diff --git a/.github/workflows/github-actions.yml b/.github/workflows/github-actions.yml
new file mode 100644
index 0000000..c00a79b
--- /dev/null
+++ b/.github/workflows/github-actions.yml
@@ -0,0 +1,112 @@
+on: [push, pull_request]
+jobs:
+ j1:
+    name: Ubuntu 18.04
+    runs-on: ubuntu-18.04
+    steps: 
+    - uses: actions/checkout@v2
+    - run: cmake  . && cmake --build .
+#    - run: cmake -D CMAKE_BUILD_TYPE=Release . && cmake --build . --parallel
+
+ j2:
+    name: Windows
+    runs-on: windows-latest
+    steps: 
+    - uses: actions/checkout@v2
+    - run: cmake . & cmake --build . --config Release --target Test_devices --parallel
+      shell: cmd
+
+ j3:
+    name: macOS 10.15
+    runs-on: macos-10.15
+    steps: 
+    - uses: actions/checkout@v2
+    - run: cmake  . && cmake --build .
+#    - run: cmake -D CMAKE_BUILD_TYPE=Release . && cmake --build . --parallel
+
+ j4:
+    name: Windows MinGW 8.1.0 x64
+    runs-on: windows-latest
+    steps: 
+    - uses: actions/checkout@v2
+#    - run: choco install -y make
+    - run: cmake -G "MSYS Makefiles" -D CMAKE_BUILD_TYPE=Release . && cmake --build . --parallel
+      shell: bash
+
+ j5:
+    name: Ubuntu 16.04
+    runs-on: ubuntu-16.04
+    steps: 
+    - uses: actions/checkout@v2
+    - run: make && make clean && cmake -D CMAKE_BUILD_TYPE=Release . && cmake --build .
+
+ j6:
+    name: Ubuntu 18.04 Qt
+    runs-on: ubuntu-18.04
+    steps: 
+    - uses: actions/checkout@v2
+    - run: |
+        sudo apt-get -q update || true # Allowed to fail...
+        #wget http://www.ensta-bretagne.fr/lebars/Share/qt-sdk-linux-x86_64-opensource-2010.05.1.bin
+        #chmod +x qt-sdk-linux-x86_64-opensource-2010.05.1.bin
+        # Unattended mode has a bug, see https://bugreports.qt.io/browse/QTCREATORBUG-472...?
+        #./qt-sdk-linux-x86_64-opensource-2010.05.1.bin --mode unattended
+        sudo apt-get -y install qtcreator qt5-default
+    - run: qmake && make
+
+ j7:
+    name: Windows Qt 2010.05 MinGW 4.4.0 x86
+    runs-on: windows-latest
+    steps: 
+    - uses: actions/checkout@v2
+#    - run: choco install -y -r --no-progress wget
+    - run: |         
+        (New-Object System.Net.WebClient).DownloadFile("http://www.ensta-bretagne.fr/lebars/Share/windows_extra_tools.zip", "C:\Windows\Temp\windows_extra_tools.zip") 
+        7z x C:\Windows\Temp\windows_extra_tools.zip -o"C:\Windows" -y
+      shell: pwsh
+#    - run: |
+#        rem Take 5 min...
+#        choco uninstall -y mingw
+#      shell: cmd
+    - run: |
+        wget http://www.ensta-bretagne.fr/lebars/Share/qt-sdk-win-opensource-2010.05.exe --no-check-certificate -nv
+        move /Y qt-sdk-win-opensource-2010.05.exe %SystemDrive%\
+        rem Take several min...
+        %SystemDrive%\qt-sdk-win-opensource-2010.05.exe /S
+        del /f /q %SystemDrive%\qt-sdk-win-opensource-2010.05.exe
+      shell: cmd
+    - run: |
+        rem %SystemDrive%\Qt\2010.05\bin\qtenv.bat & qmake -r -spec win32-g++ & mingw32-make -w
+        %SystemDrive%\Qt\2010.05\bin\qtenv.bat & qmake & mingw32-make
+      shell: cmd
+
+ j8:
+    name: Windows Qt 5.12.6 MinGW 7.3.0 x86
+    runs-on: windows-latest
+    steps: 
+    - uses: actions/checkout@v2
+#    - run: choco install -y -r --no-progress wget
+    - run: |
+        (New-Object System.Net.WebClient).DownloadFile("http://www.ensta-bretagne.fr/lebars/Share/windows_extra_tools.zip", "C:\Windows\Temp\windows_extra_tools.zip") 
+        7z x C:\Windows\Temp\windows_extra_tools.zip -o"C:\Windows" -y
+      shell: pwsh
+#    - run: |
+#        rem Take 5 min...
+#        choco uninstall -y mingw
+#      shell: cmd
+    - run: |
+        wget http://download.qt.io/archive/qt/5.12/5.12.6/qt-opensource-windows-x86-5.12.6.exe --no-check-certificate -nv
+        move /Y qt-opensource-windows-x86-5.12.6.exe %SystemDrive%\
+        wget http://www.ensta-bretagne.fr/lebars/Share/qt-installer-5.12.6-mingw73_32.qs --no-check-certificate -nv
+        move /Y qt-installer-5.12.6-mingw73_32.qs %SystemDrive%\
+        netsh advfirewall set allprofiles state on
+        netsh advfirewall firewall add rule name="Qt offline installer" dir=out action=block program="%SystemDrive%\qt-opensource-windows-x86-5.12.6.exe" enable=yes
+        rem Take several min...
+        %SystemDrive%\qt-opensource-windows-x86-5.12.6.exe --script %SystemDrive%\qt-installer-5.12.6-mingw73_32.qs
+        netsh advfirewall firewall del rule name="Qt offline installer"
+        netsh advfirewall set allprofiles state off
+        del /f /q %SystemDrive%\qt-opensource-windows-x86-5.12.6.exe
+      shell: cmd
+    - run: |
+        set PATH=C:\Qt\Qt5.12.6\5.12.6\mingw73_32\bin;C:\Qt\Qt5.12.6\Tools\mingw730_32\bin;%PATH% & qmake & mingw32-make
+      shell: cmd
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 078a58b..0000000
--- a/.travis.yml
+++ /dev/null
@@ -1,83 +0,0 @@
-language: cpp
-jobs:
-  include:
-   - name: "Ubuntu 18.04"
-     os: linux
-     dist: bionic
-     compiler: gcc
-     script: cmake . && cmake --build .
-#     script: cmake -D CMAKE_BUILD_TYPE=Release . && cmake --build . --parallel 
-
-   - name: "Windows"
-     os: windows
-     script: 
-       - cmd //c "cmake . & cmake --build . --config Release --target Test_devices --parallel"
- 
-   - name: "Mac OS"
-     os: osx
-     osx_image: xcode10.1
-     script: cmake . && cmake --build . 
-#     script: cmake -D CMAKE_BUILD_TYPE=Release . && cmake --build . --parallel 
-
-   - name: "Windows MinGW 8.1.0 x64"
-     os: windows
-     compiler: gcc
-     before_install: 
-       - choco install -y make
-     script: 
-       - cmake -G "MSYS Makefiles" -D CMAKE_BUILD_TYPE=Release . && cmake --build . --parallel
-
-   - name: "Ubuntu 12.04"
-     os: linux
-     dist: precise
-     compiler: gcc
-     script: make && make clean && cmake -D CMAKE_BUILD_TYPE=Release . && cmake --build . 
-
-   - name: "Ubuntu 18.04 Qt"
-     os: linux
-     dist: bionic
-     compiler: gcc
-     before_install: 
-         # Allowed to fail...
-       - sudo apt-get -q update || true
-#       - wget http://www.ensta-bretagne.fr/lebars/Share/qt-sdk-linux-x86_64-opensource-2010.05.1.bin
-#       - chmod +x qt-sdk-linux-x86_64-opensource-2010.05.1.bin
-#         # Unattended mode has a bug, see https://bugreports.qt.io/browse/QTCREATORBUG-472...?
-#       - ./qt-sdk-linux-x86_64-opensource-2010.05.1.bin --mode unattended
-       - sudo apt-get -y install qtcreator qt5-default
-     script: qmake && make
-
-   - name: "Windows Qt 2010.05 MinGW 4.4.0 x86"
-     os: windows
-     compiler: gcc
-     before_install: 
-         # Take 2 min...
-       - choco uninstall -y mingw
-       - wget http://www.ensta-bretagne.fr/lebars/Share/qt-sdk-win-opensource-2010.05.exe --no-check-certificate -nv
-       - cmd //c "move /Y qt-sdk-win-opensource-2010.05.exe %SystemDrive%\ "
-         # Take several min...
-       - cmd //c "%SystemDrive%\qt-sdk-win-opensource-2010.05.exe /S"
-       - cmd //c "del /f /q %SystemDrive%\qt-sdk-win-opensource-2010.05.exe"
-     script: 
-#       - cmd //c "%SystemDrive%\Qt\2010.05\bin\qtenv.bat & qmake -r -spec win32-g++ & mingw32-make -w"
-       - cmd //c "%SystemDrive%\Qt\2010.05\bin\qtenv.bat & qmake & mingw32-make"
-
-   - name: "Windows Qt 5.12.6 MinGW 7.3.0 x86"
-     os: windows
-     compiler: gcc
-     before_install: 
-         # Take 2 min...
-       - choco uninstall -y mingw
-       - wget http://download.qt.io/archive/qt/5.12/5.12.6/qt-opensource-windows-x86-5.12.6.exe --no-check-certificate -nv
-       - cmd //c "move /Y qt-opensource-windows-x86-5.12.6.exe %SystemDrive%\ "
-       - wget http://www.ensta-bretagne.fr/lebars/Share/qt-installer-5.12.6-mingw73_32.qs --no-check-certificate -nv
-       - cmd //c "move /Y qt-installer-5.12.6-mingw73_32.qs %SystemDrive%\ "
-       - cmd //c netsh advfirewall set allprofiles state on
-       - cmd //c netsh advfirewall firewall add rule name="Qt offline installer" dir=out action=block program="%SystemDrive%\qt-opensource-windows-x86-5.12.6.exe" enable=yes
-         # Take several min...
-       - cmd //c "%SystemDrive%\qt-opensource-windows-x86-5.12.6.exe --script %SystemDrive%\qt-installer-5.12.6-mingw73_32.qs"
-       - cmd //c netsh advfirewall firewall del rule name="Qt offline installer"
-       - cmd //c netsh advfirewall set allprofiles state off
-       - cmd //c "del /f /q %SystemDrive%\qt-opensource-windows-x86-5.12.6.exe"
-     script: 
-       - cmd //c "set PATH=C:\Qt\Qt5.12.6\5.12.6\mingw73_32\bin;C:\Qt\Qt5.12.6\Tools\mingw730_32\bin;%PATH% & qmake & mingw32-make"
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8fbc63a..49f8ded 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 2.8...3.12)
 
 project(Test_devices)
 
diff --git a/Makefile b/Makefile
index 67c2206..2b6070e 100644
--- a/Makefile
+++ b/Makefile
@@ -41,7 +41,7 @@ CFLAGS += -D DISABLE_SSC32THREAD
 CFLAGS += -D DISABLE_SWARMONDEVICETHREAD
 CFLAGS += -D DISABLE_UBLOXTHREAD
 
-# Depending on your OS (old Linux or Mac OS)...
+# Depending on your OS (old Linux or macOS)...
 #CFLAGS += -D USE_OLD_CHRONO
 
 CXXFLAGS += $(CFLAGS) -fpermissive
@@ -52,7 +52,7 @@ CXXFLAGS += $(CFLAGS) -fpermissive
 # For MinGW
 #LDFLAGS += -lws2_32 -lm
 
-# For Mac OS
+# For macOS
 #LDFLAGS += -lm
 
 # For Linux
diff --git a/RPLIDAR.h b/RPLIDAR.h
index 1ba00f2..a47f7ea 100644
--- a/RPLIDAR.h
+++ b/RPLIDAR.h
@@ -1012,6 +1012,38 @@ inline int SetLidarSpinSpeedRequestRPLIDAR(RPLIDAR* pRPLIDAR, int rpm)
 	return EXIT_SUCCESS;
 }
 
+inline int StartMotorRPLIDAR(RPLIDAR* pRPLIDAR)
+{
+#ifdef ENABLE_RPLIDAR_SDK_SUPPORT
+	if (IS_FAIL(pRPLIDAR->drv->startMotor()))
+	{
+		printf("A RPLIDAR is not responding correctly : startMotor() failed. \n");
+		return EXIT_FAILURE;
+	}
+	return EXIT_SUCCESS;
+#else
+	UNREFERENCED_PARAMETER(pRPLIDAR);
+	printf("RPLIDAR : Not implemented. \n");
+	return EXIT_NOT_IMPLEMENTED;
+#endif // ENABLE_RPLIDAR_SDK_SUPPORT
+}
+
+inline int StopMotorRPLIDAR(RPLIDAR* pRPLIDAR)
+{
+#ifdef ENABLE_RPLIDAR_SDK_SUPPORT
+	if (IS_FAIL(pRPLIDAR->drv->stopMotor()))
+	{
+		printf("A RPLIDAR is not responding correctly : stopMotor() failed. \n");
+		return EXIT_FAILURE;
+	}
+	return EXIT_SUCCESS;
+#else
+	UNREFERENCED_PARAMETER(pRPLIDAR);
+	printf("RPLIDAR : Not implemented. \n");
+	return EXIT_NOT_IMPLEMENTED;
+#endif // ENABLE_RPLIDAR_SDK_SUPPORT
+}
+
 inline int StartScanRequestRPLIDAR(RPLIDAR* pRPLIDAR)
 {
 #ifdef ENABLE_RPLIDAR_SDK_SUPPORT