diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2eeb4a7..487e846 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,23 +51,24 @@ target_link_libraries(${LIBRARY_NAME}
 )
 
 # Declare example executables
-add_executable(create_demo examples/create_demo.cpp)
-add_executable(bumper_example examples/bumper_example.cpp)
-add_executable(odom_example examples/odom_example.cpp)
+set(EXAMPLES
+  battery_level
+  bumpers
+  drive_circle
+  leds
+  packets
+  play_song
+  wheeldrop
+)
 
-# Specify libraries to link executable targets against
-target_link_libraries(create_demo
-  ${Boost_LIBRARIES}
-  ${LIBRARY_NAME}
-)
-target_link_libraries(bumper_example
-  ${Boost_LIBRARIES}
-  ${LIBRARY_NAME}
-)
-target_link_libraries(odom_example
-  ${Boost_LIBRARIES}
-  ${LIBRARY_NAME}
-)
+foreach(EXAMPLE ${EXAMPLES})
+  add_executable(${EXAMPLE} examples/${EXAMPLE}.cpp)
+
+  target_link_libraries(${EXAMPLE}
+    ${Boost_LIBRARIES}
+    ${LIBRARY_NAME}
+  )
+endforeach()
 
 #################
 # Configuration #
diff --git a/examples/battery_level.cpp b/examples/battery_level.cpp
new file mode 100644
index 0000000..49fd70d
--- /dev/null
+++ b/examples/battery_level.cpp
@@ -0,0 +1,89 @@
+/**
+Software License Agreement (BSD)
+
+\file      battery_level.cpp
+\authors   Jacob Perron <jperron@sfu.ca>
+\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+ * Neither the name of Autonomy Lab nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "create/create.h"
+
+#include <iostream>
+
+int main(int argc, char** argv) {
+  // Select robot. Assume Create 2 unless argument says otherwise
+  create::RobotModel model = create::RobotModel::CREATE_2;
+  std::string port = "/dev/ttyUSB0";
+  int baud = 115200;
+  if (argc > 1 && std::string(argv[1]) == "create1") {
+    model = create::RobotModel::CREATE_1;
+    baud = 57600;
+    std::cout << "Running driver for Create 1" << std::endl;
+  }
+  else {
+    std::cout << "Running driver for Create 2" << std::endl;
+  }
+
+  // Construct robot object
+  create::Create* robot = new create::Create(model);
+
+  // Connect to robot
+  if (robot->connect(port, baud))
+    std::cout << "Connected to robot" << std::endl;
+  else {
+    std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
+    return 1;
+  }
+
+  // Switch to Full mode
+  robot->setMode(create::MODE_FULL);
+
+  std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
+
+  // Get battery capacity (max charge)
+  const float battery_capacity = robot->getBatteryCapacity();
+
+  float battery_charge = 0.0f;
+  while (!robot->isCleanButtonPressed()) {
+    // Get battery charge
+    battery_charge = robot->getBatteryCharge();
+
+    // Print battery percentage
+    std::cout << "\rBattery level: " << (battery_charge / battery_capacity) * 100.0 << "%";
+
+    usleep(100000);  // 10 Hz
+  }
+
+  std::cout << std::endl;
+
+  // Call disconnect to avoid leaving robot in Full mode
+  robot->disconnect();
+
+  // Clean up
+  delete robot;
+
+  std::cout << "Bye!" << std::endl;
+  return 0;
+}
diff --git a/examples/bumper_example.cpp b/examples/bumper_example.cpp
deleted file mode 100644
index 11e0ab8..0000000
--- a/examples/bumper_example.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-#include "create/create.h"
-
-int main(int argc, char** argv) {
-  std::string port = "/dev/ttyUSB0";
-  int baud = 115200;
-  create::RobotModel model = create::RobotModel::CREATE_2;
-
-  create::Create* robot = new create::Create(model);
-
-  // Attempt to connect to Create
-  if (robot->connect(port, baud))
-    std::cout << "Successfully connected to Create" << std::endl;
-  else {
-    std::cout << "Failed to connect to Create on port " << port.c_str() << std::endl;
-    return 1;
-  }
-
-  robot->setMode(create::MODE_FULL);
-
-  uint16_t signals[6];
-  bool contact_bumpers[2];
-  bool light_bumpers[6];
-
-  // Stop program when clean button is pressed
-  while (!robot->isCleanButtonPressed()) {
-    signals[0] = robot->getLightSignalLeft();
-    signals[1] = robot->getLightSignalFrontLeft();
-    signals[2] = robot->getLightSignalCenterLeft();
-    signals[3] = robot->getLightSignalCenterRight();
-    signals[4] = robot->getLightSignalFrontRight();
-    signals[5] = robot->getLightSignalRight();
-
-    contact_bumpers[0] = robot->isLeftBumper();
-    contact_bumpers[1] = robot->isRightBumper();
-
-    light_bumpers[0] = robot->isLightBumperLeft();
-    light_bumpers[1] = robot->isLightBumperFrontLeft();
-    light_bumpers[2] = robot->isLightBumperCenterLeft();
-    light_bumpers[3] = robot->isLightBumperCenterRight();
-    light_bumpers[4] = robot->isLightBumperFrontRight();
-    light_bumpers[5] = robot->isLightBumperRight();
-
-    // print signals from left to right
-    std::cout << "[ " << signals[0] << " , "
-                      << signals[1] << " , "
-                      << signals[2] << " , "
-                      << signals[3] << " , "
-                      << signals[4] << " , "
-                      << signals[5]
-              << " ]" << std::endl;
-    std::cout << "[ " << light_bumpers[0] << " , "
-                      << light_bumpers[1] << " , "
-                      << light_bumpers[2] << " , "
-                      << light_bumpers[3] << " , "
-                      << light_bumpers[4] << " , "
-                      << light_bumpers[5]
-              << " ]" << std::endl;
-    std::cout << "[ " << contact_bumpers[0] << " , "
-                      << contact_bumpers[1]
-              << " ]" << std::endl;
-    std::cout << std::endl;
-
-    usleep(1000 * 100); //10hz
-  }
-
-  std::cout << "Stopping Create" << std::endl;
-
-  // Disconnect from robot
-  robot->disconnect();
-  delete robot;
-
-  return 0;
-}
diff --git a/examples/bumpers.cpp b/examples/bumpers.cpp
new file mode 100644
index 0000000..52c6877
--- /dev/null
+++ b/examples/bumpers.cpp
@@ -0,0 +1,126 @@
+/**
+Software License Agreement (BSD)
+
+\file      bumpers.cpp
+\authors   Jacob Perron <jperron@sfu.ca>
+\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+ * Neither the name of Autonomy Lab nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "create/create.h"
+
+#include <iostream>
+
+int main(int argc, char** argv) {
+  // Select robot. Assume Create 2 unless argument says otherwise
+  create::RobotModel model = create::RobotModel::CREATE_2;
+  std::string port = "/dev/ttyUSB0";
+  int baud = 115200;
+  if (argc > 1 && std::string(argv[1]) == "create1") {
+    model = create::RobotModel::CREATE_1;
+    baud = 57600;
+    std::cout << "Running driver for Create 1" << std::endl;
+  }
+  else {
+    std::cout << "Running driver for Create 2" << std::endl;
+  }
+
+  // Construct robot object
+  create::Create* robot = new create::Create(model);
+
+  // Connect to robot
+  if (robot->connect(port, baud))
+    std::cout << "Connected to robot" << std::endl;
+  else {
+    std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
+    return 1;
+  }
+
+  // Switch to Full mode
+  robot->setMode(create::MODE_FULL);
+
+  std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
+
+  uint16_t light_signals[6];
+  bool light_bumpers[6];
+  bool contact_bumpers[2];
+
+  while (!robot->isCleanButtonPressed()) {
+    // Get light sensor data (only available for Create 2 or later robots)
+    if (model == create::RobotModel::CREATE_2) {
+      // Get raw light signal values
+      light_signals[0] = robot->getLightSignalLeft();
+      light_signals[1] = robot->getLightSignalFrontLeft();
+      light_signals[2] = robot->getLightSignalCenterLeft();
+      light_signals[3] = robot->getLightSignalCenterRight();
+      light_signals[4] = robot->getLightSignalFrontRight();
+      light_signals[5] = robot->getLightSignalRight();
+
+      // Get obstacle data from light sensors (true/false)
+      light_bumpers[0] = robot->isLightBumperLeft();
+      light_bumpers[1] = robot->isLightBumperFrontLeft();
+      light_bumpers[2] = robot->isLightBumperCenterLeft();
+      light_bumpers[3] = robot->isLightBumperCenterRight();
+      light_bumpers[4] = robot->isLightBumperFrontRight();
+      light_bumpers[5] = robot->isLightBumperRight();
+    }
+
+    // Get state of bumpers
+    contact_bumpers[0] = robot->isLeftBumper();
+    contact_bumpers[1] = robot->isRightBumper();
+
+    // Print signals from left to right
+    std::cout << "[ " << light_signals[0] << " , "
+                      << light_signals[1] << " , "
+                      << light_signals[2] << " , "
+                      << light_signals[3] << " , "
+                      << light_signals[4] << " , "
+                      << light_signals[5]
+              << " ]" << std::endl;
+    std::cout << "[ " << light_bumpers[0] << " , "
+                      << light_bumpers[1] << " , "
+                      << light_bumpers[2] << " , "
+                      << light_bumpers[3] << " , "
+                      << light_bumpers[4] << " , "
+                      << light_bumpers[5]
+              << " ]" << std::endl;
+    std::cout << "[ " << contact_bumpers[0] << " , "
+                      << contact_bumpers[1]
+              << " ]" << std::endl;
+    std::cout << std::endl;
+
+    usleep(100000);  // 10 Hz
+  }
+
+  std::cout << std::endl;
+
+  // Call disconnect to avoid leaving robot in Full mode
+  robot->disconnect();
+
+  // Clean up
+  delete robot;
+
+  std::cout << "Bye!" << std::endl;
+  return 0;
+}
diff --git a/examples/create_demo.cpp b/examples/create_demo.cpp
deleted file mode 100644
index 243eaa6..0000000
--- a/examples/create_demo.cpp
+++ /dev/null
@@ -1,133 +0,0 @@
-#include "create/create.h"
-
-create::Create* robot;
-
-int main(int argc, char** argv) {
-  std::string port = "/dev/ttyUSB0";
-  int baud = 115200;
-  create::RobotModel model = create::RobotModel::CREATE_2;
-
-  if (argc > 1 && std::string(argv[1]) == "create1") {
-    model = create::RobotModel::CREATE_1;
-    baud = 57600;
-    std::cout << "1st generation Create selected" << std::endl;
-  }
-
-  robot = new create::Create(model);
-
-  // Attempt to connect to Create
-  if (robot->connect(port, baud))
-    std::cout << "Successfully connected to Create" << std::endl;
-  else {
-    std::cout << "Failed to connect to Create on port " << port.c_str() << std::endl;
-    return 1;
-  }
-
-  // Note: Some functionality does not work as expected in Safe mode
-  robot->setMode(create::MODE_FULL);
-
-  std::cout << "battery level: " <<
-    robot->getBatteryCharge() / (float) robot->getBatteryCapacity() * 100.0 << "%" << std::endl;
-
-  bool drive = false;
-
-  // Make a song
-  //uint8_t songLength = 16;
-  //uint8_t notes[16] = { 67, 67, 66, 66, 65, 65, 66, 66,
-  //                      67, 67, 66, 66, 65, 65, 66, 66 };
-  //float durations[songLength];
-  //for (int i = 0; i < songLength; i++) {
-  //  durations[i] = 0.25;
-  //}
-  //robot->defineSong(0, songLength, notes, durations);
-  //usleep(1000000);
-  //robot->playSong(0);
-
-  // Quit when center "Clean" button pressed
-  while (!robot->isCleanButtonPressed()) {
-    // Check for button presses
-    if (robot->isDayButtonPressed())
-      std::cout << "day button press" << std::endl;
-    if (robot->isMinButtonPressed())
-      std::cout << "min button press" << std::endl;
-    if (robot->isDockButtonPressed()) {
-      std::cout << "dock button press" << std::endl;
-      robot->enableCheckRobotLED(false);
-    }
-    if (robot->isSpotButtonPressed()) {
-      std::cout << "spot button press" << std::endl;
-      robot->enableCheckRobotLED(true);
-    }
-    if (robot->isHourButtonPressed()) {
-      std::cout << "hour button press" << std::endl;
-      drive = !drive;
-    }
-
-    // Check for wheeldrop or cliffs
-    if (robot->isWheeldrop() || robot->isCliff()) {
-      drive = false;
-      robot->setPowerLED(255);
-    }
-
-    // If everything is ok, drive forward using IR's to avoid obstacles
-    if (drive) {
-      robot->setPowerLED(0); // green
-      if (robot->isLightBumperLeft() ||
-          robot->isLightBumperFrontLeft() ||
-          robot->isLightBumperCenterLeft()) {
-        // turn right
-        robot->drive(0.1, -1.0);
-        robot->setDigitsASCII('-','-','-',']');
-      }
-      else if (robot->isLightBumperRight() ||
-               robot->isLightBumperFrontRight() ||
-               robot->isLightBumperCenterRight()) {
-        // turn left
-        robot->drive(0.1, 1.0);
-        robot->setDigitsASCII('[','-','-','-');
-      }
-      else {
-        // drive straight
-        robot->drive(0.1, 0.0);
-        robot->setDigitsASCII(' ','^','^',' ');
-      }
-    }
-    else { // drive == false
-      // stop moving
-      robot->drive(0, 0);
-      robot->setDigitsASCII('S','T','O','P');
-    }
-
-    // Turn on blue 'debris' light if moving forward
-    if (robot->isMovingForward()) {
-      robot->enableDebrisLED(true);
-    }
-    else {
-      robot->enableDebrisLED(false);
-    }
-
-    // Check bumpers
-    if (robot->isLeftBumper()) {
-      std::cout << "left bump detected!" << std::endl;
-    }
-    if (robot->isRightBumper()) {
-      std::cout << "right bump detected!" << std::endl;
-    }
-
-    usleep(1000 * 100); //10hz
-  }
-
-  std::cout << "Stopping Create." << std::endl;
-
-  // Turn off lights
-  robot->setPowerLED(0, 0);
-  robot->enableDebrisLED(false);
-  robot->enableCheckRobotLED(false);
-  robot->setDigitsASCII(' ', ' ', ' ', ' ');
-
-  // Make sure to disconnect to clean up
-  robot->disconnect();
-  delete robot;
-
-  return 0;
-}
diff --git a/examples/drive_circle.cpp b/examples/drive_circle.cpp
new file mode 100644
index 0000000..f7e1fcf
--- /dev/null
+++ b/examples/drive_circle.cpp
@@ -0,0 +1,93 @@
+/**
+Software License Agreement (BSD)
+
+\file      drive_circle.cpp
+\authors   Jacob Perron <jperron@sfu.ca>
+\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+ * Neither the name of Autonomy Lab nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "create/create.h"
+
+#include <iomanip>
+#include <iostream>
+
+int main(int argc, char** argv) {
+  // Select robot. Assume Create 2 unless argument says otherwise
+  create::RobotModel model = create::RobotModel::CREATE_2;
+  std::string port = "/dev/ttyUSB0";
+  int baud = 115200;
+  if (argc > 1 && std::string(argv[1]) == "create1") {
+    model = create::RobotModel::CREATE_1;
+    baud = 57600;
+    std::cout << "Running driver for Create 1" << std::endl;
+  }
+  else {
+    std::cout << "Running driver for Create 2" << std::endl;
+  }
+
+  // Construct robot object
+  create::Create* robot = new create::Create(model);
+
+  // Connect to robot
+  if (robot->connect(port, baud))
+    std::cout << "Connected to robot" << std::endl;
+  else {
+    std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
+    return 1;
+  }
+
+  // Switch to Full mode
+  robot->setMode(create::MODE_FULL);
+
+  std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
+
+  // There's a delay between switching modes and when the robot will accept drive commands
+  usleep(100000);
+
+  // Command robot to drive a radius of 0.15 metres at 0.2 m/s
+  robot->driveRadius(0.2, 0.15);
+
+  while (!robot->isCleanButtonPressed()) {
+    // Get robot odometry and print
+    const create::Pose pose = robot->getPose(); 
+
+    std::cout << std::fixed << std::setprecision(2) << "\rOdometry (x, y, yaw): ("
+              << pose.x << ", " << pose.y << ", " << pose.yaw << ")      ";
+
+    usleep(10000);  // 10 Hz
+  }
+
+  std::cout << std::endl;
+
+  // Call disconnect to avoid leaving robot in Full mode
+  // Also, this consequently stops the robot from moving
+  robot->disconnect();
+
+  // Clean up
+  delete robot;
+
+  std::cout << "Bye!" << std::endl;
+  return 0;
+}
diff --git a/examples/leds.cpp b/examples/leds.cpp
new file mode 100644
index 0000000..31a542d
--- /dev/null
+++ b/examples/leds.cpp
@@ -0,0 +1,105 @@
+/**
+Software License Agreement (BSD)
+
+\file      leds.cpp
+\authors   Jacob Perron <jperron@sfu.ca>
+\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+ * Neither the name of Autonomy Lab nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "create/create.h"
+
+#include <iostream>
+
+int main(int argc, char** argv) {
+  // Select robot. Assume Create 2 unless argument says otherwise
+  create::RobotModel model = create::RobotModel::CREATE_2;
+  std::string port = "/dev/ttyUSB0";
+  int baud = 115200;
+  if (argc > 1 && std::string(argv[1]) == "create1") {
+    model = create::RobotModel::CREATE_1;
+    baud = 57600;
+    std::cout << "Running driver for Create 1" << std::endl;
+  }
+  else {
+    std::cout << "Running driver for Create 2" << std::endl;
+  }
+
+  // Construct robot object
+  create::Create* robot = new create::Create(model);
+
+  // Connect to robot
+  if (robot->connect(port, baud))
+    std::cout << "Connected to robot" << std::endl;
+  else {
+    std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
+    return 1;
+  }
+
+  // Switch to Full mode
+  robot->setMode(create::MODE_FULL);
+
+  std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
+
+  bool enable_check_robot_led = true;
+  bool enable_debris_led = false;
+  bool enable_dock_led = true;
+  bool enable_spot_led = false;
+  uint8_t power_led = 0; 
+  char digit_buffer[5];
+
+  while (!robot->isCleanButtonPressed()) {
+    // Set LEDs
+    robot->enableCheckRobotLED(enable_check_robot_led);
+    robot->enableDebrisLED(enable_debris_led);
+    robot->enableDockLED(enable_dock_led);
+    robot->enableSpotLED(enable_spot_led);
+    robot->setPowerLED(power_led);
+
+    // Set 7-segment displays
+    const int len = sprintf(digit_buffer, "%d", power_led);
+    for (int i = len; i < 4; i++) digit_buffer[i] = ' ';
+    robot->setDigitsASCII(digit_buffer[0], digit_buffer[1], digit_buffer[2], digit_buffer[3]);
+
+    // Update LED values
+    enable_check_robot_led = !enable_check_robot_led;
+    enable_debris_led = !enable_debris_led;
+    enable_dock_led = !enable_dock_led;
+    enable_spot_led = !enable_spot_led;
+    power_led++;
+
+    usleep(250000);  // 5 Hz
+  }
+
+  std::cout << std::endl;
+
+  // Call disconnect to avoid leaving robot in Full mode
+  robot->disconnect();
+
+  // Clean up
+  delete robot;
+
+  std::cout << "Bye!" << std::endl;
+  return 0;
+}
diff --git a/examples/odom_example.cpp b/examples/odom_example.cpp
deleted file mode 100644
index 4499f9f..0000000
--- a/examples/odom_example.cpp
+++ /dev/null
@@ -1,64 +0,0 @@
-#include "create/create.h"
-
-create::Create* robot;
-
-int main(int argc, char** argv) {
-  std::string port = "/dev/ttyUSB0";
-  int baud = 115200;
-  create::RobotModel model = create::RobotModel::CREATE_2;
-
-  if (argc > 1 && std::string(argv[1]) == "create1") {
-    model = create::RobotModel::CREATE_1;
-    baud = 57600;
-    std::cout << "1st generation Create selected" << std::endl;
-  }
-
-  robot = new create::Create(model);
-
-  // Attempt to connect to Create
-  if (robot->connect(port, baud))
-    std::cout << "Successfully connected to Create" << std::endl;
-  else {
-    std::cout << "Failed to connect to Create on port " << port.c_str() << std::endl;
-    return 1;
-  }
-
-  robot->setMode(create::MODE_FULL);
-
-  usleep(1000000);
-
-  // Drive in a circle
-  robot->drive(0.1, 0.5);
-
-  // Quit when center "Clean" button pressed
-  while (!robot->isCleanButtonPressed()) {
-    create::Pose pose = robot->getPose();
-    create::Vel vel = robot->getVel();
-
-    // Print pose
-    std::cout << "x: " << pose.x
-              << "\ty: " << pose.y
-              << "\tyaw: " << pose.yaw * 180.0/create::util::PI << std::endl << std::endl;
-  
-    // Print velocity
-    std::cout << "vx: " << vel.x
-              << "\tvy: " << vel.y
-              << "\tvyaw: " << vel.yaw * 180.0/create::util::PI << std::endl << std::endl;
-
-    // Print covariances
-    std::cout << "[ " << pose.covariance[0] << ", " << pose.covariance[1] << ", " << pose.covariance[2] << std::endl
-              << "  " << pose.covariance[3] << ", " << pose.covariance[4] << ", " << pose.covariance[5] << std::endl
-              << "  " << pose.covariance[6] << ", " << pose.covariance[7] << ", " << pose.covariance[8] << " ]" << std::endl << std::endl;;
-    std::cout << "[ " << vel.covariance[0] << ", " << vel.covariance[1] << ", " << vel.covariance[2] << std::endl
-              << "  " << vel.covariance[3] << ", " << vel.covariance[4] << ", " << vel.covariance[5] << std::endl
-              << "  " << vel.covariance[6] << ", " << vel.covariance[7] << ", " << vel.covariance[8] << " ]" << std::endl << std::endl;;
-    usleep(1000 * 100); //10hz
-  }
-
-  std::cout << "Stopping Create." << std::endl;
-
-  robot->disconnect();
-  delete robot;
-
-  return 0;
-}
diff --git a/examples/packets.cpp b/examples/packets.cpp
new file mode 100644
index 0000000..4e109c2
--- /dev/null
+++ b/examples/packets.cpp
@@ -0,0 +1,86 @@
+/**
+Software License Agreement (BSD)
+
+\file      packets.cpp
+\authors   Jacob Perron <jperron@sfu.ca>
+\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+ * Neither the name of Autonomy Lab nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "create/create.h"
+
+#include <iostream>
+
+int main(int argc, char** argv) {
+  // Select robot. Assume Create 2 unless argument says otherwise
+  create::RobotModel model = create::RobotModel::CREATE_2;
+  std::string port = "/dev/ttyUSB0";
+  int baud = 115200;
+  if (argc > 1 && std::string(argv[1]) == "create1") {
+    model = create::RobotModel::CREATE_1;
+    baud = 57600;
+    std::cout << "Running driver for Create 1" << std::endl;
+  }
+  else {
+    std::cout << "Running driver for Create 2" << std::endl;
+  }
+
+  // Construct robot object
+  create::Create* robot = new create::Create(model);
+
+  // Connect to robot
+  if (robot->connect(port, baud))
+    std::cout << "Connected to robot" << std::endl;
+  else {
+    std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
+    return 1;
+  }
+
+  // Switch to Full mode
+  // robot->setMode(create::MODE_FULL);
+
+  std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
+
+  while (!robot->isCleanButtonPressed()) {
+    // Get serial packet statistics
+    const uint64_t total_packets = robot->getTotalPackets();
+    const uint64_t num_corrupt_packets = robot->getNumCorruptPackets();
+
+    // Print packet stats 
+    std::cout << "\rTotal packets: " << total_packets << "  Corrupt packets: " << num_corrupt_packets;
+
+    usleep(100000);  // 10 Hz
+  }
+
+  std::cout << std::endl;
+
+  // Call disconnect to avoid leaving robot in Full mode
+  robot->disconnect();
+
+  // Clean up
+  delete robot;
+
+  std::cout << "Bye!" << std::endl;
+  return 0;
+}
diff --git a/examples/play_song.cpp b/examples/play_song.cpp
new file mode 100644
index 0000000..979ef84
--- /dev/null
+++ b/examples/play_song.cpp
@@ -0,0 +1,97 @@
+/**
+Software License Agreement (BSD)
+
+\file      play_song.cpp
+\authors   Jacob Perron <jperron@sfu.ca>
+\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+ * Neither the name of Autonomy Lab nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "create/create.h"
+
+#include <iostream>
+
+int main(int argc, char** argv) {
+  // Select robot. Assume Create 2 unless argument says otherwise
+  create::RobotModel model = create::RobotModel::CREATE_2;
+  std::string port = "/dev/ttyUSB0";
+  int baud = 115200;
+  if (argc > 1 && std::string(argv[1]) == "create1") {
+    model = create::RobotModel::CREATE_1;
+    baud = 57600;
+    std::cout << "Running driver for Create 1" << std::endl;
+  }
+  else {
+    std::cout << "Running driver for Create 2" << std::endl;
+  }
+
+  // Construct robot object
+  create::Create* robot = new create::Create(model);
+
+  // Connect to robot
+  if (robot->connect(port, baud))
+    std::cout << "Connected to robot" << std::endl;
+  else {
+    std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
+    return 1;
+  }
+
+  // Switch to Full mode
+  robot->setMode(create::MODE_FULL);
+
+  // Useful note defintions
+  const uint8_t G = 55;
+  const uint8_t AS = 58;
+  const uint8_t DS = 51;
+  const float half = 1.0f;
+  const float quarter = 0.5f;
+  const float dotted_eigth = 0.375f; 
+  const float sixteenth = 0.125f;
+
+  // Define a song
+  const uint8_t song_len = 9;
+  const uint8_t notes[song_len] = { G, G, G, DS, AS, G, DS, AS, G };
+  const float durations[song_len] = { quarter, quarter, quarter, dotted_eigth, sixteenth, quarter, dotted_eigth, sixteenth, half };
+  robot->defineSong(0, song_len, notes, durations);
+
+  // Sleep to provide time for song to register
+  usleep(1000000);
+
+  std::cout << "Playing a song!" << std::endl;
+
+  // Request to play the song we just defined
+  robot->playSong(0); 
+
+  // Expect the song to take about four seconds
+  usleep(4500000);
+
+  // Call disconnect to avoid leaving robot in Full mode
+  robot->disconnect();
+
+  // Clean up
+  delete robot;
+
+  std::cout << "Bye!" << std::endl;
+  return 0;
+}
diff --git a/examples/wheeldrop.cpp b/examples/wheeldrop.cpp
new file mode 100644
index 0000000..5564539
--- /dev/null
+++ b/examples/wheeldrop.cpp
@@ -0,0 +1,91 @@
+/**
+Software License Agreement (BSD)
+
+\file      wheeldrop.cpp
+\authors   Jacob Perron <jperron@sfu.ca>
+\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+ * Neither the name of Autonomy Lab nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+*/
+#include "create/create.h"
+
+#include <iostream>
+
+int main(int argc, char** argv) {
+  // Select robot. Assume Create 2 unless argument says otherwise
+  create::RobotModel model = create::RobotModel::CREATE_2;
+  std::string port = "/dev/ttyUSB0";
+  int baud = 115200;
+  if (argc > 1 && std::string(argv[1]) == "create1") {
+    model = create::RobotModel::CREATE_1;
+    baud = 57600;
+    std::cout << "Running driver for Create 1" << std::endl;
+  }
+  else {
+    std::cout << "Running driver for Create 2" << std::endl;
+  }
+
+  // Construct robot object
+  create::Create* robot = new create::Create(model);
+
+  // Connect to robot
+  if (robot->connect(port, baud))
+    std::cout << "Connected to robot" << std::endl;
+  else {
+    std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
+    return 1;
+  }
+
+  // Switch to Full mode
+  robot->setMode(create::MODE_FULL);
+
+  std::cout << std::endl << "Press center 'Clean' button to disconnect and end program" << std::endl;
+
+  while (!robot->isCleanButtonPressed()) {
+    // Get wheeldrop status
+    const bool wheeldrop = robot->isWheeldrop();
+
+    // Print status
+    std::cout << "\rWheeldrop status: " << wheeldrop;
+
+    // If dropped, then make light red
+    if (wheeldrop)
+      robot->setPowerLED(255);  // Red
+    else
+      robot->setPowerLED(0);  // Green
+
+    usleep(10000);  // 10 Hz
+  }
+
+  std::cout << std::endl;
+
+  // Call disconnect to avoid leaving robot in Full mode
+  robot->disconnect();
+
+  // Clean up
+  delete robot;
+
+  std::cout << "Bye!" << std::endl;
+  return 0;
+}