diff --git a/README.md b/README.md
index 5f7da72..9425703 100644
--- a/README.md
+++ b/README.md
@@ -103,8 +103,11 @@ LidarSerial.begin(baud_rate, SERIAL_8N1, 4, 5); // GPIO4 as RX1, GPIO5 as TX1
 
 ## Release notes
 
-## v0.6.1 in debug
+## v0.6.1
 - added an all-in-one example sketch for all supported Lidar models
+  - pre-configured for LDS02RR
+- bugfixed Espressif SDK 5.x (ESP32 Arduino 3.x) build
+- examples cleanup
 
 ## v0.6.0
 - support for Espressif SDK 5.x (ESP32 Arduino 3.x)
diff --git a/examples/all_lidars_esp32/all_lidars_esp32.ino b/examples/all_lidars_lds02rr_esp32/all_lidars_lds02rr_esp32.ino
similarity index 64%
rename from examples/all_lidars_esp32/all_lidars_esp32.ino
rename to examples/all_lidars_lds02rr_esp32/all_lidars_lds02rr_esp32.ino
index 47a067b..691a485 100644
--- a/examples/all_lidars_esp32/all_lidars_esp32.ino
+++ b/examples/all_lidars_lds02rr_esp32/all_lidars_lds02rr_esp32.ino
@@ -16,21 +16,21 @@
   #error This example runs on ESP32
 #endif
 
-// 1. INCREASE Arduino IDE baud
-const uint32_t SERIAL_MONITOR_BAUD = 115200;
-
-// 2. CHANGE these to match your wiring
+// 1. CHANGE these to match your wiring
 // IGNORE pins absent from your Lidar model (often EN, PWM)
 const uint8_t LIDAR_GPIO_EN = 19; // ESP32 GPIO connected to Lidar EN pin
 const uint8_t LIDAR_GPIO_RX = 16; // ESP32 GPIO connected to Lidar RX pin
 const uint8_t LIDAR_GPIO_TX = 17; // ESP32 GPIO connected to Lidar TX pin
 const uint8_t LIDAR_GPIO_PWM = 15;// ESP32 GPIO connected to Lidar PWM pin
 
+// 2. UNCOMMENT if using PWM pin and PWM LOW enables the motor
+//#define INVERT_PWM_PIN
+
 // 3. UNCOMMENT your Lidar model
 //
 //#define NEATO_XV11
 //#define SLAMTEC_RPLIDAR_A1
-//#define XIAOMI_LDS02RR
+#define XIAOMI_LDS02RR
 //#define YDLIDAR_SCL
 //#define YDLIDAR_X2_X2L
 //#define YDLIDAR_X3
@@ -39,17 +39,15 @@ const uint8_t LIDAR_GPIO_PWM = 15;// ESP32 GPIO connected to Lidar PWM pin
 //#define 3IROBOTIX_DELTA_2A_115200
 //#define 3IROBOTIX_DELTA_2A
 //#define 3IROBOTIX_DELTA_2B
-#define LDROBOT_LD14P
+//#define LDROBOT_LD14P
 //#define YDLIDAR_X4
 //#define YDLIDAR_X4_PRO
 
-// 4. Optional/Advanced
-float LIDAR_SCAN_FREQ_TARGET = 5.0f; // Set desired rotations-per-second for some LiDAR models
 
-// Usually you don't need to change the settings below
+const uint32_t SERIAL_MONITOR_BAUD = 115200;
 const uint32_t LIDAR_PWM_FREQ = 10000;
 const uint8_t LIDAR_PWM_BITS = 11;
-const uint8_t LIDAR_PWM_CHANNEL = 0;
+const uint8_t LIDAR_PWM_CHANNEL = 2;
 const uint16_t LIDAR_SERIAL_RX_BUF_LEN = 1024;
 
 #include "lds_all_models.h"
@@ -58,14 +56,6 @@ HardwareSerial LidarSerial(1);
 LDS *lidar;
 
 void setupLidar() {
-  #if ESP_IDF_VERSION_MAJOR >= 5
-  if (!ledcAttachChannel(LIDAR_GPIO_PWM, LIDAR_PWM_FREQ,
-    LIDAR_PWM_BITS, LIDAR_PWM_CHANNEL))
-    Serial.println("setupLidar() ledcAttachChannel() error");
-  #else
-  if (!ledcSetup(LIDAR_PWM_CHANNEL, LIDAR_PWM_FREQ, LIDAR_PWM_BITS))
-    Serial.println("setupLidar() ledcSetup() error");
-  #endif
 
   #if defined(NEATO_XV11)
   lidar = new LDS_NEATO_XV11();
@@ -107,8 +97,7 @@ void setupLidar() {
   lidar->setInfoCallback(lidar_info_callback);
   lidar->setErrorCallback(lidar_error_callback);
 
-  LidarSerial.begin(lidar->getSerialBaudRate(),
-    SERIAL_8N1, LIDAR_GPIO_TX, LIDAR_GPIO_RX);
+  LidarSerial.begin(lidar->getSerialBaudRate(), SERIAL_8N1, LIDAR_GPIO_TX, LIDAR_GPIO_RX);
 
   lidar->init();
   //lidar->stop();
@@ -117,22 +106,24 @@ void setupLidar() {
 void setup() {
   Serial.begin(SERIAL_MONITOR_BAUD);
 
+  Serial.println();
+  Serial.print("ESP IDF version ");
+  Serial.println(ESP_IDF_VERSION_MAJOR);
+
   setupLidar();
 
-  Serial.print("LiDAR model ");
-  Serial.println(lidar->getModelName());
+  //Serial.print("LiDAR model ");
+  //Serial.println(lidar->getModelName());
 
-  Serial.print("Lidar baud rate ");
-  Serial.println(lidar->getSerialBaudRate());
+  //Serial.print("Lidar baud rate ");
+  //Serial.println(lidar->getSerialBaudRate());
 
   LDS::result_t result = lidar->start();
   Serial.print("startLidar() result: ");
   Serial.println(lidar->resultCodeToString(result));
 
-  if (result < 0)
-    Serial.println("Is the LiDAR connected to ESP32 and powered up?");
-
-  lidar->setScanTargetFreqHz(LIDAR_SCAN_FREQ_TARGET);
+  // Set desired rotations-per-second for some LiDAR models
+  // lidar->setScanTargetFreqHz(5.0f);
 }
 
 int lidar_serial_read_callback() {
@@ -151,52 +142,88 @@ size_t lidar_serial_write_callback(const uint8_t * buffer, size_t length) {
 
 void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality,
   bool scan_completed) {
+  static int i=0;
+  
+  if (i % 20 == 0) {
+    Serial.print(i);
+    Serial.print(' ');
+    Serial.print(distance_mm);
+    Serial.print(' ');
+    Serial.println(angle_deg);
+  }
+  i++;
 
-  Serial.print(distance_mm);
-  Serial.print(' ');
-  Serial.println(angle_deg);
-
-  if (scan_completed)
-    Serial.println();
+  if (scan_completed) {
+    i = 0;
+    Serial.print("Scan completed; RPM ");
+    Serial.println(lidar->getCurrentScanFreqHz());
+  }
 }
 
-void lidar_motor_pin_callback(float value, LDS::lds_pin_t lds_pin) {
-/*
-  Serial.print("Lidar pin ");
-  Serial.print(lidar->pinIDToString(lds_pin));
-  Serial.print(" set ");
-  if (lds_pin > 0)
-    Serial.print(value); // PWM value
-  else
-    Serial.print(lidar->pinStateToString((LDS::lds_pin_state_t)value));
-  Serial.print(", RPM ");
-  Serial.println(lidar->getCurrentScanFreqHz());
-*/
-  int pin = (lds_pin == LDS::LDS_MOTOR_EN_PIN) ?
-    LIDAR_GPIO_EN : LIDAR_GPIO_PWM;
+void lidar_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
+
+  int pin = (lidar_pin == LDS::LDS_MOTOR_EN_PIN) ? LIDAR_GPIO_EN : LIDAR_GPIO_PWM;
 
-  if (int(value) <= LDS::DIR_INPUT) {
+  if (value <= (float)LDS::DIR_INPUT) {
+
+    /*
+    Serial.print("GPIO ");
+    Serial.print(pin);
+    Serial.print(' ');
+    Serial.print(lidar->pinIDToString(lidar_pin));
+    Serial.print(" mode set to ");
+    Serial.println(lidar->pinStateToString(int(pin_mode)));
+    */
 
     // Configure pin direction
-    if (int(value) == LDS::DIR_OUTPUT_PWM) {
-      #if ESP_IDF_VERSION_MAJOR >= 5
-      if (!ledcAttachChannel(pin, LIDAR_PWM_FREQ,
-        LIDAR_PWM_BITS, LIDAR_PWM_CHANNEL))
-        Serial.println("lidar_motor_pin_callback() ledcAttachChannel() error");
-      #else
+    if (value == (float)LDS::DIR_OUTPUT_PWM) {
+
+      #if ESP_IDF_VERSION_MAJOR < 5
+      ledcSetup(LIDAR_PWM_CHANNEL, LIDAR_PWM_FREQ, LIDAR_PWM_BITS);
       ledcAttachPin(pin, LIDAR_PWM_CHANNEL);
+      #else
+      if (!ledcAttachChannel(pin, LIDAR_PWM_FREQ, LIDAR_PWM_BITS, LIDAR_PWM_CHANNEL))
+        Serial.println("lidar_motor_pin_callback() ledcAttachChannel() error");
       #endif
     } else
-      pinMode(pin, (int(value) == LDS::DIR_INPUT) ? INPUT : OUTPUT);
+      pinMode(pin, (value == (float)LDS::DIR_INPUT) ? INPUT : OUTPUT);
+
     return;
   }
 
-  if (int(value) < LDS::VALUE_PWM) // set constant output
-    digitalWrite(pin, (int(value) == LDS::VALUE_HIGH) ? HIGH : LOW);
-  else {
+  if (value < (float)LDS::VALUE_PWM) {
+    // Set constant output
+    // TODO invert PWM as needed
+    digitalWrite(pin, (value == (float)LDS::VALUE_HIGH) ? HIGH : LOW);
+
+    /*
+    Serial.print("GPIO ");
+    Serial.print(pin);
+    Serial.print(' ');
+    Serial.print(lidar->pinIDToString(lidar_pin));
+    Serial.print(" value set to ");
+    Serial.println(lidar->pinStateToString(int(value)));
+    */
+
+  } else {
+    //Serial.print("PWM value set to ");
+    //Serial.print(value);
+
     // set PWM duty cycle
+    #ifdef INVERT_PWM_PIN
+    value = 1 - value;
+    #endif
+
     int pwm_value = ((1<<LIDAR_PWM_BITS)-1)*value;
+
+    #if ESP_IDF_VERSION_MAJOR < 5
     ledcWrite(LIDAR_PWM_CHANNEL, pwm_value);
+    #else
+    ledcWriteChannel(LIDAR_PWM_CHANNEL, pwm_value);
+    #endif
+
+    //Serial.print(' ');
+    //Serial.println(pwm_value);
   }
 }
 
diff --git a/examples/ldrobot_ld14p_esp32/ldrobot_ld14p_esp32.ino b/examples/ldrobot_ld14p_esp32/ldrobot_ld14p_esp32.ino
index e6f9410..74be280 100644
--- a/examples/ldrobot_ld14p_esp32/ldrobot_ld14p_esp32.ino
+++ b/examples/ldrobot_ld14p_esp32/ldrobot_ld14p_esp32.ino
@@ -1,4 +1,4 @@
-// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+// Copyright 2023-2024 KAIA.AI
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -18,7 +18,10 @@
 
 #include <LDS_LDROBOT_LD14P.h>
 
-HardwareSerial LidarSerial(2); // TX 17, RX 16
+const uint8_t LIDAR_TX_PIN = 17;
+const uint8_t LIDAR_RX_PIN = 16;
+
+HardwareSerial LidarSerial(1);
 LDS_LDROBOT_LD14P lidar;
 
 void setup() {
@@ -34,13 +37,7 @@ void setup() {
   Serial.print(", baud rate ");
   Serial.println(baud_rate);
 
-  LidarSerial.begin(baud_rate); // Use default GPIO TX 17, RX 16
-  // Assign TX, RX pins
-  // LidarSerial.begin(baud_rate, SERIAL_8N1, rxPin, txPin);
-  // Details https://github.com/espressif/arduino-esp32/blob/master/cores/esp32/HardwareSerial.h
-  // Tutorial https://www.youtube.com/watch?v=eUPAoP7xC7A
-
-  //while (LidarSerial.read() >= 0);
+  LidarSerial.begin(baud_rate, SERIAL_8N1, LIDAR_RX_PIN, LIDAR_TX_PIN);
 
   lidar.setScanPointCallback(lidar_scan_point_callback);
   lidar.setPacketCallback(lidar_packet_callback);
@@ -75,16 +72,19 @@ void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality
   bool scan_completed) {
   static int i=0;
 
-  if ((i++ % 20 == 0) || scan_completed) {
+  if ((i % 20 == 0) || scan_completed) {
     Serial.print(i);
     Serial.print(' ');
     Serial.print(distance_mm);
     Serial.print(' ');
     Serial.print(angle_deg);
-    if (scan_completed)
-      Serial.println('*');
-    else
-      Serial.println();
+  }
+  i++;
+
+  if (scan_completed) {
+    i = 0;
+    Serial.print("Scan completed; RPM ");
+    Serial.println(lidar.getCurrentScanFreqHz());
   }
 }
 
diff --git a/examples/ldrobot_ld14p_esp32c3/ldrobot_ld14p_esp32c3.ino b/examples/ldrobot_ld14p_esp32c3/ldrobot_ld14p_esp32c3.ino
index ec58996..4986d65 100644
--- a/examples/ldrobot_ld14p_esp32c3/ldrobot_ld14p_esp32c3.ino
+++ b/examples/ldrobot_ld14p_esp32c3/ldrobot_ld14p_esp32c3.ino
@@ -1,4 +1,4 @@
-// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+// Copyright 2023-2024 KAIA.AI
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -19,6 +19,9 @@
 #include <LDS_LDROBOT_LD14P.h>
 
 // ESP32-C3
+const uint8_t LIDAR_TX_PIN = 5;
+const uint8_t LIDAR_RX_PIN = 4;
+
 HardwareSerial LidarSerial(1);
 LDS_LDROBOT_LD14P lidar;
 
@@ -35,9 +38,7 @@ void setup() {
   Serial.print(", baud rate ");
   Serial.println(baud_rate);
 
-  LidarSerial.begin(baud_rate, SERIAL_8N1, 4, 5); // GPIO4 as RX1, GPIO5 as TX1
-
-  //while (LidarSerial.read() >= 0);
+  LidarSerial.begin(baud_rate, SERIAL_8N1, LIDAR_RX_PIN, LIDAR_TX_PIN);
 
   lidar.setScanPointCallback(lidar_scan_point_callback);
   lidar.setPacketCallback(lidar_packet_callback);
@@ -72,16 +73,19 @@ void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality
   bool scan_completed) {
   static int i=0;
 
-  if ((i++ % 20 == 0) || scan_completed) {
+  if ((i % 20 == 0) || scan_completed) {
     Serial.print(i);
     Serial.print(' ');
     Serial.print(distance_mm);
     Serial.print(' ');
     Serial.print(angle_deg);
-    if (scan_completed)
-      Serial.println('*');
-    else
-      Serial.println();
+  }
+  i++;
+
+  if (scan_completed) {
+    i = 0;
+    Serial.print("Scan completed; RPM ");
+    Serial.println(lidar.getCurrentScanFreqHz());
   }
 }
 
diff --git a/examples/ldrobot_ld14p_esp32s3/ldrobot_ld14p_esp32s3.ino b/examples/ldrobot_ld14p_esp32s3/ldrobot_ld14p_esp32s3.ino
index 30b5bef..1152648 100644
--- a/examples/ldrobot_ld14p_esp32s3/ldrobot_ld14p_esp32s3.ino
+++ b/examples/ldrobot_ld14p_esp32s3/ldrobot_ld14p_esp32s3.ino
@@ -1,4 +1,4 @@
-// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+// Copyright 2023-2024 KAIA.AI
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -19,6 +19,9 @@
 #include <LDS_LDROBOT_LD14P.h>
 
 // ESP32-S3
+const uint8_t LIDAR_TX_PIN = 15;
+const uint8_t LIDAR_RX_PIN = 16;
+
 HardwareSerial LidarSerial(1);
 LDS_LDROBOT_LD14P lidar;
 
@@ -35,7 +38,7 @@ void setup() {
   Serial.print(", baud rate ");
   Serial.println(baud_rate);
 
-  LidarSerial.begin(baud_rate, SERIAL_8N1, 16, 15); // GPIO16 as RX1, GPIO15 as TX1  
+  LidarSerial.begin(baud_rate, SERIAL_8N1, LIDAR_RX_PIN, LIDAR_TX_PIN);
 
   //while (LidarSerial.read() >= 0);
 
@@ -72,16 +75,19 @@ void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality
   bool scan_completed) {
   static int i=0;
 
-  if ((i++ % 20 == 0) || scan_completed) {
+  if (i % 20 == 0) {
     Serial.print(i);
     Serial.print(' ');
     Serial.print(distance_mm);
     Serial.print(' ');
-    Serial.print(angle_deg);
-    if (scan_completed)
-      Serial.println('*');
-    else
-      Serial.println();
+    Serial.println(angle_deg);
+  }
+  i++;
+
+  if (scan_completed) {
+    i = 0;
+    Serial.print("Scan completed; RPM ");
+    Serial.println(lidar.getCurrentScanFreqHz());
   }
 }
 
diff --git a/examples/lds_basic_esp32/lds_basic_esp32.ino b/examples/lds_basic_esp32/lds_basic_esp32.ino
deleted file mode 100644
index 0ba1070..0000000
--- a/examples/lds_basic_esp32/lds_basic_esp32.ino
+++ /dev/null
@@ -1,159 +0,0 @@
-// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef ESP32
-  #error This example runs on ESP32
-#endif
-
-#include <LDS_YDLIDAR_X4.h>
-//#include <LDS_DELTA_2G.h>
-
-const uint8_t LDS_MOTOR_EN_PIN = 19; // ESP32 Dev Kit LiDAR enable pin
-const uint8_t LDS_MOTOR_PWM_PIN = 15; // LiDAR motor speed control using PWM
-#define LDS_MOTOR_PWM_FREQ    10000
-#define LDS_MOTOR_PWM_BITS    11
-#define LDS_MOTOR_PWM_CHANNEL    2 // ESP32 PWM channel for LiDAR motor speed control
-
-HardwareSerial LidarSerial(2); // TX 17, RX 16
-LDS_YDLIDAR_X4 lidar;  // Uncomment your LiDAR model
-//LDS_DELTA_2G lidar;
-
-void setup() {
-  Serial.begin(115200);
-
-  Serial.print("LiDAR model ");
-  Serial.println(lidar.getModelName());
-
-  Serial.print("LiDAR RX buffer size "); // default 128 hw + 256 sw
-  Serial.print(LidarSerial.setRxBufferSize(1024)); // must be before .begin()
-
-  uint32_t baud_rate = lidar.getSerialBaudRate();
-  Serial.print(", baud rate ");
-  Serial.println(baud_rate);
-
-  LidarSerial.begin(baud_rate); // Use default GPIO TX 17, RX 16
-  // Assign TX, RX pins
-  // LidarSerial.begin(baud_rate, SERIAL_8N1, rxPin, txPin);
-  // Details https://github.com/espressif/arduino-esp32/blob/master/cores/esp32/HardwareSerial.h
-  // Tutorial https://www.youtube.com/watch?v=eUPAoP7xC7A
-
-  //while (LidarSerial.read() >= 0);
-
-  lidar.setScanPointCallback(lidar_scan_point_callback);
-  lidar.setPacketCallback(lidar_packet_callback);
-  lidar.setSerialWriteCallback(lidar_serial_write_callback);
-  lidar.setSerialReadCallback(lidar_serial_read_callback);
-  lidar.setMotorPinCallback(lidar_motor_pin_callback);
-  lidar.init();
-
-  LDS::result_t result = lidar.start();
-  Serial.print("LiDAR start() result: ");
-  Serial.println(lidar.resultCodeToString(result));
-
-  if (result < 0)
-    Serial.println("WARNING: is LDS connected to ESP32?");
-}
-
-int lidar_serial_read_callback() {
-  int c = LidarSerial.read();
-// Uncomment below for debug
-/*
-  if (c < 0)
-    return c;
-
-  if (c < 16)
-    Serial.print('0');
-  Serial.print(c, HEX);
-
-  static int i=0;
-  if (i++ % 16 == 0)
-    Serial.println();
-  else
-    Serial.print(' ');
-*/
-  return c;
-}
-
-size_t lidar_serial_write_callback(const uint8_t * buffer, size_t length) {
-  return LidarSerial.write(buffer, length);
-}
-
-void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality,
-  bool scan_completed) {
-  static int i=0;
-
-  if ((i++ % 20 == 0) || scan_completed) {
-    Serial.print(i);
-    Serial.print(' ');
-    Serial.print(distance_mm);
-    Serial.print(' ');
-    Serial.print(angle_deg);
-    if (scan_completed)
-      Serial.println('*');
-    else
-      Serial.println();
-  }
-}
-
-void lidar_info_callback(LDS::info_t code, String info) {
-  Serial.print("LDS info ");
-  Serial.print(lidar.infoCodeToString(code));
-  Serial.print(": ");
-  Serial.println(info);
-}
-
-void lidar_error_callback(LDS::result_t code, String aux_info) {
-  Serial.print("LDS error ");
-  Serial.print(lidar.resultCodeToString(code));
-  Serial.print(": ");
-  Serial.println(aux_info);
-}
-
-void lidar_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
-  int pin = (lidar_pin == LDS::LDS_MOTOR_EN_PIN) ?
-    LDS_MOTOR_EN_PIN : LDS_MOTOR_PWM_PIN;
-
-  if (value <= (float)LDS::DIR_INPUT) {
-    // Configure pin direction
-    if (value == (float)LDS::DIR_OUTPUT_PWM) {
-      ledcSetup(LDS_MOTOR_PWM_CHANNEL, LDS_MOTOR_PWM_FREQ, LDS_MOTOR_PWM_BITS);
-      ledcAttachPin(pin, LDS_MOTOR_PWM_CHANNEL);
-    } else
-      pinMode(pin, (value == (float)LDS::DIR_INPUT) ? INPUT : OUTPUT);
-    return;
-  }
-
-  if (value < LDS::VALUE_PWM) // set constant output
-    digitalWrite(pin, (value == (float)LDS::VALUE_HIGH) ? HIGH : LOW);
-  else { // set PWM duty cycle
-    int pwm_value = ((1<<LDS_MOTOR_PWM_BITS)-1)*value;
-    ledcWrite(LDS_MOTOR_PWM_CHANNEL, pwm_value);
-  }
-}
-
-void lidar_packet_callback(uint8_t * packet, uint16_t length, bool scan_completed) {
-  // Uncomment for debug
-  /*
-  Serial.print("Packet ");
-  Serial.print(length);
-  Serial.print("b");
-  float hz = lidar.getCurrentScanFreqHz();
-  Serial.print(", speed ");
-  Serial.println(hz);
-  */
-}
-
-void loop() {
-  lidar.loop();
-}
diff --git a/examples/ydlidar_x2_esp32/ydlidar_x2_esp32.ino b/examples/ydlidar_x2_esp32/ydlidar_x2_esp32.ino
index e2124a6..caf19ab 100644
--- a/examples/ydlidar_x2_esp32/ydlidar_x2_esp32.ino
+++ b/examples/ydlidar_x2_esp32/ydlidar_x2_esp32.ino
@@ -1,4 +1,4 @@
-// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+// Copyright 2023-2024 KAIA.AI
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -18,13 +18,16 @@
 
 #include <LDS_YDLIDAR_X2_X2L.h>
 
-const uint8_t LDS_MOTOR_EN_PIN = 19; // ESP32 Dev Kit LiDAR enable pin
-const uint8_t LDS_MOTOR_PWM_PIN = 15; // LiDAR motor speed control using PWM
-#define LDS_MOTOR_PWM_FREQ    10000
-#define LDS_MOTOR_PWM_BITS    11
-#define LDS_MOTOR_PWM_CHANNEL    2 // ESP32 PWM channel for LiDAR motor speed control
+const uint8_t LIDAR_EN_PIN = 19; // ESP32 Dev Kit LiDAR enable pin
+const uint8_t LIDAR_PWM_PIN = 15; // LiDAR motor speed control using PWM
+const uint8_t LIDAR_TX_PIN = 17;
+const uint8_t LIDAR_RX_PIN = 16;
 
-HardwareSerial LidarSerial(2); // TX 17, RX 16
+#define LIDAR_PWM_FREQ    10000
+#define LIDAR_PWM_BITS    11
+#define LIDAR_PWM_CHANNEL    2 // ESP32 PWM channel for LiDAR motor speed control
+
+HardwareSerial LidarSerial(1);
 LDS_YDLIDAR_X2_X2L lidar;
 
 void setup() {
@@ -40,13 +43,7 @@ void setup() {
   Serial.print(", baud rate ");
   Serial.println(baud_rate);
 
-  LidarSerial.begin(baud_rate); // Use default GPIO TX 17, RX 16
-  // Assign TX, RX pins
-  // LidarSerial.begin(baud_rate, SERIAL_8N1, rxPin, txPin);
-  // Details https://github.com/espressif/arduino-esp32/blob/master/cores/esp32/HardwareSerial.h
-  // Tutorial https://www.youtube.com/watch?v=eUPAoP7xC7A
-
-  //while (LidarSerial.read() >= 0);
+  LidarSerial.begin(baud_rate, SERIAL_8N1, LIDAR_RX_PIN, LIDAR_TX_PIN);
 
   lidar.setScanPointCallback(lidar_scan_point_callback);
   lidar.setPacketCallback(lidar_packet_callback);
@@ -78,17 +75,20 @@ size_t lidar_serial_write_callback(const uint8_t * buffer, size_t length) {
 void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality,
   bool scan_completed) {
   static int i=0;
-
-  if ((i++ % 20 == 0) || scan_completed) {
+  
+  if (i % 20 == 0) {
     Serial.print(i);
     Serial.print(' ');
     Serial.print(distance_mm);
     Serial.print(' ');
-    Serial.print(angle_deg);
-    if (scan_completed)
-      Serial.println('*');
-    else
-      Serial.println();
+    Serial.println(angle_deg);
+  }
+  i++;
+
+  if (scan_completed) {
+    i = 0;
+    Serial.print("Scan completed; RPM ");
+    Serial.println(lidar.getCurrentScanFreqHz());
   }
 }
 
@@ -108,27 +108,32 @@ void lidar_error_callback(LDS::result_t code, String aux_info) {
 
 void lidar_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
   int pin = (lidar_pin == LDS::LDS_MOTOR_EN_PIN) ?
-    LDS_MOTOR_EN_PIN : LDS_MOTOR_PWM_PIN;
+    LIDAR_EN_PIN : LIDAR_PWM_PIN;
 
   if (value <= (float)LDS::DIR_INPUT) {
     // Configure pin direction
     if (value == (float)LDS::DIR_OUTPUT_PWM) {
-      #if ESP_IDF_VERSION_MAJOR >= 5
-      ledcAttachChannel(pin, LDS_MOTOR_PWM_FREQ, LDS_MOTOR_PWM_BITS, LDS_MOTOR_PWM_CHANNEL);
+      #if ESP_IDF_VERSION_MAJOR < 5
+      ledcSetup(LIDAR_PWM_CHANNEL, LIDAR_PWM_FREQ, LIDAR_PWM_BITS);
+      ledcAttachPin(pin, LIDAR_PWM_CHANNEL);
       #else
-      ledcSetup(LDS_MOTOR_PWM_CHANNEL, LDS_MOTOR_PWM_FREQ, LDS_MOTOR_PWM_BITS);
-      ledcAttachPin(pin, LDS_MOTOR_PWM_CHANNEL);
+      ledcAttachChannel(pin, LIDAR_PWM_FREQ, LIDAR_PWM_BITS, LIDAR_PWM_CHANNEL);
       #endif
     } else
       pinMode(pin, (value == (float)LDS::DIR_INPUT) ? INPUT : OUTPUT);
     return;
   }
 
-  if (value < LDS::VALUE_PWM) // set constant output
+  if (value < (float)LDS::VALUE_PWM) // set constant output
     digitalWrite(pin, (value == (float)LDS::VALUE_HIGH) ? HIGH : LOW);
-  else { // set PWM duty cycle
-    int pwm_value = ((1<<LDS_MOTOR_PWM_BITS)-1)*value;
-    ledcWrite(LDS_MOTOR_PWM_CHANNEL, pwm_value);
+  else {
+    // Set PWM duty cycle
+    int pwm_value = ((1<<LIDAR_PWM_BITS)-1)*value;
+    #if ESP_IDF_VERSION_MAJOR < 5
+    ledcWrite(LIDAR_PWM_CHANNEL, pwm_value);
+    #else
+    ledcWriteChannel(LIDAR_PWM_CHANNEL, pwm_value);
+    #endif
   }
 }
 
diff --git a/examples/ydlidar_x4_esp32/ydlidar_x4_esp32.ino b/examples/ydlidar_x4_esp32/ydlidar_x4_esp32.ino
index fe29e4a..21477a1 100644
--- a/examples/ydlidar_x4_esp32/ydlidar_x4_esp32.ino
+++ b/examples/ydlidar_x4_esp32/ydlidar_x4_esp32.ino
@@ -1,4 +1,4 @@
-// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+// Copyright 2023-2024 KAIA.AI
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -17,17 +17,18 @@
 #endif
 
 #include <LDS_YDLIDAR_X4.h>
-//#include <LDS_DELTA_2G.h>
 
-const uint8_t LDS_MOTOR_EN_PIN = 19; // ESP32 Dev Kit LiDAR enable pin
-const uint8_t LDS_MOTOR_PWM_PIN = 15; // LiDAR motor speed control using PWM
-#define LDS_MOTOR_PWM_FREQ    10000
-#define LDS_MOTOR_PWM_BITS    11
-#define LDS_MOTOR_PWM_CHANNEL    2 // ESP32 PWM channel for LiDAR motor speed control
+const uint8_t LIDAR_EN_PIN = 19; // ESP32 Dev Kit LiDAR enable pin
+const uint8_t LIDAR_PWM_PIN = 15; // LiDAR motor speed control using PWM
+const uint8_t LIDAR_TX_PIN = 17;
+const uint8_t LIDAR_RX_PIN = 16;
 
-HardwareSerial LidarSerial(2); // TX 17, RX 16
+#define LIDAR_PWM_FREQ    10000
+#define LIDAR_PWM_BITS    11
+#define LIDAR_PWM_CHANNEL    2 // ESP32 PWM channel for LiDAR motor speed control
+
+HardwareSerial LidarSerial(1);
 LDS_YDLIDAR_X4 lidar;
-//LDS_DELTA_2G lidar;
 
 void setup() {
   Serial.begin(115200);
@@ -42,13 +43,7 @@ void setup() {
   Serial.print(", baud rate ");
   Serial.println(baud_rate);
 
-  LidarSerial.begin(baud_rate); // Use default GPIO TX 17, RX 16
-  // Assign TX, RX pins
-  // LidarSerial.begin(baud_rate, SERIAL_8N1, rxPin, txPin);
-  // Details https://github.com/espressif/arduino-esp32/blob/master/cores/esp32/HardwareSerial.h
-  // Tutorial https://www.youtube.com/watch?v=eUPAoP7xC7A
-
-  //while (LidarSerial.read() >= 0);
+  LidarSerial.begin(baud_rate, SERIAL_8N1, LIDAR_RX_PIN, LIDAR_TX_PIN);
 
   lidar.setScanPointCallback(lidar_scan_point_callback);
   lidar.setPacketCallback(lidar_packet_callback);
@@ -77,16 +72,19 @@ void lidar_scan_point_callback(float angle_deg, float distance_mm, float quality
   bool scan_completed) {
   static int i=0;
 
-  if ((i++ % 20 == 0) || scan_completed) {
+  if (i % 20 == 0) {
     Serial.print(i);
     Serial.print(' ');
     Serial.print(distance_mm);
     Serial.print(' ');
-    Serial.print(angle_deg);
-    if (scan_completed)
-      Serial.println('*');
-    else
-      Serial.println();
+    Serial.println(angle_deg);
+  }
+  i++;
+
+  if (scan_completed) {
+    i = 0;
+    Serial.print("Scan completed; RPM ");
+    Serial.println(lidar.getCurrentScanFreqHz());
   }
 }
 
@@ -106,16 +104,16 @@ void lidar_error_callback(LDS::result_t code, String aux_info) {
 
 void lidar_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
   int pin = (lidar_pin == LDS::LDS_MOTOR_EN_PIN) ?
-    LDS_MOTOR_EN_PIN : LDS_MOTOR_PWM_PIN;
+    LIDAR_EN_PIN : LIDAR_PWM_PIN;
 
   if (value <= (float)LDS::DIR_INPUT) {
     // Configure pin direction
     if (value == (float)LDS::DIR_OUTPUT_PWM) {
-      #if ESP_IDF_VERSION_MAJOR >= 5
-      ledcAttachChannel(pin, LDS_MOTOR_PWM_FREQ, LDS_MOTOR_PWM_BITS, LDS_MOTOR_PWM_CHANNEL);
+      #if ESP_IDF_VERSION_MAJOR < 5
+      ledcSetup(LIDAR_PWM_CHANNEL, LIDAR_PWM_FREQ, LIDAR_PWM_BITS);
+      ledcAttachPin(pin, LIDAR_PWM_CHANNEL);
       #else
-      ledcSetup(LDS_MOTOR_PWM_CHANNEL, LDS_MOTOR_PWM_FREQ, LDS_MOTOR_PWM_BITS);
-      ledcAttachPin(pin, LDS_MOTOR_PWM_CHANNEL);
+      ledcAttachChannel(pin, LIDAR_PWM_FREQ, LIDAR_PWM_BITS, LIDAR_PWM_CHANNEL);
       #endif
     } else
       pinMode(pin, (value == (float)LDS::DIR_INPUT) ? INPUT : OUTPUT);
@@ -125,8 +123,13 @@ void lidar_motor_pin_callback(float value, LDS::lds_pin_t lidar_pin) {
   if (value < (float)LDS::VALUE_PWM) // set constant output
     digitalWrite(pin, (value == (float)LDS::VALUE_HIGH) ? HIGH : LOW);
   else { // set PWM duty cycle
-    int pwm_value = ((1<<LDS_MOTOR_PWM_BITS)-1)*value;
-    ledcWrite(LDS_MOTOR_PWM_CHANNEL, pwm_value);
+    int pwm_value = ((1<<LIDAR_PWM_BITS)-1)*value;
+    
+    #if ESP_IDF_VERSION_MAJOR < 5
+    ledcWrite(LIDAR_PWM_CHANNEL, pwm_value);
+    #else
+    ledcWriteChannel(LIDAR_PWM_CHANNEL, pwm_value);
+    #endif
   }
 }
 
diff --git a/library.properties b/library.properties
index ed40648..8c791d0 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=LDS
-version=0.6.0
+version=0.6.1
 author=Ilia O. <iliao@kaia.ai>
 maintainer=Ilia O. <iliao@kaia.ai>
 sentence=Laser distance scan sensors (LDS/LIDAR) wrapper/controller for kaia.ai robotics platform