diff --git a/examples/firmware/firmware.ino b/examples/firmware/firmware.ino
index 5182763..ce7b3f1 100644
--- a/examples/firmware/firmware.ino
+++ b/examples/firmware/firmware.ino
@@ -9,7 +9,7 @@
     
 */
 
-// WIP -> preliminary firmware
+// This is the stock firmware of Arduino Alvik robot.
 
 
 #include "Arduino_AlvikCarrier.h"
@@ -61,7 +61,6 @@ uint8_t version[3];
 
 
 void setup(){
-  Serial.begin(115200);
   alvik.begin();
   alvik.disableIlluminator();
   alvik.setLeds(COLOR_ORANGE);
diff --git a/examples/imu/imu.ino b/examples/imu/imu.ino
index b162b09..1c96d55 100644
--- a/examples/imu/imu.ino
+++ b/examples/imu/imu.ino
@@ -20,7 +20,6 @@ unsigned long time_imu_update=0;
 Arduino_AlvikCarrier alvik;
 
 void setup(){
-    Serial.begin(115200);
     alvik.begin();
     time_imu_update=millis();
 }
@@ -28,24 +27,24 @@ void setup(){
 void loop(){
     if (millis()-time_imu_update>100){
         alvik.updateImu();
-        Serial.print("\t");
-        Serial.print(alvik.getAccelerationX());
-        Serial.print("\t");
-        Serial.print(alvik.getAccelerationY()); 
-        Serial.print("\t");
-        Serial.print(alvik.getAccelerationZ()); 
-        Serial.print("\t");
-        Serial.print(alvik.getAngularVelocityX());
-        Serial.print("\t");
-        Serial.print(alvik.getAngularVelocityY()); 
-        Serial.print("\t");
-        Serial.print(alvik.getAngularVelocityZ()); 
-        Serial.print("\t");
-        Serial.print(alvik.getRoll());
-        Serial.print("\t");
-        Serial.print(alvik.getPitch());  
-        Serial.print("\t");
-        Serial.println(alvik.getYaw()); 
+        alvik.serial->print("\t");
+        alvik.serial->print(alvik.getAccelerationX());
+        alvik.serial->print("\t");
+        alvik.serial->print(alvik.getAccelerationY()); 
+        alvik.serial->print("\t");
+        alvik.serial->print(alvik.getAccelerationZ()); 
+        alvik.serial->print("\t");
+        alvik.serial->print(alvik.getAngularVelocityX());
+        alvik.serial->print("\t");
+        alvik.serial->print(alvik.getAngularVelocityY()); 
+        alvik.serial->print("\t");
+        alvik.serial->print(alvik.getAngularVelocityZ()); 
+        alvik.serial->print("\t");
+        alvik.serial->print(alvik.getRoll());
+        alvik.serial->print("\t");
+        alvik.serial->print(alvik.getPitch());  
+        alvik.serial->print("\t");
+        alvik.serial->println(alvik.getYaw()); 
     }
     delay(1);
 }
\ No newline at end of file
diff --git a/examples/kinematics/kinematics.ino b/examples/kinematics/kinematics.ino
index 8a595bc..781bae3 100644
--- a/examples/kinematics/kinematics.ino
+++ b/examples/kinematics/kinematics.ino
@@ -22,7 +22,6 @@ uint8_t task=0;
 bool led_value = false;
 
 void setup() {
-  Serial.begin(115200);
   alvik.begin();
   ttask=millis();
   tmotor=millis();
@@ -35,17 +34,17 @@ void loop() {
     tmotor=millis();
     alvik.updateMotors();
     alvik.updateKinematics();
-    Serial.print("\t");
-    Serial.print(alvik.getLinearVelocity());
-    Serial.print("\t");
-    Serial.print(alvik.getAngularVelocity());
-    Serial.print("\t");
-    Serial.print(alvik.getX());
-    Serial.print("\t");
-    Serial.print(alvik.getY());
-    Serial.print("\t");
-    Serial.print(alvik.getTheta());
-    Serial.print("\n");
+    alvik.serial->print("\t");
+    alvik.serial->print(alvik.getLinearVelocity());
+    alvik.serial->print("\t");
+    alvik.serial->print(alvik.getAngularVelocity());
+    alvik.serial->print("\t");
+    alvik.serial->print(alvik.getX());
+    alvik.serial->print("\t");
+    alvik.serial->print(alvik.getY());
+    alvik.serial->print("\t");
+    alvik.serial->print(alvik.getTheta());
+    alvik.serial->print("\n");
   }
 
   if ((millis()-ttask>5000)||alvik.isTargetReached()){
diff --git a/examples/motor/motor.ino b/examples/motor/motor.ino
index 02568ec..6d6230c 100644
--- a/examples/motor/motor.ino
+++ b/examples/motor/motor.ino
@@ -9,6 +9,8 @@
     
 */
 
+// This example shows how wheels velocity control can be used
+
 
 #include "Arduino_AlvikCarrier.h"
 
@@ -21,15 +23,10 @@ int status=0;
 float reference = 0.0;
 
 void setup(){ 
-  Serial.begin(115200);
   alvik.begin();
   t=millis();
   t_change=millis();
   alvik.setRpm(reference,reference);
-
-  Serial.print("reference");
-  Serial.print(" ");
-  Serial.println("measure");
 }
 
 void loop(){
@@ -64,11 +61,5 @@ void loop(){
   if (millis()-t>20){
     t=millis();
     alvik.updateMotors();
-    
-    Serial.print(reference);
-    Serial.print(" ");
-    Serial.print(alvik.getRpmRight());
-    Serial.print(" ");
-    Serial.println(alvik.getRpmLeft());
   }
 }
\ No newline at end of file
diff --git a/examples/position/position.ino b/examples/position/position.ino
index 68a3669..b7afbb2 100644
--- a/examples/position/position.ino
+++ b/examples/position/position.ino
@@ -9,6 +9,8 @@
     
 */
 
+// This example shows how left wheel position control can be used
+
 
 #include "Arduino_AlvikCarrier.h"
 
@@ -20,7 +22,6 @@ uint8_t task=0;
 float reference;
 
 void setup() {
-  Serial.begin(115200);
   alvik.begin();
   task = 0;
   reference = 0;
@@ -32,10 +33,6 @@ void loop() {
   if (millis()-tmotor>20){
     tmotor = millis();
     alvik.updateMotors();
-    Serial.print(reference);
-    Serial.print("\t");
-    Serial.print(alvik.getPositionLeft());
-    Serial.print("\n");
   }
 
   if (millis()-ttask>5000){
diff --git a/library.properties b/library.properties
index 95ffe2b..465e1c1 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Arduino_AlvikCarrier
-version=0.3.4
+version=0.4.0
 author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
 maintainer=Arduino <info@arduino.cc>
 sentence=Library and firmware for Arduino Alvik Carrier board
diff --git a/src/definitions/robot_definitions.h b/src/definitions/robot_definitions.h
index 129ba41..6ccf6a7 100644
--- a/src/definitions/robot_definitions.h
+++ b/src/definitions/robot_definitions.h
@@ -87,8 +87,8 @@ const float MOTION_FX_PERIOD = (1000U / MOTION_FX_FREQ);
 
 // Library version
 #define VERSION_BYTE_HIGH 0
-#define VERSION_BYTE_MID 3
-#define VERSION_BYTE_LOW 4
+#define VERSION_BYTE_MID 4
+#define VERSION_BYTE_LOW 0