diff --git a/Project.toml b/Project.toml
index f7bdc2b..c8c019b 100644
--- a/Project.toml
+++ b/Project.toml
@@ -1,7 +1,7 @@
 name = "RosSockets"
 uuid = "f2b1035b-1fed-4502-a057-be66ed18c291"
 authors = ["Jacob Levy"]
-version = "0.3.0"
+version = "0.4.0"
 
 [deps]
 JSON = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
diff --git a/README.md b/README.md
index 0e33365..29a0125 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@
 [![RosSockets](https://github.com/CLeARoboticsLab/RosSockets.jl/actions/workflows/test.yml/badge.svg)](https://github.com/CLeARoboticsLab/RosSockets.jl/actions/workflows/test.yml)
 
 Tools for sending and receiving information from ROS via TCP that can be used to control robots.
-This package is meant to communicate with the ROS nodes from [ros_sockets](https://github.com/CLeARoboticsLab/ros_sockets).
+This package is meant to communicate with the ROS nodes from [ros_sockets](https://github.com/CLeARoboticsLab/ros_sockets), but also provides a framework for communication with TCP server in general.
 
 ## Installation
 
@@ -83,6 +83,52 @@ When complete with tasks, be sure to close the connection:
 close_feedback_connection(feedback_connection)
 ```
 
+### General TCP Communication
+
+First, open a connection to the TCP server, setting setting `ip` and `port` to match that of the server:
+
+```jl
+ip = "192.168.1.135"   
+port = 42423
+connection = open_connection(ip, port)
+```
+
+Send messages with `send`. Note: some TCP servers may be require the message be formatted a certain way (such as JSON), and may also require an end of line character, such as `\n`, to terminate the message. Here is an example of sending a JSON formatted message:
+
+```jl
+import JSON
+
+# create a JSON formatted message with property name "action" and value "start_experiment"
+start_cmd = JSON.json(Dict("action" => "start_experiment")) * "\n"
+
+# send the message
+send(connection, start_cmd)
+```
+
+Send a message and wait for a response with `send_receive`. Note: some TCP servers may be require the message be formatted a certain way (such as JSON), and may also require an end of line character, such as `\n`, to terminate the message. This function blocks execution while waiting, up to the timeout duration provided. If the timeout duration elapses without the arrival of data, throws a `TimeoutError` exception. Note: the payload which is returned will be in a raw format. To convert to a string, use `String(payload)`. This string may further converted to other formats such as JSON. Here is an example of sending a JSON formatted message, receiving a response, and parsing the response.
+
+```jl
+import JSON
+
+# create a JSON formatted message with property name "action" and value "get_time_elapsed"
+get_time_cmd = JSON.json(Dict("action" => "get_time_elapsed")) * "\n"
+
+# send the message and wait for a response
+payload = send_receive(connection, get_time_cmd)
+
+# convert the payload to a String, parse the String as a JSON, extract the data, 
+# and print it
+data = JSON.parse(String(payload))
+elapsed_time = data["elapsed_time"]
+println("Elapsed time: $(elapsed_time)")
+```
+
+When complete with tasks, be sure to close the connection:
+
+```jl
+close_connection(connection)
+```
+
 ## Acknowledgments
 
 The velocity control is heavily based on infrastructure from [@schmidma](https://github.com/schmidma) and [@lassepe](https://github.com/lassepe).
diff --git a/examples/general_connection_example.jl b/examples/general_connection_example.jl
index 4897457..bcbefb1 100644
--- a/examples/general_connection_example.jl
+++ b/examples/general_connection_example.jl
@@ -5,7 +5,7 @@ function test_time_server()
     ip = "192.168.1.135"    # ip address of the host of the ROS node    
     port = 42423            # port to connect on
 
-    # open a connection to the ROS node
+    # open a connection to a TCP server
     connection = open_connection(ip, port)
 
     # create command strings that are in the form of JSONs. These strings should
@@ -15,10 +15,10 @@ function test_time_server()
     stop_cmd = JSON.json(Dict("action" => "stop_experiment")) * "\n"
     get_time_cmd = JSON.json(Dict("action" => "get_time_elapsed")) * "\n"
 
-    # send a command to the ROS node
+    # send a command to the TCP server
     send(connection, start_cmd)
 
-    # send a command and wait to receive a response from the ROS node
+    # send commands and wait to receive responses from the server
     for _ in 1:10
         payload = send_receive(connection, get_time_cmd)
         data = JSON.parse(String(payload))
@@ -27,11 +27,11 @@ function test_time_server()
         sleep(0.5)
     end
 
-    # send another command to the ROS node
+    # send another command to the TCP server
     send(connection, stop_cmd)
     sleep(1.0)
 
-    # Close the connection to the ROS node. This should always be called when
+    # Close the connection to the TCP server. This should always be called when
     # complete with tasks to ensure graceful shutdown.
     close_connection(connection)
 end
\ No newline at end of file