diff --git a/Cargo.toml b/Cargo.toml
index 9402fee3b..8ca8e2a9f 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -25,6 +25,7 @@ sk6812_rpi = "0.1"
 
 [dev-dependencies]
 criterion = { version = "0.5.1", features = ["html_reports"] }
+rand = "0.8.5"
 
 [[bench]]
 name = "bench"
diff --git a/benches/bench.rs b/benches/bench.rs
index 0062da434..3257ae2e9 100644
--- a/benches/bench.rs
+++ b/benches/bench.rs
@@ -24,7 +24,6 @@ fn navigator_benchmark(c: &mut Criterion) {
     // Benchmark Outputs
     bench!(set_pwm_enable(false));
     bench!(set_pwm_duty_cycle(0, 0.1));
-    bench!(set_pwm_frequency(60.0));
     bench!(set_neopixel(&[[0, 0, 0]]));
     bench!(set_led(UserLed::Led1, false));
     bench!(set_led_toggle(UserLed::Led1));
diff --git a/examples/raspberry-pi.rs b/examples/raspberry-pi.rs
index a9d8d8bde..c0511c180 100644
--- a/examples/raspberry-pi.rs
+++ b/examples/raspberry-pi.rs
@@ -2,6 +2,8 @@ use navigator_rs::Navigator;
 use std::thread::sleep;
 use std::time::Duration;
 
+use rand::seq::SliceRandom;
+
 fn main() {
     println!("Creating your navigator module!");
     let mut nav = Navigator::new();
@@ -10,8 +12,20 @@ fn main() {
     nav.set_pwm_enable(true);
     nav.set_pwm_frequency(60.0);
 
+    let colors = [
+        [255u8, 0, 0],
+        [0, 255, 0],
+        [0, 0, 255],
+        [255, 255, 0],
+        [0, 255, 255],
+        [255, 0, 255],
+    ];
+
     loop {
-        nav.set_duty_cycle_all(0.25);
-        sleep(Duration::from_millis(1000));
+        for value in [0.25, 0.5, 0.75, 0.5] {
+            nav.set_neopixel(&[*colors.choose(&mut rand::thread_rng()).unwrap()]);
+            nav.set_duty_cycle_all(value);
+            sleep(Duration::from_millis(1000));
+        }
     }
 }
diff --git a/src/bmp280.rs b/src/bmp280.rs
index bd658008b..21a6c5624 100644
--- a/src/bmp280.rs
+++ b/src/bmp280.rs
@@ -110,7 +110,9 @@ mod tests {
 
     #[test]
     fn test_bmp280_pi_4() {
-        let mut baro = Bmp280Device::builder().build().unwrap();
+        let mut baro = Bmp280Device::builder()
+            .build()
+            .expect("Failed to build BMP280");
         for _ in 0..10 {
             println!("BMP280 temperature: {:?}", baro.read_temperature());
             println!("BMP280 pressure: {:?}", baro.read_pressure());
diff --git a/src/icm20689.rs b/src/icm20689.rs
index 600daf79e..d3eace0c9 100644
--- a/src/icm20689.rs
+++ b/src/icm20689.rs
@@ -123,7 +123,9 @@ mod tests {
 
     #[test]
     fn test_icm20689_pi_4() {
-        let mut imu = Icm20689Device::builder().build().unwrap();
+        let mut imu = Icm20689Device::builder()
+            .build()
+            .expect("Failed to build ICM20689: {error:?}");
         for _ in 0..10 {
             println!("ICM20689 gyroscope: {:?}", imu.read_angular_velocity());
             println!("ICM20689 accelerometers: {:?}", imu.read_acceleration());
diff --git a/src/leak.rs b/src/leak.rs
index b33d4dae4..3fb8e2290 100644
--- a/src/leak.rs
+++ b/src/leak.rs
@@ -82,7 +82,9 @@ mod tests {
 
     #[test]
     fn test_leak_pi_4() {
-        let leak = LeakDetector::builder().build().unwrap();
+        let leak = LeakDetector::builder()
+            .build()
+            .expect("Failed to build leak detector: {error:?}");
         for _ in 0..10 {
             println!("Leak detector: {}", leak.is_leak_detected().unwrap());
             sleep(Duration::from_millis(1000));
diff --git a/src/pca9685.rs b/src/pca9685.rs
index 89028cceb..846eac117 100644
--- a/src/pca9685.rs
+++ b/src/pca9685.rs
@@ -86,16 +86,20 @@ impl Pca9685DeviceBuilder {
     /// Builds the `Pca9685Device`.
     pub fn build(self) -> Result<Pca9685Device, Box<dyn Error>> {
         let device = I2cdev::new(self.i2c_bus)?;
-        let pwm = Pca9685::new(device, self.address).expect("Failed to open PWM controller");
+        let mut pwm = Pca9685::new(device, self.address).expect("Failed to open PWM controller");
 
         let oe_pin = {
             let pin = Pin::new(self.oe_pin_number);
             pin.export()?;
             sleep(Duration::from_millis(30));
-            pin.set_direction(Direction::Low)?;
+            pin.set_direction(Direction::High)?;
             pin
         };
 
+        pwm.reset_internal_driver_state();
+        pwm.use_external_clock().unwrap();
+        pwm.enable().unwrap();
+
         Ok(Pca9685Device {
             pwm,
             oe_pin,
@@ -187,18 +191,26 @@ mod tests {
     //TODO: Not working
     #[test]
     fn test_pca9685_pi_4() {
-        let mut pwm = Pca9685Device::builder().build().unwrap();
+        let mut pwm = Pca9685Device::builder()
+            .build()
+            .expect("Error building PCA9685");
+
         println!("PCA9685: Start initial configuration");
-        pwm.enable_output(false).unwrap();
-        pwm.set_frequency(60.0).unwrap();
-        pwm.set_duty_cycle_all(0.5).unwrap();
+
+        pwm.enable_output(false)
+            .expect("Error in while enabling output");
+        pwm.set_frequency(60.0).expect("Error in setting frequency");
+        pwm.set_duty_cycle_all(0.5)
+            .expect("Error in configuring duty cycle");
+
         println!("PCA9685: Enabling PWM output");
-        pwm.enable_output(true).unwrap();
+        pwm.enable_output(true).expect("Error in enabling output");
         sleep(Duration::from_millis(1000));
         for duty_cycle in [0.0, 1.0, 0.0, 1.0, 0.5] {
             for channel in 0..16 {
                 println!("PCA9685: Channel {channel} value {duty_cycle:.1}");
-                pwm.set_duty_cycle(channel, duty_cycle).unwrap();
+                pwm.set_duty_cycle(channel, duty_cycle)
+                    .expect("Error in setting duty cycle: {error:?}");
                 sleep(Duration::from_millis(100));
             }
         }