diff --git a/doc/api/diagram_source/ev3brick.png b/doc/api/diagram_source/ev3brick.png
deleted file mode 100644
index ea81e0c..0000000
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index f27c4b4..729224c 100644
--- a/doc/api/diagram_source/messaging.svg
+++ b/doc/api/diagram_source/messaging.svg
@@ -13,9 +13,9 @@
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+   height="600"
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+   sodipodi:docname="messaging.svg"
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+        <dc:title></dc:title>
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+       x="482.98624"
+       y="77.266083"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054">server = BluetoothMailboxServer()</tspan><tspan
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-       id="tspan7991">server.wait_for_connection(2)</tspan><tspan
+       x="482.98624"
+       y="97.010689"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan2601">mbox = TextMailbox(<tspan
+   style="fill:#4671a1;fill-opacity:1"
+   id="tspan2677">'greeting'</tspan>, server)</tspan><tspan
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+       x="482.98624"
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+       id="tspan2603" /><tspan
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-       x="21.244511"
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-       id="tspan11719">temp = NumericMailbox('temp', server)</tspan><tspan
+       x="482.98624"
+       y="136.49989"
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+       id="tspan7991">server.wait_for_connection()</tspan><tspan
        sodipodi:role="line"
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-       id="tspan11721">condition = TextMailbox('cond', server)</tspan><tspan
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+       y="156.24449"
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-       id="tspan11713">ambient = NumericMailbox('amb', server)</tspan><tspan
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+       y="175.98909"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan2609">mbox.wait()</tspan><tspan
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-       id="tspan1999">condition.send('Sunny')</tspan></text>
+       x="482.98624"
+       y="195.7337"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan1999">mbox.send(<tspan
+   style="fill:#4671a1;fill-opacity:1"
+   id="tspan2679">'hello to you!'</tspan>)</tspan></text>
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+       x="482.98624"
+       y="467.97412"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan2655">mbox = TextMailbox(<tspan
+   style="fill:#4671a1;fill-opacity:1"
+   id="tspan2675">'greeting'</tspan>, client)</tspan><tspan
+       sodipodi:role="line"
+       x="482.98624"
+       y="487.71872"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan2657" /><tspan
+       sodipodi:role="line"
+       x="482.98624"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan11697">client.connect(<tspan
+   style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
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diff --git a/doc/api/diagram_source/messaging_network.svg b/doc/api/diagram_source/messaging_network.svg
new file mode 100644
index 0000000..b4661fc
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+  <text
+     id="text8001"
+     y="611.47217"
+     x="509.414"
+     style="font-style:normal;font-weight:normal;font-size:15.79568195px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
+     xml:space="preserve"><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       y="611.47217"
+       x="509.414"
+       id="tspan7997"
+       sodipodi:role="line">client = BluetoothMailboxClient()</tspan><tspan
+       id="tspan7999"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       y="631.2168"
+       x="509.414"
+       sodipodi:role="line">client.connect(<tspan
+   style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
+   id="tspan1148">'ev3dev'</tspan>)</tspan><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       y="650.96136"
+       x="509.414"
+       sodipodi:role="line"
+       id="tspan11687" /><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       y="670.70599"
+       x="509.414"
+       sodipodi:role="line"
+       id="tspan11689">ambient = NumericMailbox(<tspan
+   style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
+   id="tspan1146">'amb'</tspan>, client)</tspan><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       y="690.45056"
+       x="509.414"
+       sodipodi:role="line"
+       id="tspan2005" /><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       y="710.19519"
+       x="509.414"
+       sodipodi:role="line"
+       id="tspan2007">ambient.send(<tspan
+   style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#126f2a;fill-opacity:1"
+   id="tspan1156">35</tspan>)</tspan></text>
+  <rect
+     y="535.77826"
+     x="10.923985"
+     height="44.934166"
+     width="107.89494"
+     id="rect9719"
+     style="opacity:1;fill:#e7f2fa;fill-opacity:1;stroke:none;stroke-width:2.13333321;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1" />
+  <rect
+     y="535.77826"
+     x="10.923985"
+     height="4"
+     width="107.89494"
+     id="rect9721"
+     style="opacity:1;fill:#6ab0de;fill-opacity:1;stroke:none;stroke-width:2.13333321;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1" />
+  <text
+     xml:space="preserve"
+     style="font-style:normal;font-weight:normal;font-size:24.19441986px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
+     x="16.005072"
+     y="516.69452"
+     id="text9727"><tspan
+       sodipodi:role="line"
+       id="tspan9723"
+       x="16.005072"
+       y="538.10095"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.60486054" /><tspan
+       sodipodi:role="line"
+       x="16.005072"
+       y="569.18481"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan9725">Client A </tspan></text>
+  <rect
+     y="587.26801"
+     x="9.7169533"
+     height="151.9669"
+     width="387.99277"
+     id="rect11691"
+     style="opacity:1;fill:#eefece;fill-opacity:1;stroke:#e1e4e5;stroke-width:2.13333321;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1" />
+  <text
+     xml:space="preserve"
+     style="font-style:normal;font-weight:normal;font-size:15.79568195px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
+     x="20.150545"
+     y="611.47217"
+     id="text11703"><tspan
+       sodipodi:role="line"
+       id="tspan11695"
+       x="20.150545"
+       y="611.47217"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054">client = BluetoothMailboxClient()</tspan><tspan
+       sodipodi:role="line"
+       x="20.150545"
+       y="631.2168"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan11697">client.connect(<tspan
+   style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
+   id="tspan1136">'ev3dev'</tspan>)</tspan><tspan
+       id="tspan11699"
+       sodipodi:role="line"
+       x="20.150545"
+       y="650.96136"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054" /><tspan
+       sodipodi:role="line"
+       x="20.150545"
+       y="670.70599"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan11707">temp = NumericMailbox(<tspan
+   style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
+   id="tspan1142">'temp'</tspan>, client)</tspan><tspan
+       sodipodi:role="line"
+       x="20.150545"
+       y="690.45056"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan11717">condition = TextMailbox(<tspan
+   style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
+   id="tspan1144">'cond'</tspan>, client)</tspan><tspan
+       sodipodi:role="line"
+       x="20.150545"
+       y="710.19519"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan2001" /><tspan
+       sodipodi:role="line"
+       x="20.150545"
+       y="729.93976"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       id="tspan2003">temp.send(<tspan
+   style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#126f2a;fill-opacity:1"
+   id="tspan1154">25.3</tspan>)</tspan></text>
+  <rect
+     style="opacity:1;fill:#e7f2fa;fill-opacity:1;stroke:none;stroke-width:2.13333321;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"
+     id="rect11725"
+     width="107.89494"
+     height="44.934166"
+     x="499.14618"
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+  <rect
+     style="opacity:1;fill:#6ab0de;fill-opacity:1;stroke:none;stroke-width:2.13333321;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"
+     id="rect11727"
+     width="107.89494"
+     height="4"
+     x="499.14618"
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+  <text
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+     xml:space="preserve"><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       y="538.10095"
+       x="504.22729"
+       id="tspan11729"
+       sodipodi:role="line" /><tspan
+       id="tspan11731"
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+       y="569.18481"
+       x="504.22729"
+       sodipodi:role="line">Client B </tspan></text>
+  <path
+     sodipodi:nodetypes="cc"
+     style="fill:#6ab0de;fill-opacity:1;stroke:#6ab0de;stroke-width:5;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-start:url(#marker12135)"
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+     id="path2525"
+     inkscape:connector-curvature="0" />
+</svg>
diff --git a/doc/api/diagram_source/pupdcmotors.svg b/doc/api/diagram_source/pupdcmotors.svg
index 85bd878..3ffa9ca 100644
--- a/doc/api/diagram_source/pupdcmotors.svg
+++ b/doc/api/diagram_source/pupdcmotors.svg
@@ -89,7 +89,7 @@
      id="layer1"
      transform="translate(0,-146.45207)">
     <image
-       sodipodi:absref="/home/laurens/pybricks/git/pybricks-api/doc/api/diagram_source/pupdcmotors.png"
+       sodipodi:absref="pupdcmotors.png"
        xlink:href="pupdcmotors.png"
        width="396.875"
        height="150.54791"
diff --git a/doc/api/diagram_source/pupmotors.svg b/doc/api/diagram_source/pupmotors.svg
index d6d315a..9974dda 100644
--- a/doc/api/diagram_source/pupmotors.svg
+++ b/doc/api/diagram_source/pupmotors.svg
@@ -89,7 +89,7 @@
      id="layer1"
      transform="translate(0,-135.60415)">
     <image
-       sodipodi:absref="/home/laurens/pybricks/git/pybricks-api/doc/api/diagram_source/pupmotors.png"
+       sodipodi:absref="pupmotors.png"
        xlink:href="pupmotors.png"
        y="135.60416"
        x="-2.220446e-16"
diff --git a/doc/api/images/messaging_label.png b/doc/api/images/messaging_label.png
index 0d0c20d..d232f34 100644
Binary files a/doc/api/images/messaging_label.png and b/doc/api/images/messaging_label.png differ
diff --git a/doc/api/images/messaging_network_label.png b/doc/api/images/messaging_network_label.png
new file mode 100644
index 0000000..c03a12d
Binary files /dev/null and b/doc/api/images/messaging_network_label.png differ
diff --git a/doc/api/messaging.rst b/doc/api/messaging.rst
index 571740b..0b49627 100644
--- a/doc/api/messaging.rst
+++ b/doc/api/messaging.rst
@@ -15,7 +15,7 @@ Introductory text. An example network is shown in :numref:`fig_messaging`.
    :alt: messaging
    :align: center
 
-   An example network with one server and two clients.
+   An example network with one server and one clients.
 
 
 Connections
@@ -42,3 +42,14 @@ Mailboxes are used to send data to and from other EV3s.
 .. autoclass:: TextMailbox
     :no-members:
 
+Bigger networks
+----------------
+
+.. _fig_messaging_network:
+
+.. figure:: ../api/images/messaging_network_label.png
+   :width: 90 %
+   :alt: messaging
+   :align: center
+
+   An example network with one server and two clients.
diff --git a/pybricks-projects b/pybricks-projects
index 90f2522..6a57abb 160000
--- a/pybricks-projects
+++ b/pybricks-projects
@@ -1 +1 @@
-Subproject commit 90f25220686d7a966f60e4f22051a04f168fa422
+Subproject commit 6a57abbff6a7e34665d4ce5de899df552ec57c59