diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7b35cdb..4a3ad38 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -56,6 +56,7 @@ target_link_libraries(${LIBRARY_NAME}
 set(EXAMPLES
   battery_level
   bumpers
+  cliffs
   drive_circle
   leds
   packets
diff --git a/examples/cliffs.cpp b/examples/cliffs.cpp
new file mode 100644
index 0000000..ff0738a
--- /dev/null
+++ b/examples/cliffs.cpp
@@ -0,0 +1,96 @@
+/**
+Software License Agreement (BSD)
+
+\file      cliffs.cpp
+\authors   Jacob Perron <jacobmperron@gmail.com>
+\copyright Copyright (c) 2019, Jacob Perron, 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 the copyright holder 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 cliff status
+    const bool cliff_left = robot->isCliffLeft();
+    const bool cliff_front_left = robot->isCliffFrontLeft();
+    const bool cliff_front_right = robot->isCliffFrontRight();
+    const bool cliff_right = robot->isCliffRight();
+
+    // Print status
+    std::cout << "\rCliffs (left to right): [ " <<
+      cliff_left <<
+      ", " <<
+      cliff_front_left <<
+      ", " <<
+      cliff_front_right <<
+      ", " <<
+      cliff_right <<
+      " ]";
+
+    usleep(10000);  // 10 Hz
+  }
+
+  std::cout << std::endl;
+
+  // Call disconnect to avoid leaving robot in Full mode
+  robot->disconnect();
+
+  // Clean up
+  delete robot;
+
+  return 0;
+}