diff --git a/arduino_alvik.py b/arduino_alvik.py
index 3d4d56c..acd0d90 100644
--- a/arduino_alvik.py
+++ b/arduino_alvik.py
@@ -49,6 +49,9 @@ def __init__(self):
         self.right_tof = None
         self.top_tof = None
         self.bottom_tof = None
+        self.linear_velocity = None
+        self.angular_velocity = None
+        self.last_ack = ''
         self.version = [None, None, None]
 
     def begin(self) -> int:
@@ -84,6 +87,24 @@ def _stop_update_thread(cls):
         """
         cls._update_thread_running = False
 
+    def rotate(self, angle: float):
+        """
+        Rotates the robot by given angle
+        :param angle:
+        :return:
+        """
+        self.packeter.packetC1F(ord('R'), angle)
+        uart.write(self.packeter.msg[0:self.packeter.msg_size])
+
+    def move(self, distance: float):
+        """
+        Moves the robot by given distance
+        :param distance:
+        :return:
+        """
+        self.packeter.packetC1F(ord('G'), distance)
+        uart.write(self.packeter.msg[0:self.packeter.msg_size])
+
     def stop(self):
         """
         Stops all Alvik operations
@@ -174,6 +195,13 @@ def drive(self, linear_velocity: float, angular_velocity: float):
         self.packeter.packetC2F(ord('V'), linear_velocity, angular_velocity)
         uart.write(self.packeter.msg[0:self.packeter.msg_size])
 
+    def get_drive_speed(self) -> (float, float):
+        """
+        Returns linear and angular velocity of the robot
+        :return: linear_velocity, angular_velocity
+        """
+        return self.linear_velocity, self.angular_velocity
+
     def set_servo_positions(self, a_position: int, b_position: int):
         """
         Sets A/B servomotor angle
@@ -184,6 +212,13 @@ def set_servo_positions(self, a_position: int, b_position: int):
         self.packeter.packetC2B(ord('S'), a_position & 0xFF, b_position & 0xFF)
         uart.write(self.packeter.msg[0:self.packeter.msg_size])
 
+    def get_ack(self):
+        """
+        Resets and returns last acknowledgement
+        :return:
+        """
+        return self.last_ack
+
     # def send_ack(self):
     #     self.packeter.packetC1B(ord('X'), ACK_)
     #     uart.write(self.packeter.msg[0:self.packeter.msg_size])
@@ -286,9 +321,15 @@ def _parse_message(self) -> int:
         elif code == ord('q'):
             # imu position
             _, self.roll, self.pitch, self.yaw = self.packeter.unpacketC3F()
-        if code == ord('w'):
+        elif code == ord('w'):
             # wheels position
             _, self.left_wheel._position, self.right_wheel._position = self.packeter.unpacketC2F()
+        elif code == ord('v'):
+            # robot velocity
+            _, self.linear_velocity, self.angular_velocity = self.packeter.unpacketC2F()
+        elif code == ord('x'):
+            # robot ack
+            _, self.last_ack = self.packeter.unpacketC1B()
         elif code == 0x7E:
             # firmware version
             _, *self.version = self.packeter.unpacketC3B()
diff --git a/examples/move_example.py b/examples/move_example.py
index 18c9e46..361e4ad 100644
--- a/examples/move_example.py
+++ b/examples/move_example.py
@@ -7,14 +7,18 @@
 
 while True:
     try:
-        alvik.set_wheels_speed(10, 10)
-        sleep_ms(1000)
+        alvik.move(100.0)
+        while (ack := alvik.get_ack()) != ord('M'):
+            print(f'moving... not on target yet ack={ack}')
+            sleep_ms(200)
+        print("on target after move")
 
-        alvik.set_wheels_speed(30, 60)
-        sleep_ms(1000)
+        alvik.rotate(90.0)
+        while (ack := alvik.get_ack()) != ord('R'):
+            print(f'rotating... not on target yet ack={ack}')
+            sleep_ms(200)
+        print("on target after rotation")
 
-        alvik.set_wheels_speed(60, 30)
-        sleep_ms(1000)
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
diff --git a/examples/wheels_speed.py b/examples/wheels_speed.py
new file mode 100644
index 0000000..18c9e46
--- /dev/null
+++ b/examples/wheels_speed.py
@@ -0,0 +1,21 @@
+from arduino_alvik import ArduinoAlvik
+from time import sleep_ms
+import sys
+
+alvik = ArduinoAlvik()
+alvik.begin()
+
+while True:
+    try:
+        alvik.set_wheels_speed(10, 10)
+        sleep_ms(1000)
+
+        alvik.set_wheels_speed(30, 60)
+        sleep_ms(1000)
+
+        alvik.set_wheels_speed(60, 30)
+        sleep_ms(1000)
+    except KeyboardInterrupt as e:
+        print('over')
+        alvik.stop()
+        sys.exit()