerMeter(lv_event_t * e) {
+  /* Set the meter value */
+  lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]);
+}
+
+
+void meterScreen(void)
+{
+  meter = lv_meter_create(lv_scr_act());
+
+  lv_obj_center(meter);
+  lv_obj_set_size(meter, 200, 200);
+
+  /*Remove the circle from the middle*/
+  lv_obj_remove_style(meter, NULL, LV_PART_INDICATOR);
+
+  static lv_style_t style_meter;
+  lv_style_init(&style_meter);
+  lv_style_set_text_color(&style_meter, lv_color_hex(COLOR_TEAL));
+  lv_obj_add_style(meter, &style_meter, 0);
+
+  /*Add a scale first*/
+  lv_meter_scale_t * scale = lv_meter_add_scale(meter);
+  lv_meter_set_scale_ticks(meter, scale, 8, 2, 10, lv_color_hex(COLOR_ORANGE));
+  lv_meter_set_scale_major_ticks(meter, scale, 1, 2, 20, lv_color_hex(COLOR_ORANGE), 20);
+  lv_meter_set_scale_range(meter, scale, 0, 315, 315, 90);
+
+  /*Add a arc indicator*/
+  indic = lv_meter_add_arc(meter, scale, 10, lv_color_hex(COLOR_LIGHT_TEAL), 0);
+
+  lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL);
+
+  Braccio.connectJoystickTo(meter);
+}
+
+void setup() {
+  Braccio.begin(meterScreen);
+
+  delay(500); // Waits for the Braccio initialization
+
+  // Sets the initial angle for the motors
+  for (int i = 1; i <= 6; i++) {
+    Braccio.move(i).to(initialAngle);
+    delay(1000); // Necessary to set the motor ID correctly
+  }
+}
+
+void loop() {
+  int pressedKey = Braccio.getKey();
+
+  Braccio.positions(angles);
+  currentAngle = angles[motorID - 1];
+
+  // Check if the Joystick Left is pressed
+  if (pressedKey == JOYSTICK_LEFT) {
+    if (currentAngle <= 315 ) {
+      currentAngle += 15.0;
+    } else {
+      currentAngle = 315.0;
+    }
+  }
+
+  // Check if the Joystick Right is pressed
+  if (pressedKey == JOYSTICK_RIGHT) {
+    if (currentAngle > 15 ) {
+      currentAngle -= 15.0;
+    } else {
+      currentAngle = 0.0;
+    }
+  }
+
+  Braccio.move(motorID).to(currentAngle); // Moves the motor to the new angle
+  delay(100);
+}
diff --git a/examples/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/tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino
new file mode 100644
index 0000000..04ad83f
--- /dev/null
+++ b/examples/tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino
@@ -0,0 +1,161 @@
+#include "Braccio++.h"
+
+// Joystick
+#define JOYSTICK_LEFT        1
+#define JOYSTICK_RIGHT       2
+#define JOYSTICK_SEL_BUTTON  3
+#define JOYSTICK_UP          4
+#define JOYSTICK_DOWN        5
+#define BUTTON_ENTER         6
+
+// Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_ORANGE     0xE47128
+#define COLOR_YELLOW     0xE5AD24
+#define COLOR_WHITE      0xFFFFFF
+
+// Variables
+int motorID = 0; // Selected motor ID
+float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f;
+float currentAngle = initialAngle; // Selected motor current angle
+float angles[6]; // All motors current angles
+
+static const char * btnm_map[] = {"Motor 1", "Motor 2", "\n",
+                                  "Motor 3", "Motor 4", "\n",
+                                  "Motor 5", "Motor 6", "\0"
+                                 };
+
+lv_obj_t * btnm; // Motors button matrix
+lv_obj_t * meter; // Gauge with selected motor angle
+lv_meter_indicator_t * indic; // Indication of selected motor angle
+
+
+// Event Handlers
+static void eventHandlerMeter(lv_event_t * e) {
+  uint32_t pressed_key = Braccio.getKey();
+
+  if (pressed_key == BUTTON_ENTER) {
+    motorID = 0; // No motor selected
+    motorMenu(); // Load motor menu screen
+    lv_obj_del(meter); // Delete the object
+  }
+  else {
+    lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]);
+  }
+}
+
+static void eventHandlerMenu(lv_event_t * e) {
+  lv_obj_t * obj = lv_event_get_target(e);
+  uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+
+  motorID = id + 1;
+  currentAngle = angles[motorID - 1];
+  meterScreen(); // Load meter screen
+  lv_obj_del(btnm); // Delete the object
+}
+
+// Screens functions
+void meterScreen(void)
+{
+  meter = lv_meter_create(lv_scr_act());
+
+  lv_obj_center(meter);
+  lv_obj_set_size(meter, 200, 200);
+
+  /*Remove the circle from the middle*/
+  lv_obj_remove_style(meter, NULL, LV_PART_INDICATOR);
+
+  static lv_style_t style_meter;
+  lv_style_init(&style_meter);
+  lv_style_set_text_color(&style_meter, lv_color_hex(COLOR_TEAL));
+  lv_obj_add_style(meter, &style_meter, 0);
+
+  /*Add a scale first*/
+  lv_meter_scale_t * scale = lv_meter_add_scale(meter);
+  lv_meter_set_scale_ticks(meter, scale, 8, 2, 10, lv_color_hex(COLOR_ORANGE));
+  lv_meter_set_scale_major_ticks(meter, scale, 1, 2, 20, lv_color_hex(COLOR_ORANGE), 20);
+  lv_meter_set_scale_range(meter, scale, 0, 315, 315, 90);
+
+  /*Add a arc indicator*/
+  indic = lv_meter_add_arc(meter, scale, 10, lv_color_hex(COLOR_LIGHT_TEAL), 0);
+
+  lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL);
+
+  lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]);
+
+  Braccio.connectJoystickTo(meter);
+}
+
+void motorMenu() {
+  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));
+
+  btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, 0, 0);
+
+  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, eventHandlerMenu, LV_EVENT_PRESSED, NULL);
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+void setup() {
+  Braccio.begin(motorMenu);
+
+  delay(5000); // Waits for the Braccio initialization
+
+  // Sets the initial angle for the motors
+  for (int i = 1; i <= 6; i++) {
+    Braccio.move(i).to(initialAngle);
+    delay(1500); // Necessary to set the motor ID correctly
+  }
+}
+
+void loop() {
+  int pressedKey = Braccio.getKey();
+
+  Braccio.positions(angles);
+  currentAngle = angles[motorID - 1];
+
+  // Check if the Joystick Left is pressed
+  if (pressedKey == JOYSTICK_LEFT) {
+    if (currentAngle < 315 ) {
+      currentAngle += 15.00;
+    } else {
+      currentAngle = 315;
+    }
+  }
+
+  // Check if the Joystick Right is pressed
+  if (pressedKey == JOYSTICK_RIGHT) {
+    if (currentAngle > 15 ) {
+      currentAngle -= 15.00;
+    } else {
+      currentAngle = 0;
+    }
+  }
+
+  Braccio.move(motorID).to(currentAngle); // Moves the motor to the new angle
+  delay(100);
+}
diff --git a/examples/tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino b/examples/tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino
new file mode 100644
index 0000000..517e3da
--- /dev/null
+++ b/examples/tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino
@@ -0,0 +1,161 @@
+#include "Braccio++.h"
+
+// Joystick
+#define JOYSTICK_LEFT        1
+#define JOYSTICK_RIGHT       2
+#define JOYSTICK_SEL_BUTTON  3
+#define JOYSTICK_UP          4
+#define JOYSTICK_DOWN        5
+#define BUTTON_ENTER         6
+
+// Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_ORANGE     0xE47128
+#define COLOR_YELLOW     0xE5AD24
+#define COLOR_WHITE      0xFFFFFF
+
+// Variables
+int motorID = 0; // Selected motor ID
+float initialAngle = 0.0;
+float currentAngle = initialAngle; // Selected motor current angle
+float angles[6]; // All motors current angles
+
+static const char * btnm_map[] = {"Motor 1", "Motor 2", "\n",
+                                  "Motor 3", "Motor 4", "\n",
+                                  "Motor 5", "Motor 6", "\0"
+                                 };
+
+lv_obj_t * btnm; // Motors button matrix
+lv_obj_t * meter; // Gauge with selected motor angle
+lv_meter_indicator_t * indic; // Indication of selected motor angle
+
+
+// Event Handlers
+static void eventHandlerMeter(lv_event_t * e) {
+  uint32_t pressed_key = Braccio.getKey();
+
+  if (pressed_key == BUTTON_ENTER) {
+    motorID = 0; // No motor selected
+    motorMenu(); // Load motor menu screen
+    lv_obj_del(meter); // Delete the object
+  }
+  else {
+    lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]);
+  }
+}
+
+static void eventHandlerMenu(lv_event_t * e) {
+  lv_obj_t * obj = lv_event_get_target(e);
+  uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+
+  motorID = id + 1;
+  currentAngle = angles[motorID - 1];
+  meterScreen();
+  lv_obj_del(btnm);
+}
+
+// Screens functions
+void meterScreen(void)
+{
+  meter = lv_meter_create(lv_scr_act());
+
+  lv_obj_center(meter);
+  lv_obj_set_size(meter, 200, 200);
+
+  /*Remove the circle from the middle*/
+  lv_obj_remove_style(meter, NULL, LV_PART_INDICATOR);
+
+  static lv_style_t style_meter;
+  lv_style_init(&style_meter);
+  lv_style_set_text_color(&style_meter, lv_color_hex(COLOR_TEAL));
+  lv_obj_add_style(meter, &style_meter, 0);
+
+  /*Add a scale first*/
+  lv_meter_scale_t * scale = lv_meter_add_scale(meter);
+  lv_meter_set_scale_ticks(meter, scale, 22, 2, 10, lv_color_hex(COLOR_ORANGE));
+  lv_meter_set_scale_major_ticks(meter, scale, 1, 2, 20, lv_color_hex(COLOR_ORANGE), 20);
+  lv_meter_set_scale_range(meter, scale, 0, 315, 315, 90);
+
+  /*Add a arc indicator*/
+  indic = lv_meter_add_arc(meter, scale, 10, lv_color_hex(COLOR_LIGHT_TEAL), 0);
+
+  lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL);
+
+  lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]);
+
+  Braccio.connectJoystickTo(meter);
+}
+
+void motorMenu() {
+  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));
+
+  btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, 0, 0);
+
+  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, eventHandlerMenu, LV_EVENT_PRESSED, NULL);
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+void setup() {
+  Braccio.begin(motorMenu);
+
+  delay(500); // Waits for the Braccio initialization
+
+  // Sets the initial angle for the motors
+  for (int i = 1; i <= 6; i++) {
+    Braccio.move(i).to(initialAngle);
+    delay(1000); // Necessary to set the motor ID correctly
+  }
+}
+
+void loop() {
+  int pressedKey = Braccio.getKey();
+
+  Braccio.positions(angles);
+  currentAngle = angles[motorID - 1];
+
+  // Check if the Joystick Left is pressed
+  if (pressedKey == JOYSTICK_LEFT) {
+    if (currentAngle < 315 ) {
+      currentAngle += 10.00;
+    } else {
+      currentAngle = 315;
+    }
+  }
+
+  // Check if the Joystick Right is pressed
+  if (pressedKey == JOYSTICK_RIGHT) {
+    if (currentAngle > 15 ) {
+      currentAngle -= 10.00;
+    } else {
+      currentAngle = 0;
+    }
+  }
+
+  Braccio.move(motorID).to(currentAngle); // Moves the motor to the new angle
+  delay(100);
+}
diff --git a/examples/tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino b/examples/tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino
new file mode 100644
index 0000000..3593e5b
--- /dev/null
+++ b/examples/tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino
@@ -0,0 +1,161 @@
+#include "Braccio++.h"
+
+// Joystick
+#define JOYSTICK_LEFT        1
+#define JOYSTICK_RIGHT       2
+#define JOYSTICK_SEL_BUTTON  3
+#define JOYSTICK_UP          4
+#define JOYSTICK_DOWN        5
+#define BUTTON_ENTER         6
+
+// Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_ORANGE     0xE47128
+#define COLOR_YELLOW     0xE5AD24
+#define COLOR_WHITE      0xFFFFFF
+
+// Variables
+int motorID = 0; // Selected motor ID
+float initialAngle = 0.0;
+float currentAngle = initialAngle; // Selected motor current angle
+float angles[6]; // All motors current angles
+
+static const char * btnm_map[] = {"Motor 1", "Motor 2", "\n",
+                                  "Motor 3", "Motor 4", "\n",
+                                  "Motor 5", "Motor 6", "\0"
+                                 };
+
+lv_obj_t * btnm; // Motors button matrix
+lv_obj_t * meter; // Gauge with selected motor angle
+lv_meter_indicator_t * indic; // Indication of selected motor angle
+
+
+// Event Handlers
+static void eventHandlerMeter(lv_event_t * e) {
+  uint32_t pressed_key = Braccio.getKey();
+
+  if (pressed_key == BUTTON_ENTER) {
+    motorID = 0; // No motor selected
+    motorMenu(); // Load motor menu screen
+    lv_obj_del(meter); // Delete the object
+  }
+  else {
+    lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]);
+  }
+}
+
+static void eventHandlerMenu(lv_event_t * e) {
+  lv_obj_t * obj = lv_event_get_target(e);
+  uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+
+  motorID = id + 1;
+  currentAngle = angles[motorID - 1];
+  meterScreen();
+  lv_obj_del(btnm);
+}
+
+// Screens functions
+void meterScreen(void)
+{
+  meter = lv_meter_create(lv_scr_act());
+
+  lv_obj_center(meter);
+  lv_obj_set_size(meter, 200, 200);
+
+  /*Remove the circle from the middle*/
+  lv_obj_remove_style(meter, NULL, LV_PART_INDICATOR);
+
+  static lv_style_t style_meter;
+  lv_style_init(&style_meter);
+  lv_style_set_text_color(&style_meter, lv_color_hex(COLOR_TEAL));
+  lv_obj_add_style(meter, &style_meter, 0);
+
+  /*Add a scale first*/
+  lv_meter_scale_t * scale = lv_meter_add_scale(meter);
+  lv_meter_set_scale_ticks(meter, scale, 22, 2, 10, lv_color_hex(COLOR_ORANGE));
+  lv_meter_set_scale_major_ticks(meter, scale, 3, 2, 20, lv_color_hex(COLOR_ORANGE), 20);
+  lv_meter_set_scale_range(meter, scale, 0, 315, 315, 90);
+
+  /*Add a arc indicator*/
+  indic = lv_meter_add_arc(meter, scale, 10, lv_color_hex(COLOR_LIGHT_TEAL), 0);
+
+  lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL);
+
+  lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]);
+
+  Braccio.connectJoystickTo(meter);
+}
+
+void motorMenu() {
+  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));
+
+  btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, 0, 0);
+
+  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, eventHandlerMenu, LV_EVENT_PRESSED, NULL);
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+void setup() {
+  Braccio.begin(motorMenu);
+
+  delay(500); // Waits for the Braccio initialization
+
+  // Sets the initial angle for the motors
+  for (int i = 1; i <= 6; i++) {
+    Braccio.move(i).to(initialAngle);
+    delay(1000); // Necessary to set the motor ID correctly
+  }
+}
+
+void loop() {
+  int pressedKey = Braccio.getKey();
+
+  Braccio.positions(angles);
+  currentAngle = angles[motorID - 1];
+
+  // Check if the Joystick Left is pressed
+  if (pressedKey == JOYSTICK_LEFT) {
+    if (currentAngle < 315 ) {
+      currentAngle += 10.00;
+    } else {
+      currentAngle = 315;
+    }
+  }
+
+  // Check if the Joystick Right is pressed
+  if (pressedKey == JOYSTICK_RIGHT) {
+    if (currentAngle > 15 ) {
+      currentAngle -= 10.00;
+    } else {
+      currentAngle = 0;
+    }
+  }
+
+  Braccio.move(motorID).to(currentAngle); // Moves the motor to the new angle
+  delay(100);
+}
diff --git a/examples/tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino b/examples/tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino
new file mode 100644
index 0000000..bf7f178
--- /dev/null
+++ b/examples/tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino
@@ -0,0 +1,60 @@
+#include "Braccio++.h"
+
+// Variables
+// Braccio ++ joints
+auto gripper    = Braccio.get(1);
+auto wristRoll  = Braccio.get(2);
+auto wristPitch = Braccio.get(3);
+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 angles[6];
+
+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);
+
+  Serial.begin(115200);
+  while(!Serial){}
+}
+
+void loop() {
+  // 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");
+  Serial.println("*****************************************\n\n\n\n\n");
+  Serial.println("\n\n\n\n");
+  
+  delay(1000);
+}
diff --git a/examples/tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino b/examples/tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino
new file mode 100644
index 0000000..57e081a
--- /dev/null
+++ b/examples/tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino
@@ -0,0 +1,55 @@
+#include "Braccio++.h"
+
+#define BUTTON_ENTER   6
+
+// Braccio ++ joints
+auto gripper    = Braccio.get(1);
+auto wristRoll  = Braccio.get(2);
+auto wristPitch = Braccio.get(3);
+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
+
+  // You can choose the speed beforehand with
+  Braccio.speed(SLOW); // could be FAST or MEDIUM or SLOW
+
+  // 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);
+}
+
+// Waving whit Wrist pitch
+void loop() {
+  int pressedKey = Braccio.getKey();
+
+  if (pressedKey == BUTTON_ENTER)
+    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);
+    }
+
+    movement = false; // Stop joints' movements
+  }
+}
diff --git a/examples/tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino b/examples/tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino
new file mode 100644
index 0000000..5667946
--- /dev/null
+++ b/examples/tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino
@@ -0,0 +1,53 @@
+#include "Braccio++.h"
+
+#define BUTTON_ENTER    6
+
+// Braccio ++ joints
+auto gripper    = Braccio.get(1);
+auto wristRoll  = Braccio.get(2);
+auto wristPitch = Braccio.get(3);
+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
+
+  // You can choose the speed beforehand with
+  Braccio.speed(SLOW); // could be FAST or MEDIUM or SLOW
+
+  // 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);
+}
+
+void loop() {
+  int pressedKey = Braccio.getKey();
+
+  if (pressedKey == BUTTON_ENTER)
+    movement = true; // Trigger joints' movements
+
+  if (movement) {
+    Braccio.moveTo(160.0, 150.0, 220.0, 220.0, 100.0, 270.0);
+    delay(1000);
+
+    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);
+    }
+
+    movement = false; // Stop joints' moviments
+  }
+}
diff --git a/examples/tutorials/projects/p02-controlling-braccio-manually/01_controlling_manually_Braccio/01_controlling_manually_Braccio.ino b/examples/tutorials/projects/p02-controlling-braccio-manually/01_controlling_manually_Braccio/01_controlling_manually_Braccio.ino
new file mode 100644
index 0000000..a3adb85
--- /dev/null
+++ b/examples/tutorials/projects/p02-controlling-braccio-manually/01_controlling_manually_Braccio/01_controlling_manually_Braccio.ino
@@ -0,0 +1,191 @@
+#include "Braccio++.h"
+
+#define BUTTON_ENTER         6
+
+// Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_YELLOW     0xE5AD24
+
+// Variables
+String selectedJoints;
+float homePos[6] = {160.0, 150.0, 220.0, 220.0, 100.0, 180.0};
+float angles[6]; // All motors current angles
+
+// Braccio ++ joints
+auto gripper    = Braccio.get(1);
+auto wristRoll  = Braccio.get(2);
+auto wristPitch = Braccio.get(3);
+auto elbow      = Braccio.get(4);
+auto shoulder   = Braccio.get(5);
+auto base       = Braccio.get(6);
+
+String jointsPair[] = {"Shoulder", "Elbow", "Wrist"};
+
+static const char * btnm_map[] = {"Shoulder", "\n",
+                                  "Elbow", "\n",
+                                  "Wrist", "\0"
+                                 };
+
+static const char * directional_map[] = {" ", LV_SYMBOL_UP, " ", "\n",
+                                         LV_SYMBOL_LEFT, " ", LV_SYMBOL_RIGHT, "\n",
+                                         " ", LV_SYMBOL_DOWN, " ", "\0"
+                                        };
+
+lv_obj_t * btnm; // Joints button matrix
+lv_obj_t * directional; // Direction button matrix
+
+
+// Function
+void moveJoints(uint32_t btnID) {
+  if (selectedJoints == "Shoulder") {
+    switch (btnID) {
+      case 1: shoulder.move().to(angles[4] - 10.0); break;
+      case 3: base.move().to(angles[5] - 10.0);    break;
+      case 5: base.move().to(angles[5] + 10.0);    break;
+      case 7: shoulder.move().to(angles[4] + 10.0); break;
+      default: break;
+    }
+  }
+
+  if (selectedJoints == "Elbow") {
+    switch (btnID) {
+      case 1: elbow.move().to(angles[3] - 10.0); break;
+      case 7: elbow.move().to(angles[3] + 10.0); break;
+      default: break;
+    }
+  }
+
+  if (selectedJoints == "Wrist") {
+    switch (btnID) {
+      case 1: wristPitch.move().to(angles[2] - 10.0); break;
+      case 3: wristRoll.move().to(angles[1] - 10.0);  break;
+      case 5: wristRoll.move().to(angles[1] + 10.0);  break;
+      case 7: wristPitch.move().to(angles[2] + 10.0); break;
+      default: break;
+    }
+  }
+}
+
+// Event Handlers
+static void eventHandlerMenu(lv_event_t * e) {
+  lv_obj_t * obj = lv_event_get_target(e);
+  uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+
+  selectedJoints = jointsPair[id];
+
+  directionScreen();
+  lv_obj_del(btnm);
+}
+
+static void eventHandlerDirectional(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) {
+    uint32_t pressed_key = Braccio.getKey();
+
+    if (pressed_key == BUTTON_ENTER) {
+      mainMenu(); // Load motor menu screen
+      lv_obj_del(directional); // Delete the object
+    }
+  }
+  if (code == LV_EVENT_PRESSING) {
+    uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+    Braccio.positions(angles);
+    delay(5);
+    moveJoints(id);
+  }
+}
+
+// Screens functions
+void mainMenu() {
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_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_style_set_text_letter_space(&style_btn, 8);
+
+  btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_obj_set_size(btnm, 240, 240);
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, 0, 0);
+
+  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_one_checked(btnm, true);
+  lv_btnmatrix_set_selected_btn(btnm, 0);
+
+  lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_PRESSED, NULL);
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+void directionScreen(void)
+{
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_color_white());
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL));
+  lv_style_set_text_color(&style_btn, lv_color_white());
+
+  directional = lv_btnmatrix_create(lv_scr_act());
+  lv_obj_set_size(directional, 240, 240);
+  lv_btnmatrix_set_map(directional, directional_map);
+  lv_obj_align(directional, LV_ALIGN_CENTER, 0, 0);
+
+  lv_obj_add_style(directional, &style_bg, 0);
+  lv_obj_add_style(directional, &style_btn, LV_PART_ITEMS);
+
+  lv_btnmatrix_set_btn_ctrl(directional, 0, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(directional, 1, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(directional, 2, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(directional, 3, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(directional, 4, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(directional, 5, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(directional, 6, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(directional, 7, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(directional, 8, LV_BTNMATRIX_CTRL_HIDDEN);
+
+  if (selectedJoints == "Elbow") {
+    lv_btnmatrix_set_btn_ctrl(directional, 3, LV_BTNMATRIX_CTRL_HIDDEN);
+    lv_btnmatrix_set_btn_ctrl(directional, 5, LV_BTNMATRIX_CTRL_HIDDEN);
+  }
+
+  lv_btnmatrix_set_one_checked(directional, true);
+  lv_btnmatrix_set_selected_btn(directional, 1);
+
+  lv_obj_add_event_cb(directional, eventHandlerDirectional, LV_EVENT_ALL, NULL);
+
+  delay(50);
+  Braccio.connectJoystickTo(btnm);
+}
+
+void setup() {
+  Braccio.begin(mainMenu);
+  delay(500); // Waits for the Braccio initialization
+
+  Braccio.speed(SLOW);
+
+  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+  delay(500);
+}
+
+void loop() {
+
+}
diff --git a/examples/tutorials/projects/p02-controlling-braccio-manually/02_manual_control_challenge/02_manual_control_challenge.ino b/examples/tutorials/projects/p02-controlling-braccio-manually/02_manual_control_challenge/02_manual_control_challenge.ino
new file mode 100644
index 0000000..557afb6
--- /dev/null
+++ b/examples/tutorials/projects/p02-controlling-braccio-manually/02_manual_control_challenge/02_manual_control_challenge.ino
@@ -0,0 +1,203 @@
+#include "Braccio++.h"
+
+#define BUTTON_ENTER         6
+
+// Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_YELLOW     0xE5AD24
+
+// Variables
+String selectedJoints;
+float homePos[6] = {160.0, 150.0, 220.0, 220.0, 100.0, 180.0};
+float angles[6]; // All motors current angles
+
+// Braccio ++ joints
+auto gripper    = Braccio.get(1);
+auto wristRoll  = Braccio.get(2);
+auto wristPitch = Braccio.get(3);
+auto elbow      = Braccio.get(4);
+auto shoulder   = Braccio.get(5);
+auto base       = Braccio.get(6);
+
+String jointsPair[] = {"Shoulder", "Elbow", "Wrist", "Gripper"};
+
+static const char * btnm_map[] = {"Shoulder", "\n",
+                                  "Elbow", "\n",
+                                  "Wrist", "\n",
+                                  "Gripper", "\0"
+                                 };
+
+static const char * directional_map[] = {" ", LV_SYMBOL_UP, " ", "\n",
+                                         LV_SYMBOL_LEFT, " ", LV_SYMBOL_RIGHT, "\n",
+                                         " ", LV_SYMBOL_DOWN, " ", "\0"
+                                        };
+
+lv_obj_t * btnm; // Joints button matrix
+lv_obj_t * directional; // Direction button matrix
+
+
+// Function
+void moveJoints(uint32_t btnID) {
+  if (selectedJoints == "Shoulder") {
+    switch (btnID) {
+      case 1: shoulder.move().to(angles[4] - 10.0); break;
+      case 3: base.move().to(angles[5] - 10.0);    break;
+      case 5: base.move().to(angles[5] + 10.0);    break;
+      case 7: shoulder.move().to(angles[4] + 10.0); break;
+      default: break;
+    }
+  }
+
+  if (selectedJoints == "Elbow") {
+    switch (btnID) {
+      case 1: elbow.move().to(angles[3] - 10.0); break;
+      case 7: elbow.move().to(angles[3] + 10.0); break;
+      default: break;
+    }
+  }
+
+  if (selectedJoints == "Wrist") {
+    switch (btnID) {
+      case 1: wristPitch.move().to(angles[2] - 10.0); break;
+      case 3: wristRoll.move().to(angles[1] - 10.0);  break;
+      case 5: wristRoll.move().to(angles[1] + 10.0);  break;
+      case 7: wristPitch.move().to(angles[2] + 10.0); break;
+      default: break;
+    }
+  }
+
+  if (selectedJoints == "Gripper") {
+    switch (btnID) {
+      case 3: gripper.move().to(angles[0] - 5.0); break;
+      case 5: gripper.move().to(angles[0] + 5.0); break;
+      default: break;
+    }
+  }
+}
+
+// Event Handlers
+static void eventHandlerMenu(lv_event_t * e) {
+  lv_obj_t * obj = lv_event_get_target(e);
+  uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+
+  selectedJoints = jointsPair[id];
+
+  directionScreen();
+  lv_obj_del(btnm);
+}
+
+static void eventHandlerDirectional(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) {
+    uint32_t pressed_key = Braccio.getKey();
+
+    if (pressed_key == BUTTON_ENTER) {
+      mainMenu(); // Load motor menu screen
+      lv_obj_del(directional); // Delete the object
+    }
+  }
+  if (code == LV_EVENT_PRESSING) {
+    uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+    Braccio.positions(angles);
+    delay(5);
+    moveJoints(id);
+  }
+}
+
+// Screens functions
+void mainMenu() {
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_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_style_set_text_letter_space(&style_btn, 8);
+
+  btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_obj_set_size(btnm, 240, 240);
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, 0, 0);
+
+  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_one_checked(btnm, true);
+  lv_btnmatrix_set_selected_btn(btnm, 0);
+
+  lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_PRESSED, NULL);
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+void directionScreen(void)
+{
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_color_white());
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL));
+  lv_style_set_text_color(&style_btn, lv_color_white());
+
+  directional = lv_btnmatrix_create(lv_scr_act());
+  lv_obj_set_size(directional, 240, 240);
+  lv_btnmatrix_set_map(directional, directional_map);
+  lv_obj_align(directional, LV_ALIGN_CENTER, 0, 0);
+
+  lv_obj_add_style(directional, &style_bg, 0);
+  lv_obj_add_style(directional, &style_btn, LV_PART_ITEMS);
+
+  lv_btnmatrix_set_btn_ctrl(directional, 0, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(directional, 1, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(directional, 2, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(directional, 3, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(directional, 4, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(directional, 5, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(directional, 6, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(directional, 7, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(directional, 8, LV_BTNMATRIX_CTRL_HIDDEN);
+
+  if (selectedJoints == "Elbow") {
+    lv_btnmatrix_set_btn_ctrl(directional, 3, LV_BTNMATRIX_CTRL_HIDDEN);
+    lv_btnmatrix_set_btn_ctrl(directional, 5, LV_BTNMATRIX_CTRL_HIDDEN);
+  }
+
+  if (selectedJoints == "Gripper") {
+    lv_btnmatrix_set_btn_ctrl(directional, 1, LV_BTNMATRIX_CTRL_HIDDEN);
+    lv_btnmatrix_set_btn_ctrl(directional, 7, LV_BTNMATRIX_CTRL_HIDDEN);
+  }
+
+  lv_btnmatrix_set_one_checked(directional, true);
+  lv_btnmatrix_set_selected_btn(directional, 1);
+
+  lv_obj_add_event_cb(directional, eventHandlerDirectional, LV_EVENT_ALL, NULL);
+
+  delay(150);
+  Braccio.connectJoystickTo(btnm);
+}
+
+void setup() {
+  Braccio.begin(mainMenu);
+  delay(500); // Waits for the Braccio initialization
+
+  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+  delay(500);
+}
+
+void loop() {
+
+}
diff --git a/examples/tutorials/projects/p03-learning-mode/01_Braccio_learning_mode/01_Braccio_learning_mode.ino b/examples/tutorials/projects/p03-learning-mode/01_Braccio_learning_mode/01_Braccio_learning_mode.ino
new file mode 100644
index 0000000..c2b8ab3
--- /dev/null
+++ b/examples/tutorials/projects/p03-learning-mode/01_Braccio_learning_mode/01_Braccio_learning_mode.ino
@@ -0,0 +1,134 @@
+#include "Braccio++.h"
+
+// Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+
+enum states {
+  LEARN,
+  REPEAT,
+  IDLE
+};
+
+int state = IDLE;
+
+float values[10000];
+float* idx = values;
+float* final_idx = 0;
+float homePos[6] = {160.0, 150.0, 220.0, 220.0, 100.0, 180.0};
+
+static lv_obj_t * counter;
+static lv_obj_t * btnm;
+
+static const char * btnm_map[] = { "Learn", "\n", "Replay", "\n", "Idle", "\n", "\0" };
+
+
+static void eventHandlerMenu(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();
+        lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("LEARN");
+        break;
+      case 1:
+        state = REPEAT;
+        Braccio.engage();
+        lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("REPEAT");
+        break;
+      default:
+        state = IDLE;
+        delay(500);
+        Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+        
+        lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("IDLE");
+        break;
+    }
+  }
+}
+
+void mainMenu() {
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL));
+  lv_style_set_text_color(&style_btn, lv_color_white());
+
+  btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_obj_set_size(btnm, 240, 240);
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, 0, 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_one_checked(btnm, true);
+  lv_btnmatrix_set_selected_btn(btnm, 2);
+  lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+
+  counter = lv_label_create(btnm);
+  lv_label_set_text_fmt(counter, "Counter: %d" , 0);
+  lv_obj_align(counter, LV_ALIGN_CENTER, 0, 80);
+
+  lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_ALL, NULL);
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+void setup() {
+  Braccio.begin(mainMenu);
+  delay(500);
+
+  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+  delay(500);
+  
+  Serial.begin(115200);
+  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;
+      lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+    }
+  }
+  if (idx - values >= sizeof(values)) {
+    Serial.println("IDLE");
+    state = IDLE;
+  }
+  delay(100);
+  if (state != IDLE) {
+    lv_label_set_text_fmt(counter, "Counter: %d" , idx - values);
+  }
+}
diff --git a/examples/tutorials/projects/p03-learning-mode/02_learning_challenge/02_learning_challenge.ino b/examples/tutorials/projects/p03-learning-mode/02_learning_challenge/02_learning_challenge.ino
new file mode 100644
index 0000000..d1eef79
--- /dev/null
+++ b/examples/tutorials/projects/p03-learning-mode/02_learning_challenge/02_learning_challenge.ino
@@ -0,0 +1,162 @@
+#include "Braccio++.h"
+
+// Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+
+auto wristPitch  = Braccio.get(3);
+
+enum states {
+  LEARN,
+  REPEAT,
+  IDLE,
+  DEMO
+};
+
+int state = IDLE;
+
+float values[1000];
+float* idx = values;
+float* final_idx = 0;
+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};
+
+static lv_obj_t * counter;
+static lv_obj_t * btnm;
+
+static const char * btnm_map[] = { "Learn", "\n", "Replay", "\n", "Idle", "\n", "Demo", "\n", "\0" };
+
+
+void ciaoMovement() {
+  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(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+  lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+}
+
+
+static void eventHandlerMenu(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();
+        lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("LEARN");
+        break;
+      case 1:
+        state = REPEAT;
+        Braccio.engage();
+        lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("REPEAT");
+        break;
+      case 3:
+        state = DEMO;
+        Braccio.moveTo(wavePos[0], wavePos[1], wavePos[2], wavePos[3], wavePos[4], wavePos[5]);
+        lv_btnmatrix_set_btn_ctrl(btnm, 3, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("DEMO");
+        break;
+      default:
+        state = IDLE;
+        Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+        lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+        Serial.println("IDLE");
+        break;
+    }
+  }
+}
+
+void mainMenu() {
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL));
+  lv_style_set_text_color(&style_btn, lv_color_white());
+
+  btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_obj_set_size(btnm, 240, 240);
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, 0, 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_one_checked(btnm, true);
+  lv_btnmatrix_set_selected_btn(btnm, 2);
+  lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+
+  counter = lv_label_create(btnm);
+  lv_label_set_text_fmt(counter, "Counter: %d" , 0);
+  lv_obj_align(counter, LV_ALIGN_CENTER, 0, 80);
+
+  lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_ALL, NULL);
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+void setup() {
+  Braccio.begin(mainMenu);
+  delay(500);
+
+  Serial.begin(115200);
+  Serial.println("Replicate a movement");
+
+  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
+}
+
+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;
+      lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
+    }
+  }
+
+  if (state == DEMO) {
+    ciaoMovement();
+    state = IDLE;
+  }
+
+  if (idx - values >= sizeof(values)) {
+    Serial.println("IDLE");
+    state = IDLE;
+  }
+  delay(100);
+  if (state != IDLE) {
+    lv_label_set_text_fmt(counter, "Counter: %d" , idx - values);
+  }
+}