diff --git a/examples/bridge_firmware_updater/bridge_firmware_updater b/examples/bridge_firmware_updater/bridge_firmware_updater
new file mode 100644
index 0000000..d2e0ff8
--- /dev/null
+++ b/examples/bridge_firmware_updater/bridge_firmware_updater
@@ -0,0 +1,85 @@
+/*
+    This file is part of the Arduino_Alvik library.
+
+    Copyright (c) 2024 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+    
+*/
+
+
+/*
+  You can use this sketch to make your Arduino Nano ESP32 an USB-to-serial adapter.
+  This allows to flash firmware into the Arduino Alvik Carrier via Arduino Nano ESP32.
+
+  Please refer to Arduino_AlvikCarrier library available at https://github.com/arduino-libraries/Arduino_AlvikCarrier
+*/
+
+
+
+
+#include "Arduino_Alvik.h"
+
+unsigned long baud = 115200;
+
+int rts = -1;
+int dtr = -1;
+
+
+static void onLineChange(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) {
+  if (event_base == ARDUINO_USB_CDC_EVENTS) {
+    arduino_usb_cdc_event_data_t * data = (arduino_usb_cdc_event_data_t*)event_data;
+    switch (event_id) {
+      case ARDUINO_USB_CDC_LINE_CODING_EVENT:
+        auto baud = data->line_coding.bit_rate;
+        Serial0.updateBaudRate(baud);
+        while (Serial0.available()) {
+          Serial0.read();
+        }
+        break;
+    }
+  }
+}
+
+void setup() {
+  Serial.onEvent(onLineChange);
+  Serial.enableReboot(false);
+  Serial.begin(baud);
+  Serial.setRxBufferSize(0);
+  Serial.setRxBufferSize(2048);
+  Serial0.setRxBufferSize(8192);
+  Serial0.setTxBufferSize(8192);
+  Serial0.begin(baud, SERIAL_8E1);
+  Serial0.flush();
+  pinMode(BOOT_STM32, OUTPUT);
+  pinMode(RESET_STM32, OUTPUT);
+  digitalWrite(BOOT_STM32,HIGH);
+  delay(1000);
+  digitalWrite(RESET_STM32,LOW);
+  delay(1000);
+  digitalWrite(RESET_STM32,HIGH);
+
+
+
+}
+
+void loop() {
+  int len = 0;
+  uint8_t auc_buffer[488];
+  while (Serial.available() && len < sizeof(auc_buffer)) {
+    auc_buffer[len++] = Serial.read();
+  }
+  if (len) {
+    Serial0.write(auc_buffer, len);
+  }
+
+  len = 0;
+  while (Serial0.available() && len < sizeof(auc_buffer)) {
+    auc_buffer[len++] = Serial0.read();
+  }
+  if (len) {
+    Serial.write(auc_buffer, len);
+  }
+}
\ No newline at end of file
diff --git a/examples/color_calibration/color_calibration.ino b/examples/color_calibration/color_calibration.ino
index dc0290c..07104c4 100644
--- a/examples/color_calibration/color_calibration.ino
+++ b/examples/color_calibration/color_calibration.ino
@@ -36,7 +36,7 @@ void setup() {
 }
 
 void loop() {
-  int16_t color[3];
+  int color[3];
   float rgb[3];
   float hsv[3];
   alvik.get_color_raw(color[0], color[1], color[2]);
diff --git a/examples/drive/drive.ino b/examples/drive/drive.ino
new file mode 100644
index 0000000..c63eb21
--- /dev/null
+++ b/examples/drive/drive.ino
@@ -0,0 +1,25 @@
+/*
+    This file is part of the Arduino_Alvik library.
+
+    Copyright (c) 2024 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+    
+*/
+
+#include "Arduino_Alvik.h"
+
+Arduino_Alvik alvik;
+
+void setup() {
+  alvik.begin();
+}
+
+void loop() {
+  alvik.drive(10, 45);
+  delay(10000);
+  alvik.drive(10, -45);
+  delay(10000);
+}
\ No newline at end of file
diff --git a/examples/line_follower/line_follower.ino b/examples/line_follower/line_follower.ino
new file mode 100644
index 0000000..6069789
--- /dev/null
+++ b/examples/line_follower/line_follower.ino
@@ -0,0 +1,83 @@
+/*
+    This file is part of the Arduino_Alvik library.
+
+    Copyright (c) 2024 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+    
+*/
+
+#include "Arduino_Alvik.h"
+
+Arduino_Alvik alvik;
+
+int line_sensors[3];
+float error = 0;
+float control = 0;
+float kp = 50.0;
+
+
+
+void setup() {
+  Serial.begin(115200);
+  while((!Serial)&&(millis()>3000));
+  alvik.begin();
+  alvik.left_led.set_color(0,0,1);
+  alvik.right_led.set_color(0,0,1);
+
+  while(!alvik.get_touch_ok()){
+    delay(50);
+  }
+}
+
+void loop() {
+  while (!alvik.get_touch_cancel()){
+
+    alvik.get_line_sensors(line_sensors[0], line_sensors[1], line_sensors[2]);
+    Serial.print(line_sensors[0]);
+    Serial.print("\t");
+    Serial.print(line_sensors[1]);
+    Serial.print("\t");
+    Serial.print(line_sensors[2]);
+    Serial.print("\n");
+    error = calculate_center(line_sensors[0], line_sensors[1], line_sensors[2]);
+    control = error * kp;
+    if (control > 0.2){
+      alvik.left_led.set_color(1,0,0);
+      alvik.right_led.set_color(0,0,0);
+    }
+    else{
+      if (control < -0.2){
+        alvik.left_led.set_color(0,0,0);
+        alvik.right_led.set_color(1,0,0);
+      }
+      else{
+        alvik.left_led.set_color(0,1,0);
+        alvik.right_led.set_color(0,1,0);
+      }
+    }
+
+    alvik.set_wheels_speed(30-control, 30+control);
+    delay(100);
+  }
+  
+  while (!alvik.get_touch_ok()){
+    alvik.left_led.set_color(0,0,1);
+    alvik.right_led.set_color(0,0,1);
+    alvik.brake();
+    delay(100);
+  }
+}
+
+float calculate_center(const int left, const int center, const int right){
+  float centroid = 0.0; 
+  float sum_weight = left + center + right;
+  float sum_values = left + center * 2 + right * 3;
+  if (sum_weight!=0.0){                                                         // divide by zero protection
+    centroid=sum_values/sum_weight;
+    centroid=-centroid+2.0;                                                     // so it is right on robot axis Y
+  }
+  return centroid;
+}
diff --git a/examples/remote_control/remote_control.ino b/examples/remote_control/remote_control.ino
new file mode 100644
index 0000000..0b978ef
--- /dev/null
+++ b/examples/remote_control/remote_control.ino
@@ -0,0 +1,122 @@
+/*
+    This file is part of the Arduino_Alvik library.
+
+    Copyright (c) 2024 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+    
+*/
+
+// This example shows how to interface 2 Alvik robots via ESPnow.
+// At startup, you can select if an Alvik is a trasmitter by pressing the "check button" or a receiver by pressing "cancel button". Use arrows to move the robot.
+
+#include "Arduino_Alvik.h"
+#include <esp_now.h>
+#include <WiFi.h>
+
+Arduino_Alvik alvik;
+
+uint8_t broadcastAddress[] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+uint8_t myData;
+esp_now_peer_info_t peerInfo;
+
+
+int alvik_mode = -1; // 0 is receiver, 1 is sender
+
+bool led_blink = false;
+
+
+void setup() {
+  Serial.begin(115200);
+  while((!Serial)&&(millis()>3000));
+
+  alvik.begin();
+
+  WiFi.mode(WIFI_STA);
+  if (esp_now_init() != ESP_OK) {
+    Serial.println("Error initializing ESP-NOW");
+    return;
+  }
+
+  while (alvik_mode == -1){
+    if (alvik.get_touch_cancel()){
+      alvik_mode = 0;
+    }
+    if (alvik.get_touch_ok()){
+      alvik_mode = 1;
+    }
+  }
+  if (alvik_mode == 0){
+    esp_now_register_recv_cb(OnDataRecv);
+  }
+  else{
+    memcpy(peerInfo.peer_addr, broadcastAddress, 6);
+    peerInfo.channel = 0;  
+    peerInfo.encrypt = false;
+  
+    if (esp_now_add_peer(&peerInfo) != ESP_OK){
+      Serial.println("Failed to add peer");
+      return;
+    }
+  }
+}
+
+void loop() {
+  if (alvik_mode==0){
+    alvik.left_led.set_color(led_blink, !led_blink, 0);
+    alvik.right_led.set_color(!led_blink, led_blink, 0);
+    delay(500);
+  }
+  else{
+    if (alvik.get_touch_any()){
+      if (alvik.get_touch_up()){
+        myData = 'F';
+        esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
+      }
+      if (alvik.get_touch_down()){
+        myData = 'B';
+        esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
+      }
+      if (alvik.get_touch_left()){
+        myData = 'L';
+        esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
+      }
+      if (alvik.get_touch_right()){
+        myData = 'R';
+        esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
+      }
+      if (alvik.get_touch_center()){
+        myData = 'S';
+        esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
+      }
+    }
+    alvik.left_led.set_color(0, 0, led_blink);
+    alvik.right_led.set_color(0, 0, led_blink);
+    delay(100);
+  }
+  led_blink = !led_blink;
+}
+
+void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len){
+  Serial.print(incomingData[0]);
+  switch (incomingData[0]){
+    case 'F':
+      alvik.drive(7, 0);
+      break;
+    case 'B':
+      alvik.drive(-7, 0);
+      break;
+    case 'L':
+      alvik.drive(0, 45);
+      break;
+    case 'R':
+      alvik.drive(0, -45);
+      break;
+    case 'S':
+      alvik.brake();
+      break;
+  }
+  Serial.println();
+}
\ No newline at end of file
diff --git a/library.properties b/library.properties
index 420c3dc..6bfa9dc 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Arduino_Alvik
-version=0.2.0
+version=0.3.0
 author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
 maintainer=Arduino <info@arduino.cc>
 sentence=Library to code Arduino Alvik robot
diff --git a/src/Arduino_Alvik.cpp b/src/Arduino_Alvik.cpp
index 9131cd0..5c2d6e3 100644
--- a/src/Arduino_Alvik.cpp
+++ b/src/Arduino_Alvik.cpp
@@ -50,10 +50,12 @@ void Arduino_Alvik::wait_for_ack(){
   }
 }
 
-int Arduino_Alvik::begin(){  
+int Arduino_Alvik::begin(const bool verbose, const uint8_t core){  
   pinMode(LED_RED, OUTPUT);
   pinMode(LED_GREEN, OUTPUT);
 
+  verbose_output = verbose;
+
   last_ack = 0;
 
   version[0] = 0;
@@ -121,6 +123,9 @@ int Arduino_Alvik::begin(){
   robot_pose[1] = 0.0;
   robot_pose[2] = 0.0;
 
+  battery = 0.0;
+  battery_soc = 0.0;
+
 
 
 
@@ -139,7 +144,7 @@ int Arduino_Alvik::begin(){
   }
 
   //begin_update_thread();
-  xTaskCreatePinnedToCore(this->update_thread, "update", 10000, this, 1, &update_task, 0);
+  xTaskCreatePinnedToCore(this->update_thread, "update", 10000, this, 1, &update_task, core);
 
   delay(100);
   reset_hw();
@@ -166,24 +171,28 @@ bool Arduino_Alvik::is_on(){
 void Arduino_Alvik::idle(){
   digitalWrite(NANO_CHK, HIGH);
   delay(500);
+  bool led_value=false;
   while(!is_on()){
     //read battery value
-    /*
-    pinMode(A4, OUTPUT);
-    pinMode(A5, OUTPUT);
-    digitalWrite(A4, HIGH);
-    digitalWrite(A5, HIGH);
-    delay(100);
-    digitalWrite(A4, LOW);
-    digitalWrite(A5, LOW);
-    delay(100);
-    Wire.begin();
-    */
-    digitalWrite(LED_GREEN, HIGH);
-    delay(1000);
-    digitalWrite(LED_GREEN, LOW);
+    battery_measure();
+    if (verbose_output){
+      Serial.print(round(battery_soc));
+      Serial.println("%");
+    }
+    if (battery_soc>CHARGE_THRESHOLD){
+      digitalWrite(LED_GREEN, LOW);
+      digitalWrite(LED_RED, HIGH);
+    }
+    else{
+      digitalWrite(LED_GREEN, HIGH);
+      led_value = !led_value;
+      digitalWrite(LED_RED, led_value);
+    }
     delay(1000);
   }
+  digitalWrite(LED_GREEN, HIGH);
+  digitalWrite(LED_RED, HIGH);
+  digitalWrite(NANO_CHK, LOW);
 }
 
 
@@ -315,6 +324,11 @@ int Arduino_Alvik::parse_message(){
       xSemaphoreGive(version_semaphore);
       break;
 
+    // get battery parcentage: state of charge
+    case 'p':
+      packeter->unpacketC1F(code, battery);
+      break;
+
     // nothing is parsed, the command is newer to this library
     default:
       return -1;
@@ -433,7 +447,34 @@ void Arduino_Alvik::brake(){
 //                                              sensors                                          //
 //-----------------------------------------------------------------------------------------------//
 
-void Arduino_Alvik::get_line_sensors(int16_t & left, int16_t & center, int16_t & right){
+float Arduino_Alvik::battery_measure(){                                             //it is private
+  pinMode(A4,OUTPUT);
+  pinMode(A5,OUTPUT);
+  digitalWrite(A4,HIGH);
+  digitalWrite(A5,HIGH);
+  delay(100);
+  digitalWrite(A4,LOW);
+  digitalWrite(A5,LOW);
+  Wire.begin();
+  Wire.beginTransmission(0x36);
+  Wire.write(0x06);
+  if (Wire.endTransmission(false)!=0){
+    Serial.println("Error on opening BMS");
+    while(1);
+  }
+  else{
+    Wire.requestFrom(0x36, 2);
+    battery_v[0] = Wire.read();
+    battery_v[1] = Wire.read();
+    battery_val = (battery_v[1] << 8) + battery_v[0]; 
+    battery_soc = battery_val * 0.00390625;
+  }
+  Wire.end();
+  return battery_soc;
+}
+
+
+void Arduino_Alvik::get_line_sensors(int & left, int & center, int & right){
   while (!xSemaphoreTake(line_semaphore, 5)){}
   left = line_sensors[0];
   center = line_sensors[1];
@@ -442,7 +483,7 @@ void Arduino_Alvik::get_line_sensors(int16_t & left, int16_t & center, int16_t &
 }
 
 
-void Arduino_Alvik::get_color_raw(int16_t & red, int16_t & green, int16_t & blue){
+void Arduino_Alvik::get_color_raw(int & red, int & green, int & blue){
   while (!xSemaphoreTake(color_semaphore, 5)){}
   red = color_sensor[0];
   green = color_sensor[1];
@@ -549,7 +590,7 @@ void Arduino_Alvik::get_color(float & value0, float & value1, float & value2, co
   }
 }
 
-uint8_t Arduino_Alvik::get_color_label(const float h, const float s, const float v){
+uint8_t Arduino_Alvik::get_color_id(const float h, const float s, const float v){
   if (s < MINIMUM_SATURATION){
     if (v < 0.05){
       return BLACK;
@@ -618,10 +659,18 @@ uint8_t Arduino_Alvik::get_color_label(const float h, const float s, const float
   }
 }
 
-uint8_t Arduino_Alvik::get_color_label(){
+uint8_t Arduino_Alvik::get_color_id(){
   float h,s,v;
   get_color(h, s, v, HSV);
-  return get_color_label(h, s, v);
+  return get_color_id(h, s, v);
+}
+
+String Arduino_Alvik::get_color_label(const float h, const float s, const float v){
+  return COLOR_LABELS[get_color_id(h, s, v)];
+}
+
+String Arduino_Alvik::get_color_label(){
+  return COLOR_LABELS[get_color_id()];
 }
 
 void Arduino_Alvik::color_calibration(const uint8_t background){
@@ -631,7 +680,7 @@ void Arduino_Alvik::color_calibration(const uint8_t background){
   int red_avg = 0;
   int green_avg = 0;
   int blue_avg = 0;
-  int16_t red, green, blue;
+  int red, green, blue;
 
   for (int i=0; i<CALIBRATION_ITERATIONS; i++){
     get_color_raw(red, green, blue);
@@ -783,6 +832,11 @@ bool Arduino_Alvik::get_touch_right(){
 }
 
 
+int Arduino_Alvik::get_battery_charge(){
+  return round(battery);
+}
+
+
 //-----------------------------------------------------------------------------------------------//
 //                                   leds and peripherials                                       //
 //-----------------------------------------------------------------------------------------------//
diff --git a/src/Arduino_Alvik.h b/src/Arduino_Alvik.h
index 2273d37..77823bf 100644
--- a/src/Arduino_Alvik.h
+++ b/src/Arduino_Alvik.h
@@ -18,6 +18,7 @@
 #include "definitions.h"
 #include <EEPROM.h>
 #include "default_colors.h"
+#include "Wire.h"
 
 
 class Arduino_Alvik{
@@ -27,6 +28,7 @@ class Arduino_Alvik{
 
     HardwareSerial * uart;
 
+    bool verbose_output;
 
     uint8_t b;
     uint8_t code;
@@ -77,6 +79,11 @@ class Arduino_Alvik{
     SemaphoreHandle_t robot_pos_semaphore;
     float robot_pose[3];
 
+    float battery;
+    float battery_soc;
+    uint16_t battery_val = 0;
+    uint8_t battery_v[2];
+
 
 
     void reset_hw();                                                    // reset the robot
@@ -91,9 +98,11 @@ class Arduino_Alvik{
     void set_leds();                                                    // service function to set leds by a byte
     void wait_for_target();                                             // service function that wait for ack
 
-    float limit(float value, const float min, const float max);
-    float normalize(float value, const float min, const float max);
-    void load_color_calibration();
+    float limit(float value, const float min, const float max);         // limit a value
+    float normalize(float value, const float min, const float max);     // normalize a value
+    void load_color_calibration();                                      // service function to get data from eeprom
+
+    float battery_measure();                                            // service function to get data from bms
 
 
 
@@ -154,7 +163,7 @@ class Arduino_Alvik{
 
     Arduino_Alvik();
 
-    int begin();
+    int begin(const bool verbose = true, const uint8_t core = RUN_ON_CORE_0);
     void stop();
     bool is_on();
     void idle();
@@ -182,14 +191,16 @@ class Arduino_Alvik{
     void brake();
     
 
-    void get_line_sensors(int16_t & left, int16_t & center, int16_t & right);
+    void get_line_sensors(int & left, int & center, int & right);
     
-    void get_color_raw(int16_t & red, int16_t & green, int16_t & blue);
+    void get_color_raw(int & red, int & green, int & blue);
     void rgb2norm(const int16_t r, const int16_t g, const int16_t b, float & r_norm, float & g_norm, float & b_norm);
     void norm2hsv(const float r, const float g, const float b, float & h, float & s, float & v);
     void get_color(float & value0, float & value1, float & value2, const uint8_t format = RGB);
-    uint8_t get_color_label(const float h, const float s, const float v);
-    uint8_t get_color_label();
+    uint8_t get_color_id(const float h, const float s, const float v);
+    uint8_t get_color_id();
+    String get_color_label(const float h, const float s, const float v);
+    String get_color_label();
     void color_calibration(const uint8_t background = WHITE);
 
     void get_orientation(float & roll, float & pitch, float & yaw);
@@ -220,6 +231,8 @@ class Arduino_Alvik{
     void set_behaviour(const uint8_t behaviour);
     
     void get_version(uint8_t & upper, uint8_t & middle, uint8_t & lower);
+
+    int get_battery_charge();
 };
 
 
diff --git a/src/definitions.h b/src/definitions.h
index df86ef4..60e7d5a 100644
--- a/src/definitions.h
+++ b/src/definitions.h
@@ -15,6 +15,11 @@
 
 #include "Arduino.h"
 
+#define RUN_ON_CORE_0 0
+#define RUN_ON_CORE_1 1
+#define NO_VERBOSE 0
+#define VERBOSE 1
+
 #define CHECK_STM32 A6
 #define BOOT_STM32 D2
 #define RESET_STM32 D3
@@ -22,6 +27,8 @@
 #define UART 0
 #define UART_BAUD_RATE 460800
 
+#define CHARGE_THRESHOLD 97
+
 const float WHEEL_DIAMETER_MM = 34.0;
 const float WHEEL_TRACK_MM = 89.0;
 const float MOTOR_MAX_RPM = 70.0;