diff --git a/README.md b/README.md
index 4ac852e..7508dde 100644
--- a/README.md
+++ b/README.md
@@ -2,16 +2,15 @@
 
 [![Arduino CI](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml/badge.svg)](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml)
 
-A C++ library for generating DShot signals on ESP32 microcontrollers using the RMT (Remote Control) peripheral. It's designed for both Arduino and ESP-IDF projects, providing a simple and efficient way to control brushless motors.
-
-This library is a rewrite using the modern ESP-IDF 5 RMT encoder API (`rmt_tx.h` / `rmt_rx.h`) for improved performance and flexibility. The legacy version using the old `rmt.h` API is available in the `oldAPI` branch.
+A C++ library for generating DShot signals on ESP32 microcontrollers using the **modern ESP-IDF 5 RMT encoder API** (`rmt_tx.h` / `rmt_rx.h`). It provides a simple, efficient, and hardware-timed way to control brushless motors in both Arduino and ESP-IDF projects. The legacy version using the old `rmt.h` API is available in the `oldAPI` branch.
 
 ## 🚀 Core Features
 
 - **Multiple DShot Modes:** Supports DSHOT150, DSHOT300, DSHOT600, and DSHOT1200.
-- **Bidirectional DShot:** Implemented, but currently not officially supported due to instability and external hardware requirements.
+- **Bidirectional DShot Support:** Implemented, but note that official support is limited due to potential instability and external hardware requirements. Use with caution.
 - **Hardware-Timed Signals:** Precise signal generation using the ESP32 RMT peripheral, ensuring stable and reliable motor control.
 - **Simple API:** Easy-to-use C++ class with intuitive methods like `sendThrottlePercent()`.
+- **Robust Error Handling:** Provides detailed feedback on operation success or failure via `dshot_result_t`.
 - **Efficient and Lightweight:** The core library has no external dependencies.
 - **Arduino and ESP-IDF Compatible:** Can be used in both Arduino and ESP-IDF projects.
 
@@ -38,7 +37,7 @@ Here's a basic example of how to use the `DShotRMT` library to control a motor:
 
 ```cpp
 #include <Arduino.h>
-#include <DShotRMT.h>
+#include <DShotRMT.h> // Include the DShotRMT library
 
 // Define the GPIO pin connected to the motor ESC
 const gpio_num_t MOTOR_PIN = GPIO_NUM_27;
@@ -100,14 +99,13 @@ lib_deps =
 
 The main class is `DShotRMT`. Here are the most important methods:
 
-- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional = false)`: Constructor to create a new DShotRMT instance. (Note: Bidirectional DShot is currently not officially supported.)
+- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT)`: Constructor to create a new DShotRMT instance. (Note: Bidirectional DShot is currently not officially supported.)
 - `begin()`: Initializes the RMT peripheral and the DShot encoder.
 - `sendThrottlePercent(float percent)`: Sends a throttle value as a percentage (0.0-100.0).
 - `sendThrottle(uint16_t throttle)`: Sends a raw throttle value (48-2047) to the motor.
 - `sendCommand(uint16_t command)`: Sends a DShot command (0-47) to the motor.
 - `getTelemetry(uint16_t magnet_count)`: Receives and parses telemetry data from the motor (for bidirectional DShot, which is currently not officially supported).
-
-For more details, please refer to the `DShotRMT.h` header file.
+- `printDShotResult(dshot_result_t &result, Stream &output = Serial)`: Helper function to print DShot operation results and telemetry to a specified serial output.
 
 ## 🤝 Contributing
 
diff --git a/src/DShotRMT.cpp b/src/DShotRMT.cpp
index 7c64131..dbea4fa 100644
--- a/src/DShotRMT.cpp
+++ b/src/DShotRMT.cpp
@@ -44,7 +44,7 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, ui
       _last_throttle(DSHOT_CMD_MOTOR_STOP),
       _last_transmission_time_us(0),
       _last_command_timestamp(0),
-      _parsed_packet(0),
+      _encoded_frame_value(0),
       _packet{0},
       _bitPositions{0},
       _level0(1), // DShot standard: signal is idle-low, so pulses start by going HIGH
@@ -306,7 +306,7 @@ void DShotRMT::printDShotInfo(Stream &output) const
 
     for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
     {
-        output.print((_parsed_packet >> i) & 1);
+        output.print((_encoded_frame_value >> i) & 1);
     }
 
     output.printf("\nCurrent Value: %u\n", _packet.throttle_value);
@@ -520,12 +520,12 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
 // This function needs to be fast, as it generates the RMT symbols just before sending
 dshot_result_t IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
 {
-    _parsed_packet = _parseDShotPacket(packet);
+    _encoded_frame_value = _parseDShotPacket(packet);
 
     for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
     {
         int bit_position = _bitPositions[i];
-        bool bit = (_parsed_packet >> bit_position) & 1;
+        bool bit = (_encoded_frame_value >> bit_position) & 1;
 
         // A '1' bit has a longer high-time, a '0' bit has a shorter high-time
         symbols[i].level0 = _level0; // Go HIGH
diff --git a/src/DShotRMT.h b/src/DShotRMT.h
index 0966141..76370ab 100644
--- a/src/DShotRMT.h
+++ b/src/DShotRMT.h
@@ -189,7 +189,7 @@ private:
     uint16_t _last_throttle;
     uint64_t _last_transmission_time_us;
     uint64_t _last_command_timestamp;
-    uint16_t _parsed_packet;
+    uint16_t _encoded_frame_value;
     dshot_packet_t _packet;
     uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
     uint16_t _level0; // Signal level for the first part of a pulse (always HIGH for DShot)
diff --git a/src/dshot_commands.h b/src/dshot_commands.h
index 319aaba..702a065 100644
--- a/src/dshot_commands.h
+++ b/src/dshot_commands.h
@@ -20,8 +20,6 @@
 
 #pragma once
 
-#define DSHOT_MAX_COMMAND 47
-
 /*
   DshotSettingRequest (KISS24). Spin direction, 3d and save Settings require 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings