diff --git a/README.md b/README.md
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--- a/README.md
+++ b/README.md
@@ -1,2 +1,43 @@
-# arduino-lib-hc-sr04
-Arduino library for HC-SR04 ultrasonic distance sensor.
+# Arduino library for HC-SR04 ultrasonic distance sensor.
+
+HC-SR04 is an ultrasonic sensor that measures distances from 2 to 400cm.
+
+![HC-SR04](/hcsr04.jpg)
+
+This is a simple library for it!
+
+## Usage
+Sensor is initialized by creating instance of class UltraSonicDistanceSensor and providing trigger and echo pins:
+`UltraSonicDistanceSensor sensor(triggerPin, echoPin);`.
+
+Then, to measure the distance, you just call `measureDistanceCm()`, which will return distance in centimeters (double). If distance is larger than 400cm, it will return negative value.
+
+
+## Example
+
+In this simple example, we need to connect sensors pins like this:
+
+- vcc to 5V
+- trig to digital pin 13
+- echo to digital pin 12
+- gnd to gnd
+
+```
+#include <HCSR04.h>
+
+// Initialize sensor that uses digital pins 13 and 12.
+int triggerPin = 13;
+int echoPin = 12;
+UltraSonicDistanceSensor distanceSensor(triggerPin, echoPin);
+
+void setup () {
+    Serial.begin(9600);  // We initialize serial connection so that we could print values from sensor.
+}
+
+void loop () {
+    // Every 500 miliseconds, do a measurement using the sensor and print the distance in centimeters.
+    double distance = distanceSensor.measureDistanceCm()
+    Serial.println(distance);
+    delay(500);
+}
+```
diff --git a/examples/simple/simple.ino b/examples/simple/simple.ino
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+++ b/examples/simple/simple.ino
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+#include <HCSR04.h>
+
+UltraSonicDistanceSensor distanceSensor(13, 12);  // Initialize sensor that uses digital pins 13 and 12.
+
+void setup () {
+    Serial.begin(9600);  // We initialize serial connection so that we could print values from sensor.
+}
+
+void loop () {
+    // Every 500 miliseconds, do a measurement using the sensor and print the distance in centimeters.
+    Serial.println(distanceSensor.measureDistanceCm());
+    delay(500);
+}
diff --git a/hcsr04.jpg b/hcsr04.jpg
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Binary files /dev/null and b/hcsr04.jpg differ
diff --git a/keywords.txt b/keywords.txt
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+++ b/keywords.txt
@@ -0,0 +1,2 @@
+UltraSonicDistanceSensor        KEYWORD1
+measureDistanceCm               KEYWORD2
diff --git a/library.properties b/library.properties
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+++ b/library.properties
@@ -0,0 +1,7 @@
+name=HCSR04
+version=1.0.0
+author=Martin Sosic <martin.sosic@gmail.com>
+maintainer=Martin Sosic <martin.sosic@gmail.com>
+sentence=Library for HC-SR04 ultrasonic distance sensor.
+paragraph=You can measure distance in centimeters.
+category=Sensors
diff --git a/src/HCSR04.cpp b/src/HCSR04.cpp
new file mode 100644
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+++ b/src/HCSR04.cpp
@@ -0,0 +1,33 @@
+/*
+  HCSR04 - Library for arduino, for HC-SR04 ultrasonic distance sensor.
+  Created by Martin Sosic, June 11, 2016.
+*/
+
+#include "Arduino.h"
+#include "HCSR04.h"
+
+UltraSonicDistanceSensor::UltraSonicDistanceSensor(
+        int triggerPin, int echoPin) {
+    this->triggerPin = triggerPin;
+    this->echoPin = echoPin;
+    pinMode(triggerPin, OUTPUT);
+    pinMode(echoPin, INPUT);
+}
+
+double UltraSonicDistanceSensor::measureDistanceCm() {
+    // Make sure that trigger pin is LOW.
+    digitalWrite(triggerPin, LOW);
+    delayMicroseconds(2);
+    // Hold trigger for 10 microseconds, which is signal for sensor to measure distance.
+    digitalWrite(triggerPin, HIGH);
+    delayMicroseconds(10);
+    digitalWrite(triggerPin, LOW);
+    // Measure the length of echo signal, which is equal to the time needed for sound to go there and back.
+    unsigned long durationMicroSec = pulseIn(echoPin, HIGH);
+    double distanceCm = durationMicroSec / 2.0 * 0.0343;
+    if (distanceCm == 0 || distanceCm > 400) {
+        return -1.0 ;
+    } else {
+        return distanceCm;
+    }
+}
diff --git a/src/HCSR04.h b/src/HCSR04.h
new file mode 100644
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+++ b/src/HCSR04.h
@@ -0,0 +1,29 @@
+/*
+  HCSR04 - Library for arduino, for HC-SR04 ultrasonic distance sensor.
+  Created by Martin Sosic, June 11, 2016.
+*/
+
+#ifndef HCSR04_H
+#define HCSR04_H
+
+#include "Arduino.h"
+
+class UltraSonicDistanceSensor {
+ public:
+    /**
+     * @param triggerPin  Digital pin that is used for controlling sensor (output).
+     * @param echoPin  Digital pin that is used to get information from sensor (input).
+     */
+    UltraSonicDistanceSensor(int triggerPin, int echoPin);
+
+    /**
+     * Measures distance by sending ultrasonic waves and measuring time it takes them
+     * to return.
+     * @returns Distance in centimeters, or negative value if distance is greater than 400cm.
+     */
+    double measureDistanceCm();
+ private:
+    int triggerPin, echoPin;
+};
+
+#endif // HCSR04_H