diff --git a/README.md b/README.md
index 1447613..e15dc3a 100644
--- a/README.md
+++ b/README.md
@@ -13,14 +13,14 @@ application that needs to communicate with VESC motor controllers.
 > If you find a missing command, feel free to contribute! Adding a new command
 > should be relatively easy. Just follow the well-established pattern.
 
-| Command Name                      | Status |
-|-----------------------------------|--------|
-| `GetValues`                       | ✅     |
-| `SetCurrent`                      | ✅     |
-| `SetRpm`                          | ✅     |
-| `SetHandbrake`                    | ✅     |
-| `ForwardCan`                      | ✅     |
-| `GetValuesSelective`              | ✅     |
+| Command ID | Command Name                      | Status |
+|:----------:|-----------------------------------|--------|
+| `4`        | `GetValues`                       | ✅     |
+| `6`        | `SetCurrent`                      | ✅     |
+| `8`        | `SetRpm`                          | ✅     |
+| `10`       | `SetHandbrake`                    | ✅     |
+| `34`       | `ForwardCan`                      | ✅     |
+| `50`       | `GetValuesSelective`              | ✅     |
 
 ## Supported command replies
 
@@ -29,10 +29,10 @@ application that needs to communicate with VESC motor controllers.
 > Many commands have no replies, so this list need not mirror the supported
 > commands.
 
-| Command Name                      | Status |
-|-----------------------------------|--------|
-| `GetValues`                       | ✅     |
-| `GetValuesSelective`              | ✅     |
+| Command ID | Command Name                      | Status |
+|------------|-----------------------------------|--------|
+| `4`        | `GetValues`                       | ✅     |
+| `50`       | `GetValuesSelective`              | ✅     |
 
 ## Installation
 
@@ -43,6 +43,28 @@ Add this to your Cargo.toml:
 vesc = "0.1"
 ```
 
+## Usage
+
+```rust
+let mut buf = [0u8; 16];
+let size = vesc::encode(Command::SetRpm(5000), &mut buf).unwrap();
+tx.write_all(&buf[..size]).unwrap();
+```
+
+```rust
+let mut decoder = Decoder::default();
+let mut buf = [0u8; 512];
+
+loop {
+    let size = rx.read(&mut buf).unwrap()
+    decoder.feed(&buf[..size]).unwrap();
+
+    for reply in self.decoder.by_ref() {
+        // process `reply`
+    }
+}
+```
+
 ## License
 
 This project is licensed under the [MIT license](LICENSE).
diff --git a/src/lib.rs b/src/lib.rs
index 9570217..e32cc45 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -24,10 +24,29 @@
 //!     Ok((_, CommandReply::GetValuesSelective(values))) => {
 //!         let rpm = values.rpm;
 //!         let voltage_in = values.voltage_in;
-//!     }
+//!     },
 //!     _ => (),
 //! }
 //! ```
+//!
+//! ## Decoding a Stream
+//!
+//! ```no_run
+//! use vesc::{Decoder, CommandReply};
+//!
+//! let mut decoder = Decoder::default();
+//! decoder.feed(&[2, 7, 50, 0, 0, 1, 128, 0, 0, 4, 210, 1, 176, 254, 22, 3]);
+//!
+//! for reply in decoder.by_ref() {
+//!     match reply {
+//!         CommandReply::GetValuesSelective(values) => {
+//!             let rpm = values.rpm;
+//!             let voltage_in = values.voltage_in;
+//!         },
+//!         _ => (),
+//!     }
+//! }
+//! ```
 #![cfg_attr(not(feature = "std"), no_std)]
 
 mod command;