diff --git a/README.md b/README.md
index 46271d5..a388700 100644
--- a/README.md
+++ b/README.md
@@ -1,23 +1,20 @@
-# ESP32 ESP-IDF component for rotary encoder using PCNT peripheral
+# ESP32 ESP-IDF component for rotary encoder (PCNT peripheral)
 
 ## Features
 
-1. Quadrature decoding via PCNT peripheral.
-2. Configurable min/max/step values with float precision.
-3. Push-button support with debouncing.
-4. Multiple simultaneous encoders (up to 8).
-5. Event-based notification via esp_event (ISR context).
-6. Error statistics tracking for diagnostics.
+1. Quadrature decoding through the PCNT peripheral hardware.
+2. Configurable value range and step with float precision.
+3. Push-button support with software debouncing timer.
+4. Multiple encoders sharing a single processing task (limited by PCNT units and GPIOs).
+5. Asynchronous rotation and button notifications through esp_event.
+6. Built-in error statistics with queue overflow and stack watermark counters.
 
-## Note
+## Attention
 
-Enable the following settings in menuconfig:
-
-```text
-GPIO_CTRL_FUNC_IN_IRAM
-PCNT_CTRL_FUNC_IN_IRAM
-PCNT_ISR_IRAM_SAFE
-```
+1. Encoder number must be unique across all initialized encoders and greater than zero.
+2. Task priority, stack size and queue size of the first initialized encoder are used by the shared processing task.
+3. Position is initialized to the midpoint of the configured range.
+4. Position is clamped to the configured minimum and maximum values.
 
 ## Using
 
@@ -34,62 +31,236 @@ In the application, add the component:
 #include "zh_encoder.h"
 ```
 
-## Example
+## Examples
+
+### Basic Example: Init and Get Position
 
 ```c
 #include "zh_encoder.h"
 
-#define ENCODER_NUMBER 0x01
-
 zh_encoder_handle_t *encoder_handle = NULL;
 
-void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
-
 void app_main(void)
 {
     esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
-    esp_event_loop_create_default();
-    esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL, NULL);
     zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
-    config.task_priority = 5;
-    config.stack_size = configMINIMAL_STACK_SIZE;
-    config.queue_size = 5;
     config.a_gpio_number = GPIO_NUM_4;
     config.b_gpio_number = GPIO_NUM_16;
-    config.s_gpio_number = GPIO_NUM_15;
     config.encoder_min_value = -10;
     config.encoder_max_value = 10;
-    config.encoder_step = 0.001;
-    config.encoder_number = ENCODER_NUMBER;
-    zh_encoder_init(&config, &encoder_handle);
-    float encoder_position = 0;
-    zh_encoder_get(&encoder_handle, &encoder_position);
-    printf("Encoder position %0.3f.\n", encoder_position);
-    for (;;)
+    config.encoder_step = 1;
+    config.encoder_number = 1;
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
+    if (ret != ESP_OK)
     {
-        const zh_encoder_stats_t *stats = zh_encoder_get_stats();
-        printf("Number of event post error: %ld.\n", stats->event_post_error);
-        printf("Number of queue overflow error: %ld.\n", stats->queue_overflow_error);
-        printf("Minimum free stack size: %ld.\n", stats->min_stack_size);
-        vTaskDelay(60000 / portTICK_PERIOD_MS);
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
+        return;
+    }
+    float position = 0;
+    ret = zh_encoder_get(&encoder_handle, &position);
+    if (ret == ESP_OK)
+    {
+        printf("Encoder position: %0.3f\n", position);
+    }
+    else
+    {
+        printf("Error getting position: %s\n", esp_err_to_name(ret));
+    }
+    ret = zh_encoder_deinit(&encoder_handle);
+    if (ret != ESP_OK)
+    {
+        printf("Error deinitializing encoder: %s\n", esp_err_to_name(ret));
     }
 }
+```
+
+### Set and Reset Position Example
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
+
+void app_main(void)
+{
+    esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;
+    config.b_gpio_number = GPIO_NUM_16;
+    config.encoder_min_value = -100;
+    config.encoder_max_value = 100;
+    config.encoder_step = 0.5;
+    config.encoder_number = 1;
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
+    if (ret != ESP_OK)
+    {
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
+        return;
+    }
+    float position = 25.0f;
+    ret = zh_encoder_set(&encoder_handle, position);
+    if (ret == ESP_OK)
+    {
+        printf("Position set to %0.3f\n", position);
+    }
+    else
+    {
+        printf("Error setting position: %s\n", esp_err_to_name(ret));
+    }
+    float current = 0;
+    ret = zh_encoder_get(&encoder_handle, &current);
+    if (ret == ESP_OK)
+    {
+        printf("Current position: %0.3f\n", current);
+    }
+    else
+    {
+        printf("Error getting position: %s\n", esp_err_to_name(ret));
+    }
+    ret = zh_encoder_reset(&encoder_handle);
+    if (ret == ESP_OK)
+    {
+        printf("Position reset to midpoint\n");
+    }
+    else
+    {
+        printf("Error resetting position: %s\n", esp_err_to_name(ret));
+    }
+    zh_encoder_deinit(&encoder_handle);
+}
+```
+
+### Reinit Range Example
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
+
+void app_main(void)
+{
+    esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;
+    config.b_gpio_number = GPIO_NUM_16;
+    config.encoder_min_value = -10;
+    config.encoder_max_value = 10;
+    config.encoder_step = 1;
+    config.encoder_number = 1;
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
+    if (ret != ESP_OK)
+    {
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
+        return;
+    }
+    ret = zh_encoder_reinit(&encoder_handle, 0, 255, 1);
+    if (ret == ESP_OK)
+    {
+        printf("Encoder range changed to 0..255\n");
+    }
+    else
+    {
+        printf("Error reinitializing encoder: %s\n", esp_err_to_name(ret));
+    }
+    float position = 0;
+    ret = zh_encoder_get(&encoder_handle, &position);
+    if (ret == ESP_OK)
+    {
+        printf("Position after reinit: %0.3f\n", position);
+    }
+    else
+    {
+        printf("Error getting position: %s\n", esp_err_to_name(ret));
+    }
+    zh_encoder_deinit(&encoder_handle);
+}
+```
+
+---
+
+### Button Event Example
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
 
 void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
     (void)arg;
-    switch (event_id)
+    (void)event_base;
+    if (event_id == ZH_BUTTON_EVENT)
     {
-    case ZH_BUTTON_EVENT:
-        zh_encoder_button_event_on_isr_t *button_event = event_data;
-        printf("Encoder number %d button was %s.\n", button_event->encoder_number, (button_event->button_status == true) ? "released" : "pressed");
-        break;
-    case ZH_ENCODER_EVENT:
-        zh_encoder_event_on_isr_t *encoder_event = event_data;
-        printf("Encoder number %d position %0.3f was %s.\n", encoder_event->encoder_number, encoder_event->encoder_position, (encoder_event->encoder_status == true) ? "increased" : "reduced");
-        break;
-    default:
-        break;
+        zh_encoder_button_event_on_isr_t *button_event = (zh_encoder_button_event_on_isr_t *)event_data;
+        printf("Encoder %d button %s\n", button_event->encoder_number, button_event->button_status ? "released" : "pressed");
+    }
+    else if (event_id == ZH_ENCODER_EVENT)
+    {
+        zh_encoder_event_on_isr_t *encoder_event = (zh_encoder_event_on_isr_t *)event_data;
+        printf("Encoder %d position %0.3f %s\n", encoder_event->encoder_number, encoder_event->encoder_position, encoder_event->encoder_status ? "increased" : "reduced");
+    }
+}
+
+void app_main(void)
+{
+    esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL, NULL));
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;
+    config.b_gpio_number = GPIO_NUM_16;
+    config.s_gpio_number = GPIO_NUM_15;
+    config.s_gpio_debounce_time = 50000;
+    config.encoder_min_value = 0;
+    config.encoder_max_value = 100;
+    config.encoder_step = 1;
+    config.encoder_number = 1;
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
+    if (ret != ESP_OK)
+    {
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
+        return;
+    }
+    for (;;)
+    {
+        vTaskDelay(pdMS_TO_TICKS(1000));
+    }
+}
+```
+
+---
+
+### Error Statistics Example
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
+
+void app_main(void)
+{
+    esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;
+    config.b_gpio_number = GPIO_NUM_16;
+    config.encoder_min_value = -10;
+    config.encoder_max_value = 10;
+    config.encoder_step = 1;
+    config.encoder_number = 1;
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
+    if (ret != ESP_OK)
+    {
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
+        return;
+    }
+    for (;;)
+    {
+        const zh_encoder_stats_t *stats = zh_encoder_get_stats();
+        printf("Event post errors: %lu\n", (unsigned long)stats->event_post_error);
+        printf("Queue overflow errors: %lu\n", (unsigned long)stats->queue_overflow_error);
+        printf("Minimum free stack: %lu\n", (unsigned long)stats->min_stack_size);
+        zh_encoder_reset_stats();
+        vTaskDelay(pdMS_TO_TICKS(60000));
     }
 }
 ```