diff --git a/examples/Controlling_Manually_Braccio/AppState.cpp b/examples/Controlling_Manually_Braccio/AppState.cpp
new file mode 100644
index 0000000..13cd03b
--- /dev/null
+++ b/examples/Controlling_Manually_Braccio/AppState.cpp
@@ -0,0 +1,192 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include "AppState.h"
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+enum BUTTONS {
+  BTN_UP = 1,
+  BTN_DOWN = 7,
+  BTN_LEFT = 3,
+  BTN_RIGHT = 5,
+};
+
+/**************************************************************************************
+ * EXTERN
+ **************************************************************************************/
+
+extern lv_obj_t * label;
+extern lv_obj_t * direction_btnm;
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
+static auto gripper    = Braccio.get(1);
+static auto wristRoll  = Braccio.get(2);
+static auto wristPitch = Braccio.get(3);
+static auto elbow      = Braccio.get(4);
+static auto shoulder   = Braccio.get(5);
+static auto base       = Braccio.get(6);
+
+/**************************************************************************************
+ * ShoulderState
+ **************************************************************************************/
+
+ShoulderState::ShoulderState()
+{
+  Braccio.lvgl_lock();
+  lv_label_set_text(label, "Shoulder");
+  Braccio.lvgl_unlock();
+}
+
+State * ShoulderState::handle_OnEnter()
+{
+  return new ElbowState();
+}
+
+State * ShoulderState::handle_OnUp()
+{
+  shoulder.move().to(shoulder.position() + 5.0f);
+  return this;
+}
+
+State * ShoulderState::handle_OnDown()
+{
+  shoulder.move().to(shoulder.position() - 5.0f);
+  return this;
+}
+
+State * ShoulderState::handle_OnLeft()
+{
+  base.move().to(base.position() + 5.0f);
+  return this;
+}
+
+State * ShoulderState::handle_OnRight()
+{
+  base.move().to(base.position() - 5.0f);
+  return this;
+}
+
+/**************************************************************************************
+ * ElbowState
+ **************************************************************************************/
+
+ElbowState::ElbowState()
+{
+  Braccio.lvgl_lock();
+  lv_label_set_text(label, "Elbow");
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_LEFT,  LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_HIDDEN);
+  Braccio.lvgl_unlock();
+}
+
+ElbowState::~ElbowState()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_LEFT,  LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_HIDDEN);
+  Braccio.lvgl_unlock();
+}
+
+State * ElbowState::handle_OnEnter()
+{
+  return new WristState();
+}
+
+State * ElbowState::handle_OnUp()
+{
+  elbow.move().to(elbow.position() + 5.0f);
+  return this;
+}
+
+State * ElbowState::handle_OnDown()
+{
+  elbow.move().to(elbow.position() - 5.0f);
+  return this;
+}
+
+/**************************************************************************************
+ * WristState
+ **************************************************************************************/
+
+WristState::WristState()
+{
+  Braccio.lvgl_lock();
+  lv_label_set_text(label, "Wrist");
+  Braccio.lvgl_unlock();
+}
+
+State * WristState::handle_OnEnter()
+{
+  return new PinchState();
+}
+
+State * WristState::handle_OnUp()
+{
+  wristPitch.move().to(wristPitch.position() + 5.0f);
+  return this;
+}
+
+State * WristState::handle_OnDown()
+{
+  wristPitch.move().to(wristPitch.position() - 5.0f);
+  return this;
+}
+
+State * WristState::handle_OnLeft()
+{
+  wristRoll.move().to(wristRoll.position() + 10.0f);
+  return this;
+}
+
+State * WristState::handle_OnRight()
+{
+  wristRoll.move().to(wristRoll.position() - 10.0f);
+  return this;
+}
+
+/**************************************************************************************
+ * PinchState
+ **************************************************************************************/
+
+PinchState::PinchState()
+{
+  Braccio.lvgl_lock();
+  lv_label_set_text(label, "Pinch");
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_UP,   LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_HIDDEN);
+  Braccio.lvgl_unlock();
+}
+
+PinchState::~PinchState()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_UP,   LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_HIDDEN);
+  Braccio.lvgl_unlock();
+}
+
+State * PinchState::handle_OnEnter()
+{
+  return new ShoulderState();
+}
+
+State * PinchState::handle_OnLeft()
+{
+  gripper.move().to(gripper.position() + 5.0f);
+  return this;
+}
+
+State * PinchState::handle_OnRight()
+{
+  gripper.move().to(gripper.position() - 5.0f);
+  return this;
+}
diff --git a/examples/Controlling_Manually_Braccio/AppState.h b/examples/Controlling_Manually_Braccio/AppState.h
new file mode 100644
index 0000000..11dba57
--- /dev/null
+++ b/examples/Controlling_Manually_Braccio/AppState.h
@@ -0,0 +1,132 @@
+#ifndef APP_STATE_H_
+#define APP_STATE_H_
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <mbed.h>
+
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+enum class Button
+{
+  None, Enter, Home, Up, Down, Left, Right
+};
+
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
+
+class State
+{
+public:
+  virtual ~State() { }
+  State * update(Button const button)
+  {
+    State * next_state = this;
+    switch (button)
+    {
+      case Button::Home:
+      case Button::Enter: next_state = handle_OnEnter(); break;
+      case Button::Up:    next_state = handle_OnUp();    break;
+      case Button::Down:  next_state = handle_OnDown();  break;
+      case Button::Left:  next_state = handle_OnLeft();  break;
+      case Button::Right: next_state = handle_OnRight(); break;
+      default:                                           break;
+    }
+    return next_state;
+  }
+
+protected:
+  virtual State * handle_OnEnter() = 0;
+  virtual State * handle_OnUp   () { return this; }
+  virtual State * handle_OnDown () { return this; }
+  virtual State * handle_OnLeft () { return this; }
+  virtual State * handle_OnRight() { return this; }
+};
+
+class ShoulderState : public State
+{
+public:
+           ShoulderState();
+  virtual ~ShoulderState() { }
+protected:
+  virtual State * handle_OnEnter() override;
+  virtual State * handle_OnUp   () override;
+  virtual State * handle_OnDown () override;
+  virtual State * handle_OnLeft () override;
+  virtual State * handle_OnRight() override;
+};
+
+
+class ElbowState : public State
+{
+public:
+           ElbowState();
+  virtual ~ElbowState();
+protected:
+  virtual State * handle_OnEnter() override;
+  virtual State * handle_OnUp   () override;
+  virtual State * handle_OnDown () override;
+};
+
+class WristState : public State
+{
+public:
+           WristState();
+  virtual ~WristState() { }
+protected:
+  virtual State * handle_OnEnter() override;
+  virtual State * handle_OnUp   () override;
+  virtual State * handle_OnDown () override;
+  virtual State * handle_OnLeft () override;
+  virtual State * handle_OnRight() override;
+};
+
+
+class PinchState : public State
+{
+public:
+           PinchState();
+  virtual ~PinchState();
+protected:
+  virtual State * handle_OnEnter() override;
+  virtual State * handle_OnLeft () override;
+  virtual State * handle_OnRight() override;
+};
+
+class ManualControlApp
+{
+public:
+  ManualControlApp()
+  : _state{nullptr}
+  , _mtx{}
+  { }
+
+  void update(Button const button)
+  {
+    mbed::ScopedLock<rtos::Mutex> lock(_mtx);
+    
+    if (!_state)
+    {
+      _state = new ShoulderState();
+      return;
+    }
+    
+    State * next_state = _state->update(button);
+      
+    if (next_state != _state) {
+      delete _state;
+      _state = next_state;
+    }    
+  }
+
+private:
+  State * _state;
+  rtos::Mutex _mtx;
+};
+
+#endif /* APP_STATE_H_ */
diff --git a/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino b/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino
new file mode 100644
index 0000000..4d2f5ea
--- /dev/null
+++ b/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino
@@ -0,0 +1,277 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+#include "AppState.h"
+
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_YELLOW     0xE5AD24
+
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+// IDs of the displayed directional UI buttons
+enum BUTTONS {
+  BTN_UP = 1,
+  BTN_DOWN = 7,
+  BTN_LEFT = 3,
+  BTN_RIGHT = 5,
+};
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+static float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+static const char *DIRECTION_BTNM_MAP[] = {" ", LV_SYMBOL_UP, " ", "\n",
+                                           LV_SYMBOL_LEFT, " ", LV_SYMBOL_RIGHT, "\n",
+                                           " ", LV_SYMBOL_DOWN, " ", "\0"};
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
+lv_obj_t * direction_btnm;
+lv_obj_t * label;
+
+ManualControlApp app;
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup()
+{
+  Serial.begin(115200);
+
+  if (Braccio.begin(directionScreen))
+  {
+    /* Configure Braccio. */
+    Braccio.speed(speed_grade_t(120)/*MEDIUM*/);
+    /* Move to home position. */
+    Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
+    delay(500);
+    /* Init state. */
+    app.update(Button::None);
+    /* Enable buttons. */
+    Braccio.lvgl_lock();
+    lv_btnmatrix_clear_btn_ctrl(direction_btnm, 1, LV_BTNMATRIX_CTRL_DISABLED);
+    lv_btnmatrix_clear_btn_ctrl(direction_btnm, 3, LV_BTNMATRIX_CTRL_DISABLED);
+    lv_btnmatrix_clear_btn_ctrl(direction_btnm, 5, LV_BTNMATRIX_CTRL_DISABLED);
+    lv_btnmatrix_clear_btn_ctrl(direction_btnm, 7, LV_BTNMATRIX_CTRL_DISABLED);
+    Braccio.lvgl_unlock();
+  }
+}
+
+void loop()
+{
+  /* Execute every 10 ms. */
+  {
+    static auto prev = millis();
+    auto const now = millis();
+    if ((now - prev) > 10)
+    {
+      prev = now;
+      handle_ButtonPressedReleased();
+    }
+  }
+
+  /* Execute every 50 ms. */
+  {
+    static auto prev = millis();
+    auto const now = millis();
+    if ((now - prev) > 50)
+    {
+      prev = now;
+
+      if (Braccio.isJoystickPressed_UP())
+        app.update(Button::Up);
+      if (Braccio.isJoystickPressed_DOWN())
+        app.update(Button::Down);
+      if (Braccio.isJoystickPressed_LEFT())
+        app.update(Button::Left);
+      if (Braccio.isJoystickPressed_RIGHT())
+        app.update(Button::Right);
+    }
+  }
+}
+
+/**************************************************************************************
+ * FUNCTIONS
+ **************************************************************************************/
+
+void directionScreen(void)
+{
+  Braccio.lvgl_lock();
+  
+  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());
+
+  direction_btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_obj_set_size(direction_btnm, 240, 240);
+  lv_btnmatrix_set_map(direction_btnm, DIRECTION_BTNM_MAP);
+  lv_obj_align(direction_btnm, LV_ALIGN_CENTER, 0, 0);
+
+  lv_obj_add_style(direction_btnm, &style_bg, 0);
+  lv_obj_add_style(direction_btnm, &style_btn, LV_PART_ITEMS);
+
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 0, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 1, LV_BTNMATRIX_CTRL_DISABLED);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 2, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 3, LV_BTNMATRIX_CTRL_DISABLED);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 4, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 5, LV_BTNMATRIX_CTRL_DISABLED);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 6, LV_BTNMATRIX_CTRL_HIDDEN);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 7, LV_BTNMATRIX_CTRL_DISABLED);
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, 8, LV_BTNMATRIX_CTRL_HIDDEN);
+
+  lv_btnmatrix_set_one_checked(direction_btnm, true);
+  lv_btnmatrix_set_selected_btn(direction_btnm, 1);
+
+  label = lv_label_create(lv_scr_act());
+  lv_obj_set_width(label, 240);
+  lv_obj_set_style_text_align(label, LV_TEXT_ALIGN_CENTER, 0);
+  lv_obj_align(label, LV_ALIGN_CENTER, 0, 0);
+  lv_label_set_text(label, "");
+  
+  Braccio.lvgl_unlock();
+}
+
+void handle_ButtonPressedReleased()
+{
+  /* ENTER */
+
+  static bool prev_joystick_pressed_enter = false;
+  bool const curr_joystick_pressed_enter = Braccio.isButtonPressed_ENTER();
+  if (!prev_joystick_pressed_enter && curr_joystick_pressed_enter) {
+    app.update(Button::Enter);
+  }
+  prev_joystick_pressed_enter = curr_joystick_pressed_enter;
+
+  /* SELECT */
+
+  static bool prev_joystick_pressed_select = false;
+  bool const curr_joystick_pressed_select = Braccio.isJoystickPressed_SELECT();
+  if (!prev_joystick_pressed_select && curr_joystick_pressed_select) {
+    app.update(Button::Enter);
+  }
+  prev_joystick_pressed_select = curr_joystick_pressed_select;
+
+  /* DOWN */
+
+  static bool prev_joystick_pressed_down = false;
+  bool const curr_joystick_pressed_down = Braccio.isJoystickPressed_DOWN();
+  if (!prev_joystick_pressed_down && curr_joystick_pressed_down) {
+    handle_OnButtonDownPressed();
+  }
+  if (prev_joystick_pressed_down && !curr_joystick_pressed_down) {
+    handle_OnButtonDownReleased();
+  }
+  prev_joystick_pressed_down = curr_joystick_pressed_down;
+
+  /* UP */
+
+  static bool prev_joystick_pressed_up = false;
+  bool const curr_joystick_pressed_up = Braccio.isJoystickPressed_UP();
+  if (!prev_joystick_pressed_up && curr_joystick_pressed_up) {
+    handle_OnButtonUpPressed();
+  }
+  if (prev_joystick_pressed_up && !curr_joystick_pressed_up) {
+    handle_OnButtonUpReleased();
+  }
+  prev_joystick_pressed_up = curr_joystick_pressed_up;
+
+  /* LEFT */
+
+  static bool prev_joystick_pressed_left = false;
+  bool const curr_joystick_pressed_left = Braccio.isJoystickPressed_LEFT();
+  if (!prev_joystick_pressed_left && curr_joystick_pressed_left) {
+    handle_OnButtonLeftPressed();
+  }
+  if (prev_joystick_pressed_left && !curr_joystick_pressed_left) {
+    handle_OnButtonLeftReleased();
+  }
+  prev_joystick_pressed_left = curr_joystick_pressed_left;
+
+  /* RIGHT */
+
+  static bool prev_joystick_pressed_right = false;
+  bool const curr_joystick_pressed_right = Braccio.isJoystickPressed_RIGHT();
+  if (!prev_joystick_pressed_right && curr_joystick_pressed_right) {
+    handle_OnButtonRightPressed();
+  }
+  if (prev_joystick_pressed_right && !curr_joystick_pressed_right) {
+    handle_OnButtonRightReleased();
+  }
+  prev_joystick_pressed_right = curr_joystick_pressed_right;
+}
+
+void handle_OnButtonDownPressed()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonDownReleased()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonUpPressed()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_UP, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonUpReleased()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_UP, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonLeftPressed()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_LEFT, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonLeftReleased()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_LEFT, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonRightPressed()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}
+
+void handle_OnButtonRightReleased()
+{
+  Braccio.lvgl_lock();
+  lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_RIGHT, LV_BTNMATRIX_CTRL_CHECKED);
+  Braccio.lvgl_unlock();
+}