diff --git a/examples/Braccio_Basic/Braccio_Basic.ino b/examples/Braccio_Basic/Braccio_Basic.ino
new file mode 100644
index 0000000..f275daa
--- /dev/null
+++ b/examples/Braccio_Basic/Braccio_Basic.ino
@@ -0,0 +1,88 @@
+/*
+ * @brief Activating the "MOVE" button by pressing
+ * the joystick enables a waving motion of the arm.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * GLOBAL CONSTANTS
+ **************************************************************************************/
+
+float const home_position[6] = {SmartServoClass::MAX_ANGLE / 2.0f,
+                                SmartServoClass::MAX_ANGLE / 2.0f,
+                                SmartServoClass::MAX_ANGLE / 2.0f,
+                                SmartServoClass::MAX_ANGLE / 2.0f,
+                                SmartServoClass::MAX_ANGLE / 2.0f,
+                                90.0f};
+static const char * btnm_map[] = {"Move", "\0"};
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
+bool move_joint = false;
+
+/**************************************************************************************
+ * 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_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 pressed\n", txt);
+    if (Serial) Serial.println(txt);
+
+    if (strcmp(txt, "Move") == 0)
+      move_joint = !move_joint;
+  }
+}
+
+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_obj_align(btnm1, LV_ALIGN_CENTER, 0, 0);
+  lv_obj_add_event_cb(btnm1, event_handler, LV_EVENT_ALL, NULL);
+  Braccio.connectJoystickTo(btnm1);
+}
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup()
+{
+  Serial.begin(115200);
+  for (auto const start = millis(); !Serial && ((millis() - start) < 5000); delay(10)) { }
+
+  if (!Braccio.begin(customMenu)) {
+    if (Serial) Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
+
+  Braccio.moveTo(home_position[0], home_position[1], home_position[2], home_position[3], home_position[4], home_position[5]);
+  delay(1000);
+}
+
+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);
+  }
+}
diff --git a/examples/LearnByDoing/LearnByDoing.ino b/examples/Braccio_LearnByDoing/Braccio_LearnByDoing.ino
similarity index 79%
rename from examples/LearnByDoing/LearnByDoing.ino
rename to examples/Braccio_LearnByDoing/Braccio_LearnByDoing.ino
index 760218a..3015f39 100644
--- a/examples/LearnByDoing/LearnByDoing.ino
+++ b/examples/Braccio_LearnByDoing/Braccio_LearnByDoing.ino
@@ -1,7 +1,19 @@
-#include "Braccio++.h"
+/*
+ * @brief Learn the arm an movement and replay it.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
 #include "FlashIAPBlockDevice.h"
 #include "FATFileSystem.h"
 
+/**************************************************************************************
+ * VARIABLES
+ **************************************************************************************/
+
 enum states {
   LEARN,
   REPEAT,
@@ -14,6 +26,10 @@ 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);
@@ -95,9 +111,14 @@ void customMenu() {
 static FlashIAPBlockDevice bd(XIP_BASE + 0x100000, 0x100000);
 static mbed::FATFileSystem fs("fs");
 
-void setup() {
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
 
+void setup()
+{
   Serial.begin(115200);
+  while (!Serial) { }
 
   // Mount file system for load/store movements
   int err = fs.mount(&bd);
diff --git a/examples/Braccio__Template/Braccio__Template.ino b/examples/Braccio__Template/Braccio__Template.ino
deleted file mode 100644
index e3c2725..0000000
--- a/examples/Braccio__Template/Braccio__Template.ino
+++ /dev/null
@@ -1,54 +0,0 @@
-#include "Braccio++.h"
-
-int demo_mode = 0;
-
-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_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 pressed\n", txt);
-    Serial.println(txt);
-    if (strcmp(txt, "Demo") == 0) {
-      demo_mode = 1;
-      Braccio.pingOff();
-    } else {
-      Braccio.pingOn();
-      demo_mode = 0;
-    }
-  }
-}
-
-
-static const char * btnm_map[] = {"Demo", "Learn", "\n",
-                                  "Repeat", "Unlock", "\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_obj_align(btnm1, LV_ALIGN_CENTER, 0, 0);
-  lv_obj_add_event_cb(btnm1, event_handler, LV_EVENT_ALL, NULL);
-  Braccio.connectJoystickTo(btnm1);
-}
-
-void setup() {
-  // Call Braccio.begin() for default menu or pass a function for custom menu
-  Braccio.begin(customMenu);
-}
-
-void loop() {
-  if (demo_mode) {
-    Braccio.move(4).to(20.0f);
-    delay(1000);
-    Braccio.move(4).to(10.0f);
-    delay(1000);
-  }
-}
diff --git a/examples/LCD_Custom_Menu/LCD_Custom_Menu.ino b/examples/LCD_Custom_Menu/LCD_Custom_Menu.ino
index 2eff457..c5c779b 100644
--- a/examples/LCD_Custom_Menu/LCD_Custom_Menu.ino
+++ b/examples/LCD_Custom_Menu/LCD_Custom_Menu.ino
@@ -1,19 +1,43 @@
-#include "Braccio++.h"
+/*
+ * @brief This sketch demonstrates how to build a very simple and basic custom menu.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * DEFINE
+ **************************************************************************************/
 
 #define MARGIN_LEFT   0
 #define MARGIN_TOP    0
 
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
 static const char * btnm_map[] = {"Option 1", "\n",
                                   "Option 2", "\n",
                                   "Option 3", "\n", "\0"
                                  };
 
+/**************************************************************************************
+ * FUNCTIONS
+ **************************************************************************************/
+
 void customMenu(){
   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);
 }
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
   Braccio.begin(customMenu);
 }
diff --git a/examples/LCD_Menu_Joystick/LCD_Menu_Joystick.ino b/examples/LCD_Menu_Joystick/LCD_Menu_Joystick.ino
index fba5ae6..fdab2fb 100644
--- a/examples/LCD_Menu_Joystick/LCD_Menu_Joystick.ino
+++ b/examples/LCD_Menu_Joystick/LCD_Menu_Joystick.ino
@@ -1,8 +1,35 @@
-#include "Braccio++.h"
+/*
+ * @brief This sketch demonstrates how to build a very simple
+ * and basic custom menu interacting with the Braccio++ carriers
+ * joystick.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * DEFINE
+ **************************************************************************************/
 
 #define MARGIN_LEFT   0
 #define MARGIN_TOP    0
 
+/**************************************************************************************
+ * CONSTANT
+ **************************************************************************************/
+
+static const char * btnm_map[] = {"Option 1", "Option 2", "\n",
+                                  "Option 3", "Option 4", "\n",
+                                  "Option 5", "Option 6", "\n", "\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);
@@ -15,11 +42,6 @@ static void event_handler(lv_event_t * e){
   }
 }
 
-static const char * btnm_map[] = {"Option 1", "Option 2", "\n",
-                                  "Option 3", "Option 4", "\n",
-                                  "Option 5", "Option 6", "\n", "\0"
-                                 };
-
 void customMenu(){
   lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
   lv_btnmatrix_set_map(btnm1, btnm_map);
@@ -34,6 +56,10 @@ void customMenu(){
   Braccio.connectJoystickTo(btnm1);
 }
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
   Braccio.begin(customMenu);
 }
diff --git a/examples/LCD_Motors/LCD_Motors.ino b/examples/LCD_Motors/LCD_Motors.ino
index 62334fe..3fee9b6 100644
--- a/examples/LCD_Motors/LCD_Motors.ino
+++ b/examples/LCD_Motors/LCD_Motors.ino
@@ -1,7 +1,35 @@
-#include "Braccio++.h"
+/*
+ * @brief This sketch demonstrates how to build a very simple
+ * and basic custom menu interacting with the Braccio++ carriers
+ * joystick, allowing to control a specific motor by selecting
+ * it from the menu.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * VARIABLES
+ **************************************************************************************/
 
 int selected_motor = 0;
 
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+static const char * btnm_map[] = {"Motor 1", "Motor 2", "\n",
+                                  "Motor 3", "Motor 4", "\n",
+                                  "Motor 5", "Motor 6", "\n", "\0"
+                                 };
+
+/**************************************************************************************
+ * FUNCTIONS
+ **************************************************************************************/
+
 static void event_handler(lv_event_t * e)
 {
   lv_event_code_t code = lv_event_get_code(e);
@@ -37,12 +65,6 @@ static void event_handler(lv_event_t * e)
   }
 }
 
-
-static const char * btnm_map[] = {"Motor 1", "Motor 2", "\n",
-                                  "Motor 3", "Motor 4", "\n",
-                                  "Motor 5", "Motor 6", "\n", "\0"
-                                 };
-
 void customMenu() {
   lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act());
   lv_btnmatrix_set_map(btnm1, btnm_map);
@@ -57,8 +79,11 @@ void customMenu() {
   Braccio.connectJoystickTo(btnm1);
 }
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
-  // Call Braccio.begin() for default menu or pass a function for custom menu
   Braccio.begin(customMenu);
   Serial.begin(115200);
 }
diff --git a/examples/New_APIs/New_APIs.ino b/examples/New_APIs/New_APIs.ino
deleted file mode 100644
index 877ff2c..0000000
--- a/examples/New_APIs/New_APIs.ino
+++ /dev/null
@@ -1,33 +0,0 @@
-#include "Braccio++.h"
-
-auto elbow = Braccio.get(1);
-
-void setup() {
-  Serial.begin(115200);
-  while (!Serial);
-  Braccio.begin();
-}
-
-void loop() {
-
-  if (elbow) {
-    elbow.move().to(122.7).in(1s);
-    delay(1000);
-    elbow.move().to(11.9).in(100ms);
-  }
-  Serial.println(elbow.position());
-
-  // Should move all the motors at once
-  Braccio.moveTo(10.0, 20.0, 30.0, 40.0, 50.0, 60.0);
-
-  // You can choose the speed beforehand with
-  Braccio.speed(FAST); // could be MEDIUM or SLOW too
-
-  float a1, a2, a3, a4, a5, a6;
-  Braccio.positions(a1, a2, a3, a4, a5, a6);
-  Serial.println("Motor positions are: " + String(a1) + " " + String(a2) + " " + String(a3) + " " + String(a4) + " " + String(a5) + " " + String(a6));
-
-  // Can also use the more compact notation
-  float values[6];
-  Braccio.positions(values);
-}
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
index 1cc8416..a3bef7a 100644
--- 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
@@ -1,4 +1,4 @@
- #include "Braccio++.h"
+ #include <Braccio++.h>
 
 void customMenu() {
   lv_obj_t * btn1 = lv_btn_create(lv_scr_act());
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
index 8818453..c261fd3 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 // Arduino Colors
 #define COLOR_TEAL       0x00878F
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
index 1a4f832..4647025 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define MARGIN_LEFT   0
 #define MARGIN_TOP    0
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
index 1d4a705..1da4f2f 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define MARGIN_LEFT   0
 #define MARGIN_TOP    0
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
index 50e760c..d4fcba7 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define MARGIN_LEFT   0
 #define MARGIN_TOP    0
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
index db53831..70fd320 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 String message = "";
 
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
index e1c118c..f0f6d88 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define MARGIN_LEFT   0
 #define MARGIN_TOP    0
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
index 8a25ba3..557600a 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define MARGIN_LEFT   0
 #define MARGIN_TOP    0
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
index f3a9ca9..5754fce 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define MARGIN_LEFT   0
 #define MARGIN_TOP    0
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
index faa1e04..6b7399f 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 int motorID= 0;
 
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
index 861dd5b..c3f2270 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define BUTTON_ENTER 6
 
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
index 30ad751..10b5be0 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define JOYSTICK_LEFT        1
 #define JOYSTICK_RIGHT       2
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
index 11302ff..04503c1 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define JOYSTICK_LEFT        1
 #define JOYSTICK_RIGHT       2
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
index bad15f8..53d50ea 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define JOYSTICK_LEFT        1
 #define JOYSTICK_RIGHT       2
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
index 04ad83f..5ecfeff 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 // Joystick
 #define JOYSTICK_LEFT        1
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
index 517e3da..f9f25b2 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 // Joystick
 #define JOYSTICK_LEFT        1
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
index 3593e5b..a84e5f5 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 // Joystick
 #define JOYSTICK_LEFT        1
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
index bf7f178..bd0c162 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 // Variables
 // Braccio ++ joints
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
index 57e081a..2bda3b1 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define BUTTON_ENTER   6
 
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
index 5667946..2999342 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define BUTTON_ENTER    6
 
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
index a3adb85..8fc3fc0 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define BUTTON_ENTER         6
 
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
index 557afb6..629c6ab 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 #define BUTTON_ENTER         6
 
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
index c2b8ab3..16faee9 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 // Colors
 #define COLOR_TEAL       0x00878F
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
index d1eef79..45686cb 100644
--- 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
@@ -1,4 +1,4 @@
-#include "Braccio++.h"
+#include <Braccio++.h>
 
 // Colors
 #define COLOR_TEAL       0x00878F
diff --git a/src/Braccio++.cpp b/src/Braccio++.cpp
index 29ec05f..45d5cde 100644
--- a/src/Braccio++.cpp
+++ b/src/Braccio++.cpp
@@ -135,7 +135,7 @@ bool BraccioClass::begin(voidFuncPtr custom_menu)
     lvgl_defaultMenu();
 
   _servos.begin();
-  _servos.setTime(SmartServoClass::BROADCAST, SLOW);
+  _servos.setTime(SLOW);
   _servos.setPositionMode(PositionMode::IMMEDIATE);
 
   _motors_connected_thd.start(mbed::callback(this, &BraccioClass::motorConnectedThreadFunc));