diff --git a/doc/api/diagram_source/pupsensors.ldr b/doc/api/diagram_source/pupsensors.ldr
index ac8c2e4..f969ee8 100644
--- a/doc/api/diagram_source/pupsensors.ldr
+++ b/doc/api/diagram_source/pupsensors.ldr
@@ -1,6 +1,7 @@
 0 Name: pupmotors
 0 Author: Pybricks {laurens@pybricks.com}
 0 !LICENSE MIT
+0 !LDCAD GROUP_DEF [topLevel=true] [LID=0] [GID=9FDP9pj0O55] [name=Group 1] [center=0 0 0]
 1 15 600 -280 180 1 0 0 0 1 0 0 0 1 37316.dat
 1 15 60 -272 160 -1 0 0 0 -1 0 0 0 1 37312c01.dat
 1 15 -400 -280 240 -1 0 0 0 -1 0 0 0 1 37308c01.dat
@@ -14,3 +15,7 @@
 1 15 1130 -280 240 1 0 0 0 1 0 0 0 1 37316.dat
 1 15 1290 -280 220 1 0 0 0 1 0 0 0 1 37308.dat
 1 0 690 -312 530 0 0 1 0 1 0 -1 0 0 22168.dat
+0 !LDCAD GROUP_NXT [ids=0] [nrs=2]
+1 71 704.852 -312 -628.188 -0.5 0 0.866 0 1 0 -0.866 0 -0.5 58123.dat
+0 !LDCAD GROUP_NXT [ids=0] [nrs=-1]
+1 71 972.1 -321.5 -814.7 0.5 0 -0.866 0 1 0 0.866 0 0.5 99499c01.dat
diff --git a/doc/api/images/pfmotor.png b/doc/api/images/pfmotor.png
new file mode 100644
index 0000000..6750363
Binary files /dev/null and b/doc/api/images/pfmotor.png differ
diff --git a/doc/api/pupdevices.rst b/doc/api/pupdevices.rst
index f771b7f..9113599 100644
--- a/doc/api/pupdevices.rst
+++ b/doc/api/pupdevices.rst
@@ -269,6 +269,37 @@ Color and Distance Sensor
 Power Functions
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
+The :class:`ColorDistanceSensor <pybricks.pupdevices.ColorDistanceSensor>` can
+send infrared signals to control Power Functions infrared receivers. You can
+use this technique to control medium, large, extra large, and train
+motors. The infrared range is limited to about 30 cm, depending on the angle
+and ambient conditions.
+
+.. figure:: ../api/images/pfmotor.png
+   :width: 95 %
+
+   Powered Up
+   :class:`ColorDistanceSensor <pybricks.pupdevices.ColorDistanceSensor>`
+   (left), Power Functions infrared receiver (middle), and a Power Functions
+   motor (right). Here, the receiver uses channel
+   1 with a motor on the red port.
+
+
+.. toggle-header::
+    :header: **Show/hide examples**
+
+
+    **Example 1: Control a Power Functions motor**
+
+    .. literalinclude::
+        ../../pybricks-projects/snippets/pup/motor_pf/motor_pf_basics.py
+
+
+    **Example 2: Controlling multiple Power Functions motors**
+
+    .. literalinclude::
+        ../../pybricks-projects/snippets/pup/motor_pf/motor_pf_pwm.py
+
 .. autoclass:: pybricks.pupdevices.PFMotor
     :noindex:
     :no-members:
diff --git a/pybricks-projects b/pybricks-projects
index bc2ec92..e9735b2 160000
--- a/pybricks-projects
+++ b/pybricks-projects
@@ -1 +1 @@
-Subproject commit bc2ec92634def65b9213ecd36ad66be989f85852
+Subproject commit e9735b2db0abf3ef004ed2620a93d3ac4d24d617