diff --git a/doc/api/pupdevices.rst b/doc/api/pupdevices.rst
index 46dc448..079c717 100644
--- a/doc/api/pupdevices.rst
+++ b/doc/api/pupdevices.rst
@@ -112,6 +112,14 @@ Motors with Rotation Sensors
 
     .. rubric:: Stopping
 
+    .. toggle-header::
+        :header: **Show/hide example**
+
+        **Example: Stopping the motor in different ways**
+
+        .. literalinclude::
+            ../../pybricks-projects/snippets/pup/motor/motor_stop.py
+
     .. automethod:: pybricks.pupdevices.Motor.stop
 
     .. automethod:: pybricks.pupdevices.Motor.brake
@@ -120,6 +128,40 @@ Motors with Rotation Sensors
 
     .. rubric:: Action
 
+    .. toggle-header::
+        :header: **Show/hide examples**
+
+        **Example 1: Basic usage of all action methods**
+
+        .. literalinclude::
+            ../../pybricks-projects/snippets/pup/motor/motor_action_basic.py
+
+        **Example 2: Using the** ``then`` **argument to change how a motor stops**
+
+        .. literalinclude::
+            ../../pybricks-projects/snippets/pup/motor/motor_action_then.py
+
+        **Example 3: Using the** ``wait`` **argument to run motors in parallel**
+
+        .. literalinclude::
+            ../../pybricks-projects/snippets/pup/motor/motor_action_wait.py
+
+        **Example 4: Waiting for two actions to complete in parallel**
+
+        .. literalinclude::
+            ../../pybricks-projects/snippets/pup/motor/motor_action_wait_advanced.py
+
+        **Example 5: Running a motor until a mechanical endpoint**
+
+        .. literalinclude::
+            ../../pybricks-projects/snippets/pup/motor/motor_until_stalled.py
+
+        **Example 6: Centering a steering mechanism**
+
+        .. literalinclude::
+            ../../pybricks-projects/snippets/pup/motor/motor_until_stalled.py
+
+
     .. automethod:: pybricks.pupdevices.Motor.run
 
     .. automethod:: pybricks.pupdevices.Motor.run_time
diff --git a/pybricks-projects b/pybricks-projects
index 599c6fc..bc2ec92 160000
--- a/pybricks-projects
+++ b/pybricks-projects
@@ -1 +1 @@
-Subproject commit 599c6fce132bf4297cd95b1c37bea937f5484dce
+Subproject commit bc2ec92634def65b9213ecd36ad66be989f85852