diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
new file mode 100644
index 0000000..f5840d3
--- /dev/null
+++ b/.github/workflows/lint.yml
@@ -0,0 +1,31 @@
+name: Lint
+
+on:
+- push
+- workflow_dispatch
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    name: Lint
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          cache: 'pip'
+          python-version: "3.12"
+      - name: 'Install requirements'
+        run: |
+          python -m venv .venv
+          source .venv/bin/activate
+          pip install -r requirements.txt
+      - name: 'Modify Actions PATH'
+        run: echo "$PWD/.venv/bin" >> $GITHUB_PATH
+      - name: 'Lint: Pyright'
+        uses: jakebailey/pyright-action@v2
+        with:
+          version: PATH
+      - name: 'Lint: flake8'
+        uses: py-actions/flake8@v2.3.0
diff --git a/.gitignore b/.gitignore
index 0face57..a4f0da8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,5 @@
+.mypy-cache
+.vscode
 .venv
 __pycache__
 docs/firmware
diff --git a/README.md b/README.md
index 145f857..e71d680 100644
--- a/README.md
+++ b/README.md
@@ -5,6 +5,25 @@ koristi za buduće letnje projekte koji se bave izradom robota.
 
 U ovom repozitorijumu se može naći kod i potrebna dokumentacija za Miloja.
 
+## Doprinošenje
+[![Lint](https://github.com/pfe-rs/lk-s-2024-miloje-api/actions/workflows/lint.yml/badge.svg)](https://github.com/pfe-rs/lk-s-2024-miloje-api/actions/workflows/lint.yml)
+
+Ovaj repozitorijum koristi dva lintera:
+
+- [flake8](https://flake8.pycqa.org/), koji proverava da li stil Python koda
+  prati [PEP 8](https://pep8.org/), i
+- [Pyright](https://microsoft.github.io/pyright/), koji proverava dinamičke i
+  statičke tipove korišćene u Python kodu i određuje da li taj kod ima smisla sa
+  tim tipovima u vidu.
+
+Kako biste doprineli kod na glavnu granu, potrebno je da vaš kod prođe proveru
+oba lintera. Kako biste tokom razvoja bili sigurni da poštujete pravila ova dva
+lintera, možete instalirati
+[Pyright](https://marketplace.visualstudio.com/items?itemName=ms-pyright.pyright)
+i [Flake8](https://marketplace.visualstudio.com/items?itemName=ms-python.flake8)
+ekstenzije za [Visual Studio Code](https://code.visualstudio.com/), koje će vam
+automatski prijaviti ukoliko vaš kod ima ove greške.
+
 ## Istorija
 
 Ovaj projekat su radili:
diff --git a/api/actuators/actuator.py b/api/actuators/actuator.py
new file mode 100644
index 0000000..851f5aa
--- /dev/null
+++ b/api/actuators/actuator.py
@@ -0,0 +1,10 @@
+from abc import ABC
+
+from communication.communication import Communication
+
+
+class Actuator(ABC):
+    """Base Actuator class"""
+    def __init__(self, communication: Communication, actuator_id: int):
+        self.communication = communication
+        self.id = actuator_id
diff --git a/api/actuators/servo.py b/api/actuators/servo.py
new file mode 100644
index 0000000..86d9035
--- /dev/null
+++ b/api/actuators/servo.py
@@ -0,0 +1,7 @@
+from actuators.actuator import Actuator
+
+
+class Servo(Actuator):
+    """Class for controlling a servo motor"""
+    def set_position(self, angle):
+        self.communication.send(f"{self.id} {angle}")
diff --git a/api/actuators/stepper.py b/api/actuators/stepper.py
new file mode 100644
index 0000000..64aedb2
--- /dev/null
+++ b/api/actuators/stepper.py
@@ -0,0 +1,10 @@
+from actuators.actuator import Actuator
+
+
+class Stepper(Actuator):
+    """Class for controlling a stepper motor"""
+    def clockwise(self, speed: int, distance: int):
+        self.communication.send(f"{self.id} F {round(speed * 7.87)} {round(distance * 7.87)}")
+
+    def anticlockwise(self, speed: int, distance: int):
+        self.communication.send(f"{self.id} B {round(speed * 7.87)} {round(distance * 7.87)}")
diff --git a/api/actuators/wheels.py b/api/actuators/wheels.py
new file mode 100644
index 0000000..a9e0539
--- /dev/null
+++ b/api/actuators/wheels.py
@@ -0,0 +1,27 @@
+from actuators.stepper import Stepper
+
+
+class Wheels:
+    def __init__(self, stepper1: Stepper, stepper2: Stepper):
+        self.stepper1 = stepper1
+        self.stepper2 = stepper2
+
+    def forward(self, speed: int, distance: int):
+        """Move MILOJE forward"""
+        self.stepper1.clockwise(speed, distance)
+        self.stepper2.anticlockwise(speed, distance)
+
+    def backward(self, speed: int, distance: int):
+        """Move MILOJE backward"""
+        self.stepper1.anticlockwise(speed, distance)
+        self.stepper2.clockwise(speed, distance)
+
+    def spin_clockwise(self, speed: int, angle: int):
+        """Spin MILOJE in the clockwise direction"""
+        self.stepper1.anticlockwise(speed, (2*angle)//8)
+        self.stepper2.anticlockwise(speed, (2*angle)//8)
+
+    def spin_anticlockwise(self, speed: int, angle: int):
+        """Spin MILOJE in the anticlockwise direction"""
+        self.stepper1.clockwise(speed, (2*angle)//8)
+        self.stepper2.clockwise(speed, (2*angle)//8)
diff --git a/api/buzzer.py b/api/buzzer.py
new file mode 100644
index 0000000..ea5953c
--- /dev/null
+++ b/api/buzzer.py
@@ -0,0 +1,3 @@
+class Buzzer:
+    def __init__(self, communication, index):
+        ...
diff --git a/api/communication/communication.py b/api/communication/communication.py
new file mode 100644
index 0000000..1f600ed
--- /dev/null
+++ b/api/communication/communication.py
@@ -0,0 +1,13 @@
+from abc import ABC, abstractmethod
+
+
+class Communication(ABC):
+    @abstractmethod
+    def send(self, data):
+        """Send data to the communication channel"""
+        pass
+
+    @abstractmethod
+    def receive(self) -> str:
+        """Receive data from the communication channel"""
+        return ""
diff --git a/api/communication/uart.py b/api/communication/uart.py
new file mode 100644
index 0000000..a519fb3
--- /dev/null
+++ b/api/communication/uart.py
@@ -0,0 +1,33 @@
+import time
+
+import serial
+from communication.communication import Communication
+
+
+class UART(Communication):
+    def __init__(self, port: str, baud_rate: int, timeout: int | None = None):
+        self.baud_rate = baud_rate
+        self.port = port
+        self.conn = serial.Serial(
+            port=self.port,
+            baudrate=self.baud_rate,
+            timeout=timeout
+        )
+        time.sleep(1)
+
+    def send(self, data: str):
+        """Send data to the communication channel"""
+        self.conn.write(data.encode() + b"\n")
+
+    def receive(self) -> str:
+        """Receive data from the communication channel"""
+        data = self.conn.read_all()
+        if data is not None:
+            data = data.decode()
+        else:
+            while data is None or len(data) == 0:
+                time.sleep(0.5)
+                data = self.conn.read_all()
+                if data is not None:
+                    data = data.decode()
+        return data.strip()
diff --git a/api/examples/example1.py b/api/examples/example1.py
new file mode 100644
index 0000000..245ffa6
--- /dev/null
+++ b/api/examples/example1.py
@@ -0,0 +1,20 @@
+from communication.uart import UART
+from miloje import Miloje
+
+if __name__ == "__main__":
+    miloje = Miloje(UART("/dev/rfcomm0", 9600, 1))
+
+    wheels = miloje.get_wheels()
+    head = miloje.get_head()
+
+    if wheels:
+        while True:
+            query = input("? ")
+            if query == "w":
+                wheels.forward(500, 212)
+            elif query == "s":
+                wheels.backward(500, 212)
+            elif query == "a":
+                wheels.spin_anticlockwise(300, 30)
+            elif query == "d":
+                wheels.spin_clockwise(300, 30)
diff --git a/api/head.py b/api/head.py
new file mode 100644
index 0000000..1cca705
--- /dev/null
+++ b/api/head.py
@@ -0,0 +1,18 @@
+from actuators.servo import Servo
+from sensors.ultrasonic import UltraSonic
+
+
+class Head:
+    def __init__(self, servo1: Servo, servo2: Servo, ultra_sonic: UltraSonic):
+        self.servo1 = servo1
+        self.servo2 = servo2
+        self.ultra_sonic = ultra_sonic
+
+    def horizontal_angle(self, angle: int):
+        self.servo1.set_position(angle)
+
+    def vertical_angle(self, angle: int):
+        self.servo2.set_position(angle)
+
+    def ultrasonic_read(self) -> float:
+        return self.ultra_sonic.get_data()
diff --git a/api/miloje.py b/api/miloje.py
new file mode 100644
index 0000000..1f8f82d
--- /dev/null
+++ b/api/miloje.py
@@ -0,0 +1,59 @@
+from typing import List
+
+from actuators.servo import Servo
+from actuators.stepper import Stepper
+from actuators.wheels import Wheels
+from buzzer import Buzzer
+from communication.communication import Communication
+from head import Head
+from sensors.battery import Battery
+from sensors.ultrasonic import UltraSonic
+
+CMD_CAPABILITIES = "C 1"
+CAPABILITY_TYPES = {
+    "M": Stepper,
+    "S": Servo,
+    "B": Battery,
+    "U": UltraSonic,
+    "Z": Buzzer
+}
+
+
+class Miloje:
+    def __init__(self, communication: Communication):
+        self.communication = communication
+        self.capabilities = {}
+        self.wheels = None
+        self.head = None
+
+        self.communication.send(CMD_CAPABILITIES)
+        data = self.communication.receive()
+        for index, char in enumerate(data):
+            if char not in self.capabilities and char.isalpha():
+                self.capabilities[char] = []
+            self.capabilities[char].append(CAPABILITY_TYPES[char](self.communication, index))
+
+        try:
+            self.wheels = Wheels(self.capabilities["M"][0],
+                                 self.capabilities["M"][1])
+        except IndexError:
+            self.wheels = None
+
+        try:
+            self.head = Head(self.capabilities["S"][0],
+                             self.capabilities["S"][1],
+                             self.capabilities["U"][0])
+        except IndexError:
+            self.head = None
+
+    def get_steppers(self) -> List[Stepper]:
+        return self.capabilities["M"]
+
+    def get_servos(self) -> List[Servo]:
+        return self.capabilities["S"]
+
+    def get_head(self) -> Head | None:
+        return self.head
+
+    def get_wheels(self) -> Wheels | None:
+        return self.wheels
diff --git a/api/sensors/battery.py b/api/sensors/battery.py
new file mode 100644
index 0000000..a30203a
--- /dev/null
+++ b/api/sensors/battery.py
@@ -0,0 +1,8 @@
+from sensors.sensor import Sensor
+
+
+class Battery(Sensor):
+    def get_data(self) -> float:
+        """Get value (voltage) from the battery"""
+        self.communication.send(f"{self.id}")
+        return float(self.communication.receive())
diff --git a/api/sensors/sensor.py b/api/sensors/sensor.py
new file mode 100644
index 0000000..14b3743
--- /dev/null
+++ b/api/sensors/sensor.py
@@ -0,0 +1,13 @@
+from abc import ABC, abstractmethod
+
+from communication.communication import Communication
+
+
+class Sensor(ABC):
+    def __init__(self, communication: Communication, sensor_id: int):
+        self.communication = communication
+        self.id = sensor_id
+
+    @abstractmethod
+    def get_data(self) -> str | float:
+        return ""
diff --git a/api/sensors/ultrasonic.py b/api/sensors/ultrasonic.py
new file mode 100644
index 0000000..dad7627
--- /dev/null
+++ b/api/sensors/ultrasonic.py
@@ -0,0 +1,8 @@
+from sensors.sensor import Sensor
+
+
+class UltraSonic(Sensor):
+    def get_data(self) -> float:
+        """Get value (distance) from the ultrasonic sensor"""
+        self.communication.send(f"{self.id}")
+        return float(self.communication.receive())
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..0853f4d
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,17 @@
+flake8==7.1.0
+flake8-builtins==2.5.0
+# flake8-docstrings==1.7.0
+flake8-isort==6.1.1
+flake8-pep3101==2.1.0
+flake8-quotes==3.4.0
+flake8-string-format==0.3.0
+flake8-tidy-imports==4.10.0
+isort==5.13.2
+mccabe==0.7.0
+nodeenv==1.9.1
+pep8-naming==0.14.1
+pycodestyle==2.12.0
+pyflakes==3.2.0
+pyright==1.1.373
+pyserial==3.5
+types-keyboard==0.13.2.20240310
diff --git a/setup.cfg b/setup.cfg
new file mode 100644
index 0000000..4f79292
--- /dev/null
+++ b/setup.cfg
@@ -0,0 +1,6 @@
+[flake8]
+exclude =
+    .venv
+    __pycache__
+max-line-length = 120
+inline-quotes = "