diff --git a/examples/change_address.py b/examples/change_address.py
index ec49216..3f422b0 100644
--- a/examples/change_address.py
+++ b/examples/change_address.py
@@ -11,38 +11,64 @@
 from time import sleep
 from modulino import Modulino
 
-print()
-bus = None # Change this to the I2C bus you are using on 3rd party host boards
-devices = Modulino.available_devices(bus)
+def main():
+    print()
+    bus = None # Change this to the I2C bus you are using on 3rd party host boards
+    devices = Modulino.available_devices(bus)
 
-if len(devices) == 0:
-    print("No devices found on the bus. Try resetting the board.")
-    exit(1)
+    if len(devices) == 0:
+        print("No devices found on the bus. Try resetting the board.")
+        return
 
-print("The following devices were found on the bus:")
+    print("The following devices were found on the bus:")
 
-for index, device in enumerate(devices):
-    print(f"{index + 1}) {device.device_type} at {hex(device.address)}")
+    for index, device in enumerate(devices):
+        dev_type = device.device_type if device.device_type is not None else "Unknown Device"
+        print(f"{index + 1}) {dev_type} at {hex(device.address)}")
 
-choice = int(input("\nEnter the device number for which you want to change the address: "))
+    choice_is_valid = False
+    while not choice_is_valid:
+        try:
+            choice = int(input("\nEnter the device number for which you want to change the address: "))
+        except ValueError:
+            print("Invalid input. Please enter a valid device number.")
+            continue
+        
+        if choice < 1 or choice > len(devices):
+            print("Invalid choice. Please select a valid device number.")
+        else:
+            choice_is_valid = True
 
-if choice < 1 or choice > len(devices):
-    print("Invalid choice. Please select a valid device number.")
-    exit(1)
+    selected_device = devices[choice - 1]
 
-selected_device = devices[choice - 1]
-new_address = int(input("Enter the new address (hexadecimal or decimal): "), 0)
 
-if new_address < 0 or new_address > 127:
-    print("Invalid address. Address must be between 0 and 127")
-    exit(1)
+    new_address_is_valid = False
+    while not new_address_is_valid:
+        try:
+            new_address = int(input("Enter the new address (hexadecimal or decimal): "), 0)
+        except ValueError:
+            print("Invalid input. Please enter a valid hexadecimal (e.g., 0x2A) or decimal (e.g., 42) address.")
+            continue
 
-print(f"Changing address of device at {hex(selected_device.address)} to {hex(new_address)}...")
-selected_device.change_address(new_address)
-sleep(1) # Give the device time to reset
+        if new_address < 1 or new_address > 127:
+            print("Invalid address. Address must be between 1 and 127")
+        elif new_address == 100:
+            print("The address 0x64 (100) is reserved for bootloader mode. Please choose a different address.")
+        else:
+            new_address_is_valid = True
 
-# Check if the address was successfully changed
-if selected_device.connected:
-    print(f"✅ Address changed successfully to {hex(new_address)}")
-else:
-    print("❌ Failed to change address. Please try again.")
\ No newline at end of file
+    print(f"Changing address of device at {hex(selected_device.address)} to {hex(new_address)}...")
+    selected_device.change_address(new_address)
+    sleep(1) # Give the device time to reset
+
+    # Check if the address was successfully changed
+    if selected_device.connected:
+        print(f"✅ Address changed successfully to {hex(new_address)}")
+    else:
+        print("❌ Failed to change address. Please try again.")
+
+if __name__ == "__main__":
+    try:
+        main()
+    except KeyboardInterrupt:
+        print("\Aborted by user")
\ No newline at end of file
diff --git a/examples/movement.py b/examples/movement.py
index 5f10213..fcb2502 100644
--- a/examples/movement.py
+++ b/examples/movement.py
@@ -11,10 +11,11 @@
 movement = ModulinoMovement()
 
 while True:
-    acc = movement.accelerometer
-    gyro = movement.gyro
+    acc = movement.acceleration
+    gyro = movement.angular_velocity
     
-    print(f"🏃 Accelerometer: x:{acc.x:>8.3f} y:{acc.y:>8.3f} z:{acc.z:>8.3f}")
-    print(f"🌐 Gyroscope:     x:{gyro.x:>8.3f} y:{gyro.y:>8.3f} z:{gyro.z:>8.3f}")
+    print(f"🏃 Acceleration: x:{acc.x:>8.3f} y:{acc.y:>8.3f} z:{acc.z:>8.3f}")
+    print(f"💪 Acceleration Magnitude: {movement.acceleration_magnitude:>8.3f} g")
+    print(f"🌐 Angular Velocity: x:{gyro.x:>8.3f} y:{gyro.y:>8.3f} z:{gyro.z:>8.3f}")
     print("")
     sleep_ms(100)
diff --git a/run_examples.py b/run_examples.py
old mode 100644
new mode 100755
index e479c7a..17eacef
--- a/run_examples.py
+++ b/run_examples.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 # This script will list the examples in the examples folder and run the selected example using mpremote.
 # The user can select the example using the arrow keys.
 # To run the script, use the following command:
diff --git a/src/modulino/__init__.py b/src/modulino/__init__.py
index c9ac73c..949a57c 100644
--- a/src/modulino/__init__.py
+++ b/src/modulino/__init__.py
@@ -4,7 +4,7 @@
 __maintainer__ = "Arduino"
 
 # Import core classes and/or functions to expose them at the package level
-from .helpers import map_value, map_value_int
+from .helpers import map_value, map_value_int, constrain
 from .modulino import Modulino
 from .pixels import ModulinoPixels, ModulinoColor
 from .thermo import ModulinoThermo
diff --git a/src/modulino/distance.py b/src/modulino/distance.py
index 673f303..5d4e414 100644
--- a/src/modulino/distance.py
+++ b/src/modulino/distance.py
@@ -1,3 +1,4 @@
+from time import sleep_ms, ticks_ms, ticks_diff
 from .modulino import Modulino
 from .lib.vl53l4cd import VL53L4CD
 
@@ -25,16 +26,19 @@ def __init__(self, i2c_bus = None, address: int | None = None) -> None:
         self.sensor.start_ranging()
 
     @property
-    def _distance_raw(self) -> int | None:
+    def _distance_raw(self, timeout = 1000) -> int | None:
         """
         Reads the raw distance value from the sensor and clears the interrupt.
 
         Returns:
             int: The distance in centimeters.
         """
-        try:            
+        try:
+            start = ticks_ms()
             while not self.sensor.data_ready:
-                pass
+                if ticks_diff(ticks_ms(), start) > timeout:
+                    raise OSError("Timeout waiting for sensor data")
+                sleep_ms(1)
             self.sensor.clear_interrupt()
             sensor_value = self.sensor.distance
             return sensor_value
diff --git a/src/modulino/helpers.py b/src/modulino/helpers.py
index ef5a068..e896a21 100644
--- a/src/modulino/helpers.py
+++ b/src/modulino/helpers.py
@@ -29,3 +29,17 @@ def map_value_int(x: float | int, in_min: float | int, in_max: float | int, out_
         The mapped value as an integer.
     """
     return int(map_value(x, in_min, in_max, out_min, out_max))
+
+def constrain(value: float | int, min_value: float | int, max_value: float | int) -> float | int:
+    """
+    Constrains a value to be within a specified range.
+
+    Args:
+        value: The value to constrain.
+        min_value: The minimum allowable value.
+        max_value: The maximum allowable value.
+
+    Returns:
+        The constrained value.
+    """
+    return max(min_value, min(value, max_value))
\ No newline at end of file
diff --git a/src/modulino/modulino.py b/src/modulino/modulino.py
index 42601fd..c37ba78 100644
--- a/src/modulino/modulino.py
+++ b/src/modulino/modulino.py
@@ -25,6 +25,8 @@
   0x4: "Latch Relay"
 }
 
+_BOOTLOADER_ADDRESS = const(0x64)
+
 class _I2CHelper:
   """
   A helper class for interacting with I2C devices on supported boards.
@@ -131,7 +133,7 @@ class Modulino:
   This class variable needs to be overridden in derived classes.
   """
 
-  def __init__(self, i2c_bus: I2C = None, address: int = None, name: str = None):
+  def __init__(self, i2c_bus: I2C = None, address: int = None, name: str = None, check_connection: bool = True) -> None:
     """
     Initializes the Modulino object with the given i2c bus and address.
     If the address is not provided, the device will try to auto discover it.
@@ -143,6 +145,7 @@ def __init__(self, i2c_bus: I2C = None, address: int = None, name: str = None):
       i2c_bus (I2C): The I2C bus to use. If not provided, the default I2C bus will be used.
       address (int): The address of the device. If not provided, the device will try to auto discover it.
       name (str): The name of the device.
+      check_connection (bool): Whether to check if the device is connected to the bus.
     """
 
     if i2c_bus is None:
@@ -166,7 +169,7 @@ def __init__(self, i2c_bus: I2C = None, address: int = None, name: str = None):
 
       if self.address is None:
         raise RuntimeError(f"Couldn't find the {self.name} device on the bus. Try resetting the board.")
-    elif not self.connected:
+    elif check_connection and not self.connected:
       raise RuntimeError(f"Couldn't find a {self.name} device with address {hex(self.address)} on the bus. Try resetting the board.")
 
   def discover(self, default_addresses: list[int]) -> int | None:
@@ -181,11 +184,9 @@ def discover(self, default_addresses: list[int]) -> int | None:
     if len(default_addresses) == 0:
       return None
 
-    devices_on_bus = self.i2c_bus.scan()
-    for addr in default_addresses:
-      if addr in devices_on_bus:
-        return addr
-
+    devices_on_bus = Modulino.scan(self.i2c_bus, default_addresses)
+    if len(devices_on_bus) > 0:
+      return devices_on_bus[0]
     return None
 
   def __bool__(self) -> bool:
@@ -205,7 +206,12 @@ def connected(self) -> bool:
     """
     if not bool(self):
       return False
-    return self.address in self.i2c_bus.scan()
+    
+    try:
+        self.i2c_bus.writeto(self.address, b'')
+        return True
+    except OSError:
+        return False
 
   @property
   def pin_strap_address(self) -> int | None:
@@ -267,7 +273,7 @@ def enter_bootloader(self):
         sleep(0.25) # Wait for the device to reset
         return True
     except OSError as e:
-      # ENODEV (e.errno == 19) can be thrown if either the device reset while writing out the buffer
+      # ENODEV (e.errno == 19) can be thrown if the device resets while writing out the buffer
       return False
 
   def read(self, amount_of_bytes: int) -> bytes | None:
@@ -312,6 +318,20 @@ def has_default_address(self) -> bool:
     """
     return self.address in self.default_addresses
 
+  @staticmethod
+  def scan(bus: I2C, target_addresses = None) -> list[int]:
+    addresses = bytearray() # Use 8bit data type
+    # General call address (0x00) is skipped in default range
+    candidates = target_addresses if target_addresses is not None else range(1,128)
+
+    for address in candidates:
+        try:
+            bus.writeto(address, b'')
+            addresses.append(address)
+        except OSError:
+            pass
+    return list(addresses)
+
   @staticmethod
   def available_devices(bus: I2C = None) -> list[Modulino]:
     """
@@ -325,10 +345,13 @@ def available_devices(bus: I2C = None) -> list[Modulino]:
     """
     if bus is None:
       bus = _I2CHelper.get_interface()
-    device_addresses = bus.scan()
+    device_addresses = Modulino.scan(bus)
     devices = []
     for address in device_addresses:
-      device = Modulino(i2c_bus=bus, address=address)
+      if address == _BOOTLOADER_ADDRESS:
+        # Skip bootloader address
+        continue
+      device = Modulino(i2c_bus=bus, address=address, check_connection=False)
       devices.append(device)
     return devices
 
diff --git a/src/modulino/movement.py b/src/modulino/movement.py
index 3b1c88a..2086234 100644
--- a/src/modulino/movement.py
+++ b/src/modulino/movement.py
@@ -27,7 +27,7 @@ def __init__(self, i2c_bus = None, address: int | None = None) -> None:
         self.sensor = LSM6DSOX(self.i2c_bus, address=self.address)
 
     @property
-    def accelerometer(self) -> MovementValues:
+    def acceleration(self) -> MovementValues:
         """
         Returns:
             MovementValues: The acceleration values in the x, y, and z axes.
@@ -38,7 +38,17 @@ def accelerometer(self) -> MovementValues:
         return MovementValues(sensor_values[0], sensor_values[1], sensor_values[2])
     
     @property
-    def gyro(self) -> MovementValues:
+    def acceleration_magnitude(self) -> float:
+        """
+        Returns:
+            float: The magnitude of the acceleration vector in g.
+                   When the Modulino is at rest (on planet earth), this value should be approximately 1.0g due to gravity.
+        """
+        x, y, z = self.accelerometer
+        return (x**2 + y**2 + z**2) ** 0.5
+
+    @property
+    def angular_velocity(self) -> MovementValues:
         """
         Returns:
             MovementValues: The gyroscope values in the x, y, and z axes.
@@ -46,4 +56,16 @@ def gyro(self) -> MovementValues:
                             or by using the index operator for tuple unpacking.
         """
         sensor_values = self.sensor.gyro()
-        return MovementValues(sensor_values[0], sensor_values[1], sensor_values[2])
\ No newline at end of file
+        return MovementValues(sensor_values[0], sensor_values[1], sensor_values[2])
+    
+    @property
+    def gyro(self) -> MovementValues:
+        """
+        Alias for angular_velocity property.
+
+        Returns:
+            MovementValues: The gyroscope values in the x, y, and z axes.
+                            These values can be accessed as .x, .y, and .z properties
+                            or by using the index operator for tuple unpacking.
+        """
+        return self.angular_velocity
\ No newline at end of file