diff --git a/.gitignore b/.gitignore
index 4347a9fbc01b4308ae4df07f7350d1074968319e..350d24685b566c3677be68891a3d9bdeee24ab23 100644
--- a/.gitignore
+++ b/.gitignore
@@ -151,5 +151,10 @@ cython_debug/
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
+
+# editors
 .vim/coc-settings.json
 .vscode/settings.json
+
+# sphinx apidocs
+/docs/reference/
diff --git a/.readthedocs.yaml b/.readthedocs.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..80a8855066b36274152a725dd8971fbfc9fab191
--- /dev/null
+++ b/.readthedocs.yaml
@@ -0,0 +1,18 @@
+---
+version: 2
+
+build:
+  os: "ubuntu-22.04"
+  tools:
+    python: "3.10"
+  jobs:
+    post_create_environment:
+      # Install poetry
+      - curl -sSL https://raw.githubusercontent.com/python-poetry/poetry/master/get-poetry.py | python -
+      # Tell poetry to not use a virtual environment
+      - $HOME/.poetry/bin/poetry config virtualenvs.create false
+      # Install project's dependencies
+      - $HOME/.poetry/bin/poetry install
+
+sphinx:
+  configuration: docs/conf.py
diff --git a/Makefile b/Makefile
index 7f16b4d01e44346eda8d9332631247145f1109b6..4fc018cd895a68139d83583e3ab4e3589a05d955 100644
--- a/Makefile
+++ b/Makefile
@@ -1,17 +1,21 @@
 .DEFAULT_GOAL := build
 
-PHONY: clean check test build
+.PHONY: clean check test build docs
 
 clean:
-	@rm -rf \
+	rm -rf \
 		ur_py_ctl/__pycache__ \
 		tests/__pycache__
+	poetry run $(MAKE) -c docs clean
 
 check:
-	@poetry run pre-commit run --all-files
+	poetry run pre-commit run --all-files
 
 test:
-	@poetry run pytest
+	poetry run pytest
 
 build:
-	@poetry build
+	poetry build
+
+docs:
+	poetry run $(MAKE) -C docs html
diff --git a/docs/Makefile b/docs/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..d4bb2cbb9eddb1bb1b4f366623044af8e4830919
--- /dev/null
+++ b/docs/Makefile
@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/docs/conf.py b/docs/conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..988c53fe9c7eba7773ff9783b5d917c65585f3ab
--- /dev/null
+++ b/docs/conf.py
@@ -0,0 +1,125 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = "ur_py_ctl"
+copyright = "2022, Anton Tetov Johansson"
+author = "Anton Tetov Johansson"
+
+# The full version, including alpha/beta/rc tags
+version = release = "0.1.3"
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "myst_parser",
+    "sphinx.ext.napoleon",
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.doctest",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.extlinks",
+    "sphinxcontrib.apidoc",
+]
+
+source_suffix = {
+    ".rst": "restructuredtext",
+    ".md": "markdown",
+}
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = [
+    "_build",
+    "Thumbs.db",
+    ".DS_Store",
+    "**.ipynb_checkpoints",
+    "_notebooks",
+    "**/__temp",
+]
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = "sphinx_rtd_theme"
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["_static"]
+
+# -- Extensions --------------------------------------------------------------
+
+# apidoc
+apidoc_module_dir = "../ur_py_ctl"
+apidoc_output_dir = "reference"
+apidoc_excluded_paths = ["tests"]
+apidoc_separate_modules = False
+apidoc_toc_file = False
+apidoc_module_first = True
+#
+# auto{summary,doc,class}
+autosummary_generate = True
+autosummary_generate_overwrite = True
+autodoc_default_options = {
+    "undoc-members": True,
+    "show-inheritance": True,
+}
+autodoc_typehints = "signature"
+autodoc_typehints_format = "fully-qualified"
+
+autodoc_member_order = "groupwise"
+
+autoclass_content = "class"
+
+# myst
+
+myst_enable_extensions = ["linkify"]
+myst_heading_anchors = 3
+
+# napoleon
+
+napoleon_google_docstring = False
+napoleon_numpy_docstring = True
+napoleon_include_init_with_doc = False
+napoleon_include_private_with_doc = False
+napoleon_include_special_with_doc = True
+napoleon_use_admonition_for_examples = False
+napoleon_use_admonition_for_notes = False
+napoleon_use_admonition_for_references = False
+napoleon_use_ivar = False
+napoleon_use_param = True
+napoleon_use_rtype = False
+
+# intersphinx options
+
+intersphinx_mapping = {
+    "python": ("https://docs.python.org/", None),
+    "compas": ("https://compas.dev/compas/latest/", None),
+}
diff --git a/docs/examples.md b/docs/examples.md
new file mode 100644
index 0000000000000000000000000000000000000000..df635b4e61303f9498a7b2edbc413cd6df86f06d
--- /dev/null
+++ b/docs/examples.md
@@ -0,0 +1 @@
+# Examples
diff --git a/docs/index.md b/docs/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..fa2a2b515a6d940cf3eba5f9d6bbfe23021c12a6
--- /dev/null
+++ b/docs/index.md
@@ -0,0 +1,10 @@
+# Welcome to ur_py_ctl's documentation!
+
+```{toctree}
+---
+maxdepth: 1
+caption: Contents
+---
+examples
+reference
+```
diff --git a/docs/make.bat b/docs/make.bat
new file mode 100644
index 0000000000000000000000000000000000000000..8084272b4b7828a0748ae9209f92611e196801de
--- /dev/null
+++ b/docs/make.bat
@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.https://www.sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd
diff --git a/docs/reference.md b/docs/reference.md
new file mode 100644
index 0000000000000000000000000000000000000000..1667a34faac359c69d7067b0d01520470548d9d8
--- /dev/null
+++ b/docs/reference.md
@@ -0,0 +1,10 @@
+# API Reference
+
+```{toctree}
+---
+maxdepth: 2
+titlesonly:
+glob:
+---
+reference/*
+```
diff --git a/poetry.lock b/poetry.lock
index 36cbbf7b364f3774e1d4c61bd3c9dc7f3c406a7f..33d6c25c3e8751c6080db599e44cc40b405d2663 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,11 @@
+[[package]]
+name = "alabaster"
+version = "0.7.12"
+description = "A configurable sidebar-enabled Sphinx theme"
+category = "dev"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "aspy.refactor-imports"
 version = "3.0.1"
@@ -28,6 +36,17 @@ docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
 tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
 tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "cloudpickle"]
 
+[[package]]
+name = "babel"
+version = "2.10.3"
+description = "Internationalization utilities"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+pytz = ">=2015.7"
+
 [[package]]
 name = "black"
 version = "22.3.0"
@@ -50,6 +69,14 @@ d = ["aiohttp (>=3.7.4)"]
 jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
 uvloop = ["uvloop (>=0.15.2)"]
 
+[[package]]
+name = "certifi"
+version = "2022.9.24"
+description = "Python package for providing Mozilla's CA Bundle."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "cfgv"
 version = "3.3.1"
@@ -58,6 +85,17 @@ category = "dev"
 optional = false
 python-versions = ">=3.6.1"
 
+[[package]]
+name = "charset-normalizer"
+version = "2.1.1"
+description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
+category = "dev"
+optional = false
+python-versions = ">=3.6.0"
+
+[package.extras]
+unicode_backport = ["unicodedata2"]
+
 [[package]]
 name = "click"
 version = "8.1.2"
@@ -71,7 +109,7 @@ colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
 [[package]]
 name = "colorama"
-version = "0.4.4"
+version = "0.4.5"
 description = "Cross-platform colored terminal text."
 category = "dev"
 optional = false
@@ -85,6 +123,14 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "docutils"
+version = "0.17.1"
+description = "Docutils -- Python Documentation Utilities"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
 [[package]]
 name = "filelock"
 version = "3.6.0"
@@ -121,6 +167,38 @@ python-versions = ">=3.7"
 [package.extras]
 license = ["ukkonen"]
 
+[[package]]
+name = "idna"
+version = "3.4"
+description = "Internationalized Domain Names in Applications (IDNA)"
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[[package]]
+name = "imagesize"
+version = "1.4.1"
+description = "Getting image size from png/jpeg/jpeg2000/gif file"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
+name = "importlib-metadata"
+version = "4.12.0"
+description = "Read metadata from Python packages"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+zipp = ">=0.5"
+
+[package.extras]
+docs = ["sphinx", "jaraco.packaging (>=9)", "rst.linker (>=1.9)"]
+perf = ["ipython"]
+testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.3)", "packaging", "pyfakefs", "flufl.flake8", "pytest-perf (>=0.9.2)", "pytest-black (>=0.3.7)", "pytest-mypy (>=0.9.1)", "importlib-resources (>=1.3)"]
+
 [[package]]
 name = "iniconfig"
 version = "1.1.1"
@@ -129,6 +207,66 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "jinja2"
+version = "3.1.2"
+description = "A very fast and expressive template engine."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+MarkupSafe = ">=2.0"
+
+[package.extras]
+i18n = ["Babel (>=2.7)"]
+
+[[package]]
+name = "linkify-it-py"
+version = "1.0.3"
+description = "Links recognition library with FULL unicode support."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+uc-micro-py = "*"
+
+[package.extras]
+test = ["pytest-cov", "pytest", "coverage"]
+doc = ["myst-parser", "sphinx-book-theme", "sphinx"]
+dev = ["black", "flake8", "isort", "pre-commit"]
+benchmark = ["pytest-benchmark", "pytest"]
+
+[[package]]
+name = "markdown-it-py"
+version = "2.1.0"
+description = "Python port of markdown-it. Markdown parsing, done right!"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+mdurl = ">=0.1,<1.0"
+
+[package.extras]
+testing = ["pytest-regressions", "pytest-cov", "pytest", "coverage"]
+rtd = ["sphinx-book-theme", "sphinx-design", "sphinx-copybutton", "sphinx", "pyyaml", "myst-parser", "attrs"]
+profiling = ["gprof2dot"]
+plugins = ["mdit-py-plugins"]
+linkify = ["linkify-it-py (>=1.0,<2.0)"]
+compare = ["panflute (>=2.1.3,<2.2.0)", "mistune (>=2.0.2,<2.1.0)", "mistletoe (>=0.8.1,<0.9.0)", "markdown (>=3.3.6,<3.4.0)", "commonmark (>=0.9.1,<0.10.0)"]
+code_style = ["pre-commit (==2.6)"]
+benchmarking = ["pytest-benchmark (>=3.2,<4.0)", "pytest", "psutil"]
+
+[[package]]
+name = "markupsafe"
+version = "2.1.1"
+description = "Safely add untrusted strings to HTML/XML markup."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
 [[package]]
 name = "mccabe"
 version = "0.6.1"
@@ -137,6 +275,30 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "mdit-py-plugins"
+version = "0.3.1"
+description = "Collection of plugins for markdown-it-py"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+markdown-it-py = ">=1.0.0,<3.0.0"
+
+[package.extras]
+testing = ["pytest-regressions", "pytest-cov", "pytest", "coverage"]
+rtd = ["sphinx-book-theme (>=0.1.0,<0.2.0)", "myst-parser (>=0.16.1,<0.17.0)", "attrs"]
+code_style = ["pre-commit"]
+
+[[package]]
+name = "mdurl"
+version = "0.1.2"
+description = "Markdown URL utilities"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
 [[package]]
 name = "mypy"
 version = "0.942"
@@ -163,6 +325,30 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "myst-parser"
+version = "0.18.1"
+description = "An extended commonmark compliant parser, with bridges to docutils & sphinx."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+docutils = ">=0.15,<0.20"
+jinja2 = "*"
+linkify-it-py = {version = ">=1.0,<2.0", optional = true, markers = "extra == \"linkify\""}
+markdown-it-py = ">=1.0.0,<3.0.0"
+mdit-py-plugins = ">=0.3.1,<0.4.0"
+pyyaml = "*"
+sphinx = ">=4,<6"
+typing-extensions = "*"
+
+[package.extras]
+code_style = ["pre-commit (>=2.12,<3.0)"]
+linkify = ["linkify-it-py (>=1.0,<2.0)"]
+rtd = ["ipython", "sphinx-book-theme", "sphinx-design", "sphinxext-rediraffe (>=0.2.7,<0.3.0)", "sphinxcontrib.mermaid (>=0.7.1,<0.8.0)", "sphinxext-opengraph (>=0.6.3,<0.7.0)"]
+testing = ["beautifulsoup4", "coverage", "pytest (>=6,<7)", "pytest-cov", "pytest-regressions", "pytest-param-files (>=0.3.4,<0.4.0)", "sphinx-pytest", "sphinx (<5.2)"]
+
 [[package]]
 name = "nodeenv"
 version = "1.6.0"
@@ -190,6 +376,14 @@ category = "dev"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
 
+[[package]]
+name = "pbr"
+version = "5.10.0"
+description = "Python Build Reasonableness"
+category = "dev"
+optional = false
+python-versions = ">=2.6"
+
 [[package]]
 name = "platformdirs"
 version = "2.5.1"
@@ -211,8 +405,8 @@ optional = false
 python-versions = ">=3.6"
 
 [package.extras]
-dev = ["pre-commit", "tox"]
-testing = ["pytest", "pytest-benchmark"]
+testing = ["pytest-benchmark", "pytest"]
+dev = ["tox", "pre-commit"]
 
 [[package]]
 name = "pre-commit"
@@ -254,6 +448,17 @@ category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
+[[package]]
+name = "pygments"
+version = "2.13.0"
+description = "Pygments is a syntax highlighting package written in Python."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.extras]
+plugins = ["importlib-metadata"]
+
 [[package]]
 name = "pyparsing"
 version = "3.0.7"
@@ -286,6 +491,14 @@ tomli = ">=1.0.0"
 [package.extras]
 testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "xmlschema"]
 
+[[package]]
+name = "pytz"
+version = "2022.2.1"
+description = "World timezone definitions, modern and historical"
+category = "dev"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "pyyaml"
 version = "6.0"
@@ -305,6 +518,24 @@ python-versions = ">=3.7"
 [package.dependencies]
 "aspy.refactor-imports" = ">=2.3.0"
 
+[[package]]
+name = "requests"
+version = "2.28.1"
+description = "Python HTTP for Humans."
+category = "dev"
+optional = false
+python-versions = ">=3.7, <4"
+
+[package.dependencies]
+certifi = ">=2017.4.17"
+charset-normalizer = ">=2,<3"
+idna = ">=2.5,<4"
+urllib3 = ">=1.21.1,<1.27"
+
+[package.extras]
+socks = ["PySocks (>=1.5.6,!=1.5.7)"]
+use_chardet_on_py3 = ["chardet (>=3.0.2,<6)"]
+
 [[package]]
 name = "six"
 version = "1.16.0"
@@ -313,6 +544,144 @@ category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
 
+[[package]]
+name = "snowballstemmer"
+version = "2.2.0"
+description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "sphinx"
+version = "5.2.2"
+description = "Python documentation generator"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+alabaster = ">=0.7,<0.8"
+babel = ">=2.9"
+colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
+docutils = ">=0.14,<0.20"
+imagesize = ">=1.3"
+importlib-metadata = {version = ">=4.8", markers = "python_version < \"3.10\""}
+Jinja2 = ">=3.0"
+packaging = ">=21.0"
+Pygments = ">=2.12"
+requests = ">=2.5.0"
+snowballstemmer = ">=2.0"
+sphinxcontrib-applehelp = "*"
+sphinxcontrib-devhelp = "*"
+sphinxcontrib-htmlhelp = ">=2.0.0"
+sphinxcontrib-jsmath = "*"
+sphinxcontrib-qthelp = "*"
+sphinxcontrib-serializinghtml = ">=1.1.5"
+
+[package.extras]
+docs = ["sphinxcontrib-websupport"]
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diff --git a/pyproject.toml b/pyproject.toml
index f485d20f74c17bfd00beb4921a11a951483dd723..736e181fc29ae3706e5467f1a9488525bddfecbe 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -20,6 +20,10 @@ black = "^22.3.0"
 pre-commit = "^2.18.1"
 reorder-python-imports = "^3.0.1"
 pytest = "^7.1.1"
+Sphinx = "^5.2.2"
+myst-parser = {extras = ["linkify"], version = "^0.18.1"}
+sphinxcontrib-apidoc = "^0.3.0"
+sphinx-rtd-theme = "^1.0.0"
 
 [tool.isort]
 profile = "black"