diff --git a/Boards.h b/Boards.h
index 3c486485..95f706ec 100644
--- a/Boards.h
+++ b/Boards.h
@@ -72,7 +72,7 @@ Firmata protocol and the actual pin numbers used by the Arduino
 functions.  Even though such mappings are often simple, pin
 numbers received by Firmata protocol should always be used as
 input to these macros, and the result of the macro should be
-used with with any Arduino function.
+used with any Arduino function.
 
 When Firmata is extended to support a new pin mode or feature,
 a pair of macros should be added and used for all hardware
@@ -144,6 +144,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_SERVO(p)         (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 18 || (p) == 19)
 #define IS_PIN_SPI(p)           ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
+#define IS_PIN_INTERRUPT(p)     ((p)==2 || (p)==3)
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        ((p) - 14)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -160,6 +161,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == SDA || (p) == SCL)
 #define IS_PIN_SPI(p)           ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
+#define IS_PIN_INTERRUPT(p)     0
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        ((p) - FIRST_ANALOG_PIN)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -176,6 +178,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 18 || (p) == 19)
+#define IS_PIN_INTERRUPT(p)     ((p)==2 || (p)==3)
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        ((p) - 14)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -194,6 +197,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_SERVO(p)         ((p) >= 2 && (p) - 2 < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 20 || (p) == 21)
 #define IS_PIN_SPI(p)           ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
+#define IS_PIN_INTERRUPT(p)     ((p)==2 || (p)==3 || (p)==18 || (p)==19 || (p)==20 || (p)==21)
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        ((p) - 54)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -210,6 +214,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 2 && (p) - 2 < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 20 || (p) == 21) // 70 71
+#define IS_PIN_INTERRUPT(p)     IS_PIN_DIGITAL(p) 
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        ((p) - 54)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -227,6 +232,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           (0)
 #define IS_PIN_SPI(p)           ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
+#define IS_PIN_INTERRUPT(p)     ((p) == 0 || (p) == 1 || (p) == 2 ||(p) == 3 || (p) == 4 || (p) == 6 ||(p) == 7 ||(p) == 16)
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        (0)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -244,6 +250,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 5 || (p) == 6)
 #define IS_PIN_SPI(p)           ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
+#define IS_PIN_INTERRUPT(p)     ((p) == 5 || (p) == 6 || (p) == 7 || (p) == 8)
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        (((p)<22)?21-(p):11)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -260,6 +267,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 18 || (p) == 19)
+#define IS_PIN_INTERRUPT(p)     IS_PIN_DIGITAL(p)
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        (((p)<=23)?(p)-14:(p)-24)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -277,6 +285,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 0 || (p) == 1)
 #define IS_PIN_SPI(p)           ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
+#define IS_PIN_INTERRUPT(p)     ((p) == 0 || (p) == 1 || (p) == 2 ||(p) == 3 ||(p) == 18 ||(p) == 19 ||(p) == 36 ||(p) == 37)
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        ((p) - 38)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -294,12 +303,30 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 2 || (p) == 3)
 #define IS_PIN_SPI(p)           ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
+#define IS_PIN_INTERRUPT(p)     ((p)==0 || (p)==1 || (p)==2 || (p)==3 || (p)==7)
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        (p) - 18
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
 #define PIN_TO_SERVO(p)         (p)  
 
 
+// Intel Galileo Board
+#elif defined(ARDUINO_LINUX)
+#define TOTAL_ANALOG_PINS       6
+#define TOTAL_PINS              20 // 14 digital + 6 analog
+#define VERSION_BLINK_PIN       13
+#define IS_PIN_DIGITAL(p)       ((p) >= 2 && (p) <= 19)
+#define IS_PIN_ANALOG(p)        ((p) >= 14 && (p) <= 19)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
+#define IS_PIN_SERVO(p)         (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
+#define IS_PIN_I2C(p)           ((p) == SDA || (p) == SCL)
+#define IS_PIN_SPI(p)           ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) 
+#define PIN_TO_DIGITAL(p)       (p)
+#define PIN_TO_ANALOG(p)        ((p) - 14)
+#define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
+#define PIN_TO_SERVO(p)         ((p) - 2)
+
+
 // Sanguino
 #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
 #define TOTAL_ANALOG_PINS       8
@@ -310,6 +337,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 16 || (p) == 17)
+#define IS_PIN_INTERRUPT(p)     ((p)==2 || (p)==10 || (p)==11)
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        ((p) - 24)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -326,6 +354,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 4 || (p) == 5)
+#define IS_PIN_INTERRUPT(p)     (0)
 #define PIN_TO_DIGITAL(p)       (p)
 #define PIN_TO_ANALOG(p)        ((p) - 36)
 #define PIN_TO_PWM(p)           PIN_TO_DIGITAL(p)
@@ -339,7 +368,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 
 // as long this is not defined for all boards:
 #ifndef IS_PIN_SPI
-#define IS_PIN_SPI(p)           0
+#define IS_PIN_SPI(p)           (0)
 #endif
 
 /*==============================================================================
diff --git a/Firmata.cpp b/Firmata.cpp
index 7a78694f..a3262422 100644
--- a/Firmata.cpp
+++ b/Firmata.cpp
@@ -1,5 +1,5 @@
 /*
-  Firmata.cpp - Firmata library v2.4.0 - 2013-08-09
+  Firmata.cpp - Firmata library v2.6.0 - 2014-03-08
   Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
  
   This library is free software; you can redistribute it and/or
diff --git a/Firmata.h b/Firmata.h
index b9092060..80f37259 100644
--- a/Firmata.h
+++ b/Firmata.h
@@ -1,5 +1,5 @@
 /*
-  Firmata.h - Firmata library v2.4.0 - 2013-08-09
+  Firmata.h - Firmata library v2.6.0 - 2014-03-08
   Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
  
   This library is free software; you can redistribute it and/or
@@ -20,10 +20,10 @@
  * software can test whether it will be compatible with the currently
  * installed firmware. */
 #define FIRMATA_MAJOR_VERSION   2 // for non-compatible changes
-#define FIRMATA_MINOR_VERSION   5 // for backwards compatible changes
+#define FIRMATA_MINOR_VERSION   6 // for backwards compatible changes
 #define FIRMATA_BUGFIX_VERSION  0 // for bugfix releases
 
-#define MAX_DATA_BYTES 64 // max number of data bytes in incoming messages
+#define MAX_DATA_BYTES          64 // max number of data bytes in incoming messages
 
 // message command bytes (128-255/0x80-0xFF)
 #define DIGITAL_MESSAGE         0x90 // send data for a digital pin
@@ -41,6 +41,7 @@
 
 // extended command set using sysex (0-127/0x00-0x7F)
 /* 0x00-0x0F reserved for user-defined commands */
+#define ENCODER_DATA            0x61 // reply with encoders current positions
 #define SERVO_CONFIG            0x70 // set max angle, minPulse, maxPulse, freq
 #define STRING_DATA             0x71 // a string message with 14-bits per char
 #define STEPPER_DATA            0x72 // control a stepper motor
@@ -61,6 +62,7 @@
 #define SCHEDULER_DATA          0x7B // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
 #define SYSEX_NON_REALTIME      0x7E // MIDI Reserved for non-realtime messages
 #define SYSEX_REALTIME          0x7F // MIDI Reserved for realtime messages
+
 // these are DEPRECATED to make the naming more consistent
 #define FIRMATA_STRING          0x71 // same as STRING_DATA
 #define SYSEX_I2C_REQUEST       0x76 // same as I2C_REQUEST
@@ -77,8 +79,9 @@
 #define I2C                     0x06 // pin included in I2C setup
 #define ONEWIRE                 0x07 // pin configured for 1-wire
 #define STEPPER                 0x08 // pin configured for stepper motor
+#define ENCODER                 0x09 // pin configured for encoders
 #define IGNORE                  0x7F // pin configured to be ignored by digitalWrite and capabilityResponse
-#define TOTAL_PIN_MODES         10
+#define TOTAL_PIN_MODES         11
 
 extern "C" {
 // callback function types
diff --git a/examples/AnalogFirmata/Makefile b/examples/AnalogFirmata/Makefile
deleted file mode 100644
index e968c0a3..00000000
--- a/examples/AnalogFirmata/Makefile
+++ /dev/null
@@ -1,263 +0,0 @@
-# Arduino makefile
-#
-# This makefile allows you to build sketches from the command line
-# without the Arduino environment (or Java).
-#
-# The Arduino environment does preliminary processing on a sketch before
-# compiling it.  If you're using this makefile instead, you'll need to do
-# a few things differently:
-#
-#   - Give your program's file a .cpp extension (e.g. foo.cpp).
-#
-#   - Put this line at top of your code: #include <WProgram.h>
-#
-#   - Write prototypes for all your functions (or define them before you
-#     call them).  A prototype declares the types of parameters a
-#     function will take and what type of value it will return.  This
-#     means that you can have a call to a function before the definition
-#     of the function.  A function prototype looks like the first line of
-#     the function, with a semi-colon at the end.  For example:
-#     int digitalRead(int pin);
-#
-# Instructions for using the makefile:
-#
-#  1. Copy this file into the folder with your sketch.
-#
-#  2. Below, modify the line containing "TARGET" to refer to the name of
-#     of your program's file without an extension (e.g. TARGET = foo).
-#
-#  3. Modify the line containg "ARDUINO" to point the directory that
-#     contains the Arduino core (for normal Arduino installations, this
-#     is the hardware/cores/arduino sub-directory).
-#
-#  4. Modify the line containing "PORT" to refer to the filename
-#     representing the USB or serial connection to your Arduino board
-#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file
-#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*).
-#
-#  5. At the command line, change to the directory containing your
-#     program's file and the makefile.
-#
-#  6. Type "make" and press enter to compile/verify your program.
-#
-#  7. Type "make upload", reset your Arduino board, and press enter  to
-#     upload your program to the Arduino board.
-#
-# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $
-
-PORT = /dev/tty.usbserial-*
-TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|')
-ARDUINO = /Applications/arduino
-ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino
-ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries
-INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \
-	-I$(ARDUINO_LIB_SRC)/EEPROM \
-	-I$(ARDUINO_LIB_SRC)/Firmata \
-	-I$(ARDUINO_LIB_SRC)/Servo \
-	-I$(ARDUINO_LIB_SRC)
-SRC = $(wildcard $(ARDUINO_SRC)/*.c)
-CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \
-	$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \
-	$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \
-	$(ARDUINO_LIB_SRC)/Servo/Servo.cpp \
-	$(ARDUINO_SRC)/WMath.cpp
-HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h)
-
-MCU = atmega168
-#MCU = atmega8
-F_CPU = 16000000
-FORMAT = ihex
-UPLOAD_RATE = 19200
-
-# Name of this Makefile (used for "make depend").
-MAKEFILE = Makefile
-
-# Debugging format.
-# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
-# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
-DEBUG = stabs
-
-OPT = s
-
-# Place -D or -U options here
-CDEFS = -DF_CPU=$(F_CPU)
-CXXDEFS = -DF_CPU=$(F_CPU)
-
-# Compiler flag to set the C Standard level.
-# c89   - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99   - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-CDEBUG = -g$(DEBUG)
-CWARN = -Wall -Wstrict-prototypes
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
-
-CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
-CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT)
-#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
-LDFLAGS = 
-
-
-# Programming support using avrdude. Settings and variables.
-AVRDUDE_PROGRAMMER = stk500
-AVRDUDE_PORT = $(PORT)
-AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
-AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
-  -b $(UPLOAD_RATE) -q -V
-
-# Program settings
-CC = avr-gcc
-CXX = avr-g++
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-MV = mv -f
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
-ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-# Default target.
-all: build
-
-build: applet/$(TARGET).hex
-
-eep: applet/$(TARGET).eep
-lss: applet/$(TARGET).lss 
-sym: applet/$(TARGET).sym
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000 
-
-
-coff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-extcoff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-.SUFFIXES: .elf .hex .eep .lss .sym .pde
-
-.elf.hex:
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-.elf.eep:
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-.elf.lss:
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-.elf.sym:
-	$(NM) -n $< > $@
-
-
-# Compile: create object files from C++ source files.
-.cpp.o: $(HEADERS)
-	$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 
-
-# Compile: create object files from C source files.
-.c.o: $(HEADERS)
-	$(CC)  -c $(ALL_CFLAGS) $< -o $@ 
-
-
-# Compile: create assembler files from C source files.
-.c.s:
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-.S.o:
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-
-
-applet/$(TARGET).cpp: $(TARGET).pde
-	test -d applet || mkdir applet
-	echo '#include "WProgram.h"' > applet/$(TARGET).cpp
-	echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp
-	sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \
-		grep -v 'loop()' >> applet/$(TARGET).cpp
-	cat $(TARGET).pde >> applet/$(TARGET).cpp
-	cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp
-
-# Link: create ELF output file from object files.
-applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ)
-	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
-
-pd_close_serial:
-	echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true
-
-# Program the device.  
-upload: applet/$(TARGET).hex
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
-
-
-pd_test: build pd_close_serial upload
-
-# Target: clean project.
-clean:
-	$(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \
-	applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \
-	applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \
-	$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
-	rmdir -- applet
-
-depend:
-	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
-	then \
-		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
-			$(MAKEFILE).$$$$ && \
-		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
-	fi
-	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
-		>> $(MAKEFILE); \
-	$(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE)
-
-.PHONY:	all build eep lss sym coff extcoff clean depend pd_close_serial pd_test
-
-# for emacs
-etags:
-	make etags_`uname -s`
-	etags *.pde \
-		$(ARDUINO_SRC)/*.[ch] \
-		$(ARDUINO_SRC)/*.cpp \
-		$(ARDUINO_LIB_SRC)/*/*.[ch] \
-		$(ARDUINO_LIB_SRC)/*/*.cpp \
-		$(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \
-		$(ARDUINO)/hardware/tools/avr/avr/include/*.[ch]
-
-etags_Darwin:
-#	etags -a 
-
-etags_Linux:
-#	etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h
-
-etags_MINGW:
-#	etags -a /usr/include/*.h /usr/include/sys/*.h 
-
-
-
diff --git a/examples/ConfigurableFirmata/ConfigurableFirmata.ino b/examples/ConfigurableFirmata/ConfigurableFirmata.ino
index 3720f173..fd47bf92 100644
--- a/examples/ConfigurableFirmata/ConfigurableFirmata.ino
+++ b/examples/ConfigurableFirmata/ConfigurableFirmata.ino
@@ -15,6 +15,7 @@
   Copyright (C) 2009 Shigeru Kobayashi.  All rights reserved.
   Copyright (C) 2009-2013 Jeff Hoefs.  All rights reserved.
   Copyright (C) 2013 Norbert Truchsess. All rights reserved.
+  Copyright (C) 2014 Nicolas Panel. All rights reserved.
   
   This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
@@ -105,13 +106,16 @@ FirmataExt firmataExt;
 #include <utility/FirmataScheduler.h>
 FirmataScheduler scheduler;
 
+#include <utility/EncoderFirmata.h>
+EncoderFirmata encoder;
+
 
 // dependencies. Do not comment out the following lines
 #if defined AnalogOutputFirmata_h || defined ServoFirmata_h
 #include <utility/AnalogWrite.h>
 #endif
 
-#if defined AnalogInputFirmata_h || defined I2CFirmata_h
+#if defined AnalogInputFirmata_h || defined I2CFirmata_h || defined EncoderFirmata_h
 #include <utility/FirmataReporting.h>
 FirmataReporting reporting;
 #endif
@@ -220,6 +224,9 @@ void setup()
 #ifdef FirmataScheduler_h
   firmataExt.addFeature(scheduler);
 #endif
+#ifdef EncoderFirmata_h
+  firmataExt.addFeature(encoder);
+#endif
 #endif
   /* systemResetCallback is declared here (in ConfigurableFirmata.ino) */
   Firmata.attach(SYSTEM_RESET, systemResetCallback);
@@ -289,6 +296,10 @@ runtasks: scheduler.runTasks();
 #ifdef I2CFirmata_h
     // report i2c data for all device with read continuous mode enabled
     i2c.report();
+#endif
+#ifdef EncoderFirmata_h
+    // report encoders positions if reporting enabled.
+    encoder.report();
 #endif
   }
 #endif
diff --git a/examples/EchoString/Makefile b/examples/EchoString/Makefile
deleted file mode 100644
index e968c0a3..00000000
--- a/examples/EchoString/Makefile
+++ /dev/null
@@ -1,263 +0,0 @@
-# Arduino makefile
-#
-# This makefile allows you to build sketches from the command line
-# without the Arduino environment (or Java).
-#
-# The Arduino environment does preliminary processing on a sketch before
-# compiling it.  If you're using this makefile instead, you'll need to do
-# a few things differently:
-#
-#   - Give your program's file a .cpp extension (e.g. foo.cpp).
-#
-#   - Put this line at top of your code: #include <WProgram.h>
-#
-#   - Write prototypes for all your functions (or define them before you
-#     call them).  A prototype declares the types of parameters a
-#     function will take and what type of value it will return.  This
-#     means that you can have a call to a function before the definition
-#     of the function.  A function prototype looks like the first line of
-#     the function, with a semi-colon at the end.  For example:
-#     int digitalRead(int pin);
-#
-# Instructions for using the makefile:
-#
-#  1. Copy this file into the folder with your sketch.
-#
-#  2. Below, modify the line containing "TARGET" to refer to the name of
-#     of your program's file without an extension (e.g. TARGET = foo).
-#
-#  3. Modify the line containg "ARDUINO" to point the directory that
-#     contains the Arduino core (for normal Arduino installations, this
-#     is the hardware/cores/arduino sub-directory).
-#
-#  4. Modify the line containing "PORT" to refer to the filename
-#     representing the USB or serial connection to your Arduino board
-#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file
-#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*).
-#
-#  5. At the command line, change to the directory containing your
-#     program's file and the makefile.
-#
-#  6. Type "make" and press enter to compile/verify your program.
-#
-#  7. Type "make upload", reset your Arduino board, and press enter  to
-#     upload your program to the Arduino board.
-#
-# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $
-
-PORT = /dev/tty.usbserial-*
-TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|')
-ARDUINO = /Applications/arduino
-ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino
-ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries
-INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \
-	-I$(ARDUINO_LIB_SRC)/EEPROM \
-	-I$(ARDUINO_LIB_SRC)/Firmata \
-	-I$(ARDUINO_LIB_SRC)/Servo \
-	-I$(ARDUINO_LIB_SRC)
-SRC = $(wildcard $(ARDUINO_SRC)/*.c)
-CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \
-	$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \
-	$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \
-	$(ARDUINO_LIB_SRC)/Servo/Servo.cpp \
-	$(ARDUINO_SRC)/WMath.cpp
-HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h)
-
-MCU = atmega168
-#MCU = atmega8
-F_CPU = 16000000
-FORMAT = ihex
-UPLOAD_RATE = 19200
-
-# Name of this Makefile (used for "make depend").
-MAKEFILE = Makefile
-
-# Debugging format.
-# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
-# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
-DEBUG = stabs
-
-OPT = s
-
-# Place -D or -U options here
-CDEFS = -DF_CPU=$(F_CPU)
-CXXDEFS = -DF_CPU=$(F_CPU)
-
-# Compiler flag to set the C Standard level.
-# c89   - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99   - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-CDEBUG = -g$(DEBUG)
-CWARN = -Wall -Wstrict-prototypes
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
-
-CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
-CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT)
-#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
-LDFLAGS = 
-
-
-# Programming support using avrdude. Settings and variables.
-AVRDUDE_PROGRAMMER = stk500
-AVRDUDE_PORT = $(PORT)
-AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
-AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
-  -b $(UPLOAD_RATE) -q -V
-
-# Program settings
-CC = avr-gcc
-CXX = avr-g++
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-MV = mv -f
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
-ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-# Default target.
-all: build
-
-build: applet/$(TARGET).hex
-
-eep: applet/$(TARGET).eep
-lss: applet/$(TARGET).lss 
-sym: applet/$(TARGET).sym
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000 
-
-
-coff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-extcoff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-.SUFFIXES: .elf .hex .eep .lss .sym .pde
-
-.elf.hex:
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-.elf.eep:
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-.elf.lss:
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-.elf.sym:
-	$(NM) -n $< > $@
-
-
-# Compile: create object files from C++ source files.
-.cpp.o: $(HEADERS)
-	$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 
-
-# Compile: create object files from C source files.
-.c.o: $(HEADERS)
-	$(CC)  -c $(ALL_CFLAGS) $< -o $@ 
-
-
-# Compile: create assembler files from C source files.
-.c.s:
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-.S.o:
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-
-
-applet/$(TARGET).cpp: $(TARGET).pde
-	test -d applet || mkdir applet
-	echo '#include "WProgram.h"' > applet/$(TARGET).cpp
-	echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp
-	sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \
-		grep -v 'loop()' >> applet/$(TARGET).cpp
-	cat $(TARGET).pde >> applet/$(TARGET).cpp
-	cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp
-
-# Link: create ELF output file from object files.
-applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ)
-	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
-
-pd_close_serial:
-	echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true
-
-# Program the device.  
-upload: applet/$(TARGET).hex
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
-
-
-pd_test: build pd_close_serial upload
-
-# Target: clean project.
-clean:
-	$(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \
-	applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \
-	applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \
-	$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
-	rmdir -- applet
-
-depend:
-	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
-	then \
-		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
-			$(MAKEFILE).$$$$ && \
-		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
-	fi
-	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
-		>> $(MAKEFILE); \
-	$(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE)
-
-.PHONY:	all build eep lss sym coff extcoff clean depend pd_close_serial pd_test
-
-# for emacs
-etags:
-	make etags_`uname -s`
-	etags *.pde \
-		$(ARDUINO_SRC)/*.[ch] \
-		$(ARDUINO_SRC)/*.cpp \
-		$(ARDUINO_LIB_SRC)/*/*.[ch] \
-		$(ARDUINO_LIB_SRC)/*/*.cpp \
-		$(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \
-		$(ARDUINO)/hardware/tools/avr/avr/include/*.[ch]
-
-etags_Darwin:
-#	etags -a 
-
-etags_Linux:
-#	etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h
-
-etags_MINGW:
-#	etags -a /usr/include/*.h /usr/include/sys/*.h 
-
-
-
diff --git a/examples/ServoFirmata/Makefile b/examples/ServoFirmata/Makefile
deleted file mode 100644
index e968c0a3..00000000
--- a/examples/ServoFirmata/Makefile
+++ /dev/null
@@ -1,263 +0,0 @@
-# Arduino makefile
-#
-# This makefile allows you to build sketches from the command line
-# without the Arduino environment (or Java).
-#
-# The Arduino environment does preliminary processing on a sketch before
-# compiling it.  If you're using this makefile instead, you'll need to do
-# a few things differently:
-#
-#   - Give your program's file a .cpp extension (e.g. foo.cpp).
-#
-#   - Put this line at top of your code: #include <WProgram.h>
-#
-#   - Write prototypes for all your functions (or define them before you
-#     call them).  A prototype declares the types of parameters a
-#     function will take and what type of value it will return.  This
-#     means that you can have a call to a function before the definition
-#     of the function.  A function prototype looks like the first line of
-#     the function, with a semi-colon at the end.  For example:
-#     int digitalRead(int pin);
-#
-# Instructions for using the makefile:
-#
-#  1. Copy this file into the folder with your sketch.
-#
-#  2. Below, modify the line containing "TARGET" to refer to the name of
-#     of your program's file without an extension (e.g. TARGET = foo).
-#
-#  3. Modify the line containg "ARDUINO" to point the directory that
-#     contains the Arduino core (for normal Arduino installations, this
-#     is the hardware/cores/arduino sub-directory).
-#
-#  4. Modify the line containing "PORT" to refer to the filename
-#     representing the USB or serial connection to your Arduino board
-#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file
-#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*).
-#
-#  5. At the command line, change to the directory containing your
-#     program's file and the makefile.
-#
-#  6. Type "make" and press enter to compile/verify your program.
-#
-#  7. Type "make upload", reset your Arduino board, and press enter  to
-#     upload your program to the Arduino board.
-#
-# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $
-
-PORT = /dev/tty.usbserial-*
-TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|')
-ARDUINO = /Applications/arduino
-ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino
-ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries
-INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \
-	-I$(ARDUINO_LIB_SRC)/EEPROM \
-	-I$(ARDUINO_LIB_SRC)/Firmata \
-	-I$(ARDUINO_LIB_SRC)/Servo \
-	-I$(ARDUINO_LIB_SRC)
-SRC = $(wildcard $(ARDUINO_SRC)/*.c)
-CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \
-	$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \
-	$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \
-	$(ARDUINO_LIB_SRC)/Servo/Servo.cpp \
-	$(ARDUINO_SRC)/WMath.cpp
-HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h)
-
-MCU = atmega168
-#MCU = atmega8
-F_CPU = 16000000
-FORMAT = ihex
-UPLOAD_RATE = 19200
-
-# Name of this Makefile (used for "make depend").
-MAKEFILE = Makefile
-
-# Debugging format.
-# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
-# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
-DEBUG = stabs
-
-OPT = s
-
-# Place -D or -U options here
-CDEFS = -DF_CPU=$(F_CPU)
-CXXDEFS = -DF_CPU=$(F_CPU)
-
-# Compiler flag to set the C Standard level.
-# c89   - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99   - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-CDEBUG = -g$(DEBUG)
-CWARN = -Wall -Wstrict-prototypes
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
-
-CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
-CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT)
-#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
-LDFLAGS = 
-
-
-# Programming support using avrdude. Settings and variables.
-AVRDUDE_PROGRAMMER = stk500
-AVRDUDE_PORT = $(PORT)
-AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
-AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
-  -b $(UPLOAD_RATE) -q -V
-
-# Program settings
-CC = avr-gcc
-CXX = avr-g++
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-MV = mv -f
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
-ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-# Default target.
-all: build
-
-build: applet/$(TARGET).hex
-
-eep: applet/$(TARGET).eep
-lss: applet/$(TARGET).lss 
-sym: applet/$(TARGET).sym
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000 
-
-
-coff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-extcoff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-.SUFFIXES: .elf .hex .eep .lss .sym .pde
-
-.elf.hex:
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-.elf.eep:
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-.elf.lss:
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-.elf.sym:
-	$(NM) -n $< > $@
-
-
-# Compile: create object files from C++ source files.
-.cpp.o: $(HEADERS)
-	$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 
-
-# Compile: create object files from C source files.
-.c.o: $(HEADERS)
-	$(CC)  -c $(ALL_CFLAGS) $< -o $@ 
-
-
-# Compile: create assembler files from C source files.
-.c.s:
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-.S.o:
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-
-
-applet/$(TARGET).cpp: $(TARGET).pde
-	test -d applet || mkdir applet
-	echo '#include "WProgram.h"' > applet/$(TARGET).cpp
-	echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp
-	sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \
-		grep -v 'loop()' >> applet/$(TARGET).cpp
-	cat $(TARGET).pde >> applet/$(TARGET).cpp
-	cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp
-
-# Link: create ELF output file from object files.
-applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ)
-	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
-
-pd_close_serial:
-	echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true
-
-# Program the device.  
-upload: applet/$(TARGET).hex
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
-
-
-pd_test: build pd_close_serial upload
-
-# Target: clean project.
-clean:
-	$(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \
-	applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \
-	applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \
-	$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
-	rmdir -- applet
-
-depend:
-	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
-	then \
-		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
-			$(MAKEFILE).$$$$ && \
-		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
-	fi
-	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
-		>> $(MAKEFILE); \
-	$(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE)
-
-.PHONY:	all build eep lss sym coff extcoff clean depend pd_close_serial pd_test
-
-# for emacs
-etags:
-	make etags_`uname -s`
-	etags *.pde \
-		$(ARDUINO_SRC)/*.[ch] \
-		$(ARDUINO_SRC)/*.cpp \
-		$(ARDUINO_LIB_SRC)/*/*.[ch] \
-		$(ARDUINO_LIB_SRC)/*/*.cpp \
-		$(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \
-		$(ARDUINO)/hardware/tools/avr/avr/include/*.[ch]
-
-etags_Darwin:
-#	etags -a 
-
-etags_Linux:
-#	etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h
-
-etags_MINGW:
-#	etags -a /usr/include/*.h /usr/include/sys/*.h 
-
-
-
diff --git a/examples/SimpleAnalogFirmata/Makefile b/examples/SimpleAnalogFirmata/Makefile
deleted file mode 100644
index e968c0a3..00000000
--- a/examples/SimpleAnalogFirmata/Makefile
+++ /dev/null
@@ -1,263 +0,0 @@
-# Arduino makefile
-#
-# This makefile allows you to build sketches from the command line
-# without the Arduino environment (or Java).
-#
-# The Arduino environment does preliminary processing on a sketch before
-# compiling it.  If you're using this makefile instead, you'll need to do
-# a few things differently:
-#
-#   - Give your program's file a .cpp extension (e.g. foo.cpp).
-#
-#   - Put this line at top of your code: #include <WProgram.h>
-#
-#   - Write prototypes for all your functions (or define them before you
-#     call them).  A prototype declares the types of parameters a
-#     function will take and what type of value it will return.  This
-#     means that you can have a call to a function before the definition
-#     of the function.  A function prototype looks like the first line of
-#     the function, with a semi-colon at the end.  For example:
-#     int digitalRead(int pin);
-#
-# Instructions for using the makefile:
-#
-#  1. Copy this file into the folder with your sketch.
-#
-#  2. Below, modify the line containing "TARGET" to refer to the name of
-#     of your program's file without an extension (e.g. TARGET = foo).
-#
-#  3. Modify the line containg "ARDUINO" to point the directory that
-#     contains the Arduino core (for normal Arduino installations, this
-#     is the hardware/cores/arduino sub-directory).
-#
-#  4. Modify the line containing "PORT" to refer to the filename
-#     representing the USB or serial connection to your Arduino board
-#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file
-#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*).
-#
-#  5. At the command line, change to the directory containing your
-#     program's file and the makefile.
-#
-#  6. Type "make" and press enter to compile/verify your program.
-#
-#  7. Type "make upload", reset your Arduino board, and press enter  to
-#     upload your program to the Arduino board.
-#
-# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $
-
-PORT = /dev/tty.usbserial-*
-TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|')
-ARDUINO = /Applications/arduino
-ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino
-ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries
-INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \
-	-I$(ARDUINO_LIB_SRC)/EEPROM \
-	-I$(ARDUINO_LIB_SRC)/Firmata \
-	-I$(ARDUINO_LIB_SRC)/Servo \
-	-I$(ARDUINO_LIB_SRC)
-SRC = $(wildcard $(ARDUINO_SRC)/*.c)
-CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \
-	$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \
-	$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \
-	$(ARDUINO_LIB_SRC)/Servo/Servo.cpp \
-	$(ARDUINO_SRC)/WMath.cpp
-HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h)
-
-MCU = atmega168
-#MCU = atmega8
-F_CPU = 16000000
-FORMAT = ihex
-UPLOAD_RATE = 19200
-
-# Name of this Makefile (used for "make depend").
-MAKEFILE = Makefile
-
-# Debugging format.
-# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
-# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
-DEBUG = stabs
-
-OPT = s
-
-# Place -D or -U options here
-CDEFS = -DF_CPU=$(F_CPU)
-CXXDEFS = -DF_CPU=$(F_CPU)
-
-# Compiler flag to set the C Standard level.
-# c89   - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99   - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-CDEBUG = -g$(DEBUG)
-CWARN = -Wall -Wstrict-prototypes
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
-
-CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
-CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT)
-#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
-LDFLAGS = 
-
-
-# Programming support using avrdude. Settings and variables.
-AVRDUDE_PROGRAMMER = stk500
-AVRDUDE_PORT = $(PORT)
-AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
-AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
-  -b $(UPLOAD_RATE) -q -V
-
-# Program settings
-CC = avr-gcc
-CXX = avr-g++
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-MV = mv -f
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
-ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-# Default target.
-all: build
-
-build: applet/$(TARGET).hex
-
-eep: applet/$(TARGET).eep
-lss: applet/$(TARGET).lss 
-sym: applet/$(TARGET).sym
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000 
-
-
-coff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-extcoff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-.SUFFIXES: .elf .hex .eep .lss .sym .pde
-
-.elf.hex:
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-.elf.eep:
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-.elf.lss:
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-.elf.sym:
-	$(NM) -n $< > $@
-
-
-# Compile: create object files from C++ source files.
-.cpp.o: $(HEADERS)
-	$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 
-
-# Compile: create object files from C source files.
-.c.o: $(HEADERS)
-	$(CC)  -c $(ALL_CFLAGS) $< -o $@ 
-
-
-# Compile: create assembler files from C source files.
-.c.s:
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-.S.o:
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-
-
-applet/$(TARGET).cpp: $(TARGET).pde
-	test -d applet || mkdir applet
-	echo '#include "WProgram.h"' > applet/$(TARGET).cpp
-	echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp
-	sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \
-		grep -v 'loop()' >> applet/$(TARGET).cpp
-	cat $(TARGET).pde >> applet/$(TARGET).cpp
-	cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp
-
-# Link: create ELF output file from object files.
-applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ)
-	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
-
-pd_close_serial:
-	echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true
-
-# Program the device.  
-upload: applet/$(TARGET).hex
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
-
-
-pd_test: build pd_close_serial upload
-
-# Target: clean project.
-clean:
-	$(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \
-	applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \
-	applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \
-	$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
-	rmdir -- applet
-
-depend:
-	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
-	then \
-		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
-			$(MAKEFILE).$$$$ && \
-		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
-	fi
-	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
-		>> $(MAKEFILE); \
-	$(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE)
-
-.PHONY:	all build eep lss sym coff extcoff clean depend pd_close_serial pd_test
-
-# for emacs
-etags:
-	make etags_`uname -s`
-	etags *.pde \
-		$(ARDUINO_SRC)/*.[ch] \
-		$(ARDUINO_SRC)/*.cpp \
-		$(ARDUINO_LIB_SRC)/*/*.[ch] \
-		$(ARDUINO_LIB_SRC)/*/*.cpp \
-		$(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \
-		$(ARDUINO)/hardware/tools/avr/avr/include/*.[ch]
-
-etags_Darwin:
-#	etags -a 
-
-etags_Linux:
-#	etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h
-
-etags_MINGW:
-#	etags -a /usr/include/*.h /usr/include/sys/*.h 
-
-
-
diff --git a/examples/SimpleDigitalFirmata/Makefile b/examples/SimpleDigitalFirmata/Makefile
deleted file mode 100644
index e968c0a3..00000000
--- a/examples/SimpleDigitalFirmata/Makefile
+++ /dev/null
@@ -1,263 +0,0 @@
-# Arduino makefile
-#
-# This makefile allows you to build sketches from the command line
-# without the Arduino environment (or Java).
-#
-# The Arduino environment does preliminary processing on a sketch before
-# compiling it.  If you're using this makefile instead, you'll need to do
-# a few things differently:
-#
-#   - Give your program's file a .cpp extension (e.g. foo.cpp).
-#
-#   - Put this line at top of your code: #include <WProgram.h>
-#
-#   - Write prototypes for all your functions (or define them before you
-#     call them).  A prototype declares the types of parameters a
-#     function will take and what type of value it will return.  This
-#     means that you can have a call to a function before the definition
-#     of the function.  A function prototype looks like the first line of
-#     the function, with a semi-colon at the end.  For example:
-#     int digitalRead(int pin);
-#
-# Instructions for using the makefile:
-#
-#  1. Copy this file into the folder with your sketch.
-#
-#  2. Below, modify the line containing "TARGET" to refer to the name of
-#     of your program's file without an extension (e.g. TARGET = foo).
-#
-#  3. Modify the line containg "ARDUINO" to point the directory that
-#     contains the Arduino core (for normal Arduino installations, this
-#     is the hardware/cores/arduino sub-directory).
-#
-#  4. Modify the line containing "PORT" to refer to the filename
-#     representing the USB or serial connection to your Arduino board
-#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file
-#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*).
-#
-#  5. At the command line, change to the directory containing your
-#     program's file and the makefile.
-#
-#  6. Type "make" and press enter to compile/verify your program.
-#
-#  7. Type "make upload", reset your Arduino board, and press enter  to
-#     upload your program to the Arduino board.
-#
-# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $
-
-PORT = /dev/tty.usbserial-*
-TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|')
-ARDUINO = /Applications/arduino
-ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino
-ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries
-INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \
-	-I$(ARDUINO_LIB_SRC)/EEPROM \
-	-I$(ARDUINO_LIB_SRC)/Firmata \
-	-I$(ARDUINO_LIB_SRC)/Servo \
-	-I$(ARDUINO_LIB_SRC)
-SRC = $(wildcard $(ARDUINO_SRC)/*.c)
-CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \
-	$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \
-	$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \
-	$(ARDUINO_LIB_SRC)/Servo/Servo.cpp \
-	$(ARDUINO_SRC)/WMath.cpp
-HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h)
-
-MCU = atmega168
-#MCU = atmega8
-F_CPU = 16000000
-FORMAT = ihex
-UPLOAD_RATE = 19200
-
-# Name of this Makefile (used for "make depend").
-MAKEFILE = Makefile
-
-# Debugging format.
-# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
-# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
-DEBUG = stabs
-
-OPT = s
-
-# Place -D or -U options here
-CDEFS = -DF_CPU=$(F_CPU)
-CXXDEFS = -DF_CPU=$(F_CPU)
-
-# Compiler flag to set the C Standard level.
-# c89   - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99   - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-CDEBUG = -g$(DEBUG)
-CWARN = -Wall -Wstrict-prototypes
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
-
-CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
-CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT)
-#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
-LDFLAGS = 
-
-
-# Programming support using avrdude. Settings and variables.
-AVRDUDE_PROGRAMMER = stk500
-AVRDUDE_PORT = $(PORT)
-AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
-AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
-  -b $(UPLOAD_RATE) -q -V
-
-# Program settings
-CC = avr-gcc
-CXX = avr-g++
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
-AVRDUDE = avrdude
-REMOVE = rm -f
-MV = mv -f
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
-ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-# Default target.
-all: build
-
-build: applet/$(TARGET).hex
-
-eep: applet/$(TARGET).eep
-lss: applet/$(TARGET).lss 
-sym: applet/$(TARGET).sym
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000 
-
-
-coff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-extcoff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-.SUFFIXES: .elf .hex .eep .lss .sym .pde
-
-.elf.hex:
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-.elf.eep:
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-.elf.lss:
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-.elf.sym:
-	$(NM) -n $< > $@
-
-
-# Compile: create object files from C++ source files.
-.cpp.o: $(HEADERS)
-	$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 
-
-# Compile: create object files from C source files.
-.c.o: $(HEADERS)
-	$(CC)  -c $(ALL_CFLAGS) $< -o $@ 
-
-
-# Compile: create assembler files from C source files.
-.c.s:
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-.S.o:
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-
-
-applet/$(TARGET).cpp: $(TARGET).pde
-	test -d applet || mkdir applet
-	echo '#include "WProgram.h"' > applet/$(TARGET).cpp
-	echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp
-	sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \
-		grep -v 'loop()' >> applet/$(TARGET).cpp
-	cat $(TARGET).pde >> applet/$(TARGET).cpp
-	cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp
-
-# Link: create ELF output file from object files.
-applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ)
-	$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
-
-pd_close_serial:
-	echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true
-
-# Program the device.  
-upload: applet/$(TARGET).hex
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
-
-
-pd_test: build pd_close_serial upload
-
-# Target: clean project.
-clean:
-	$(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \
-	applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \
-	applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \
-	$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
-	rmdir -- applet
-
-depend:
-	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
-	then \
-		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
-			$(MAKEFILE).$$$$ && \
-		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
-	fi
-	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
-		>> $(MAKEFILE); \
-	$(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE)
-
-.PHONY:	all build eep lss sym coff extcoff clean depend pd_close_serial pd_test
-
-# for emacs
-etags:
-	make etags_`uname -s`
-	etags *.pde \
-		$(ARDUINO_SRC)/*.[ch] \
-		$(ARDUINO_SRC)/*.cpp \
-		$(ARDUINO_LIB_SRC)/*/*.[ch] \
-		$(ARDUINO_LIB_SRC)/*/*.cpp \
-		$(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \
-		$(ARDUINO)/hardware/tools/avr/avr/include/*.[ch]
-
-etags_Darwin:
-#	etags -a 
-
-etags_Linux:
-#	etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h
-
-etags_MINGW:
-#	etags -a /usr/include/*.h /usr/include/sys/*.h 
-
-
-
diff --git a/examples/SimpleEncoderFirmata/SimpleEncoderFirmata.ino b/examples/SimpleEncoderFirmata/SimpleEncoderFirmata.ino
new file mode 100644
index 00000000..22d8ae70
--- /dev/null
+++ b/examples/SimpleEncoderFirmata/SimpleEncoderFirmata.ino
@@ -0,0 +1,80 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please click on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
+/*
+  Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
+  Copyright (C) 2010-2011 Paul Stoffregen.  All rights reserved.
+  Copyright (C) 2009 Shigeru Kobayashi.  All rights reserved.
+  Copyright (C) 2009-2013 Jeff Hoefs.  All rights reserved.
+  Copyright (C) 2013 Norbert Truchsess. All rights reserved.
+  Copyright (C) 2014 Nicolas Panel. All rights reserved.
+  
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+ 
+  See file LICENSE.txt for further informations on licensing terms.
+
+  formatted using the GNU C formatting and indenting
+ 
+ */
+
+//* Due to arduino issue, Wire and Servo libraries need to be included. Should be fixed in later versions
+#include <Wire.h>
+#include <Servo.h>
+//*/
+#include <Firmata.h>
+#include <utility/FirmataExt.h>
+#include <utility/FirmataReporting.h>
+#include <utility/EncoderFirmata.h>
+
+FirmataExt firmataExt;
+FirmataReporting reporting;
+EncoderFirmata encoder;
+
+/*==============================================================================
+ * FUNCTIONS
+ *============================================================================*/
+void systemResetCallback()
+{
+  firmataExt.reset();
+}
+
+/*==============================================================================
+ * SETUP()
+ *============================================================================*/
+void setup() 
+{
+  Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
+  firmataExt.addFeature(reporting);
+  firmataExt.addFeature(encoder);
+  /* systemResetCallback is declared here (in ConfigurableFirmata.ino) */
+  Firmata.attach(SYSTEM_RESET, systemResetCallback);
+  Firmata.begin(57600);
+  systemResetCallback();  // reset to default config
+}
+
+/*==============================================================================
+ * LOOP()
+ *============================================================================*/
+void loop() 
+{
+  /* STREAMREAD - processing incoming messagse as soon as possible, while still
+   * checking digital inputs.  */
+  while(Firmata.available()) {
+    Firmata.processInput();
+  }
+
+  if (reporting.elapsed()) {
+    encoder.report();
+  }
+}
diff --git a/examples/StandardFirmata/Makefile b/examples/StandardFirmata/Makefile
deleted file mode 100644
index 835187ae..00000000
--- a/examples/StandardFirmata/Makefile
+++ /dev/null
@@ -1,273 +0,0 @@
-# Arduino makefile
-#
-# This makefile allows you to build sketches from the command line
-# without the Arduino environment (or Java).
-#
-# The Arduino environment does preliminary processing on a sketch before
-# compiling it.  If you're using this makefile instead, you'll need to do
-# a few things differently:
-#
-#   - Give your program's file a .cpp extension (e.g. foo.cpp).
-#
-#   - Put this line at top of your code: #include <WProgram.h>
-#
-#   - Write prototypes for all your functions (or define them before you
-#     call them).  A prototype declares the types of parameters a
-#     function will take and what type of value it will return.  This
-#     means that you can have a call to a function before the definition
-#     of the function.  A function prototype looks like the first line of
-#     the function, with a semi-colon at the end.  For example:
-#     int digitalRead(int pin);
-#
-# Instructions for using the makefile:
-#
-#  1. Copy this file into the folder with your sketch.
-#
-#  2. Below, modify the line containing "TARGET" to refer to the name of
-#     of your program's file without an extension (e.g. TARGET = foo).
-#
-#  3. Modify the line containg "ARDUINO" to point the directory that
-#     contains the Arduino core (for normal Arduino installations, this
-#     is the hardware/cores/arduino sub-directory).
-#
-#  4. Modify the line containing "PORT" to refer to the filename
-#     representing the USB or serial connection to your Arduino board
-#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file
-#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*).
-#
-#  5. At the command line, change to the directory containing your
-#     program's file and the makefile.
-#
-#  6. Type "make" and press enter to compile/verify your program.
-#
-#  7. Type "make upload", reset your Arduino board, and press enter  to
-#     upload your program to the Arduino board.
-#
-# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $
-
-PORT = /dev/tty.usbserial-*
-TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|')
-ARDUINO = /Applications/arduino
-ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino
-ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries
-ARDUINO_TOOLS = $(ARDUINO)/hardware/tools
-INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \
-	-I$(ARDUINO_LIB_SRC)/EEPROM \
-	-I$(ARDUINO_LIB_SRC)/Firmata \
-	-I$(ARDUINO_LIB_SRC)/Matrix \
-	-I$(ARDUINO_LIB_SRC)/Servo \
-	-I$(ARDUINO_LIB_SRC)/Wire \
-	-I$(ARDUINO_LIB_SRC)
-SRC = $(wildcard $(ARDUINO_SRC)/*.c)
-CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \
-	$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \
-	$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \
-	$(ARDUINO_LIB_SRC)/Servo/Servo.cpp \
-	$(ARDUINO_SRC)/Print.cpp \
-	$(ARDUINO_SRC)/WMath.cpp
-HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h)
-
-MCU = atmega168
-#MCU = atmega8
-F_CPU = 16000000
-FORMAT = ihex
-UPLOAD_RATE = 19200
-
-# Name of this Makefile (used for "make depend").
-MAKEFILE = Makefile
-
-# Debugging format.
-# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
-# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
-DEBUG = stabs
-
-OPT = s
-
-# Place -D or -U options here
-CDEFS = -DF_CPU=$(F_CPU)
-CXXDEFS = -DF_CPU=$(F_CPU)
-
-# Compiler flag to set the C Standard level.
-# c89   - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99   - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-CDEBUG = -g$(DEBUG)
-CWARN = -Wall -Wstrict-prototypes
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
-
-CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
-CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT)
-#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
-LDFLAGS = 
-
-
-# Programming support using avrdude. Settings and variables.
-AVRDUDE_PROGRAMMER = stk500
-AVRDUDE_PORT = $(PORT)
-AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
-AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
-  -b $(UPLOAD_RATE) -q -V
-
-# Program settings
-ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin
-CC = $(ARDUINO_AVR_BIN)/avr-gcc 
-CXX = $(ARDUINO_AVR_BIN)/avr-g++
-OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy
-OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump
-SIZE = $(ARDUINO_AVR_BIN)/avr-size
-NM = $(ARDUINO_AVR_BIN)/avr-nm
-#AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude
-AVRDUDE = avrdude
-REMOVE = rm -f
-MV = mv -f
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
-ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-# Default target.
-all: build
-
-build: applet/$(TARGET).hex
-
-eep: applet/$(TARGET).eep
-lss: applet/$(TARGET).lss 
-sym: applet/$(TARGET).sym
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000 
-
-
-coff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-extcoff: applet/$(TARGET).elf
-	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-.SUFFIXES: .elf .hex .eep .lss .sym .pde
-
-.elf.hex:
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-.elf.eep:
-	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-.elf.lss:
-	$(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-.elf.sym:
-	$(NM) -n $< > $@
-
-
-# Compile: create object files from C++ source files.
-.cpp.o: $(HEADERS)
-	$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 
-
-# Compile: create object files from C source files.
-.c.o: $(HEADERS)
-	$(CC)  -c $(ALL_CFLAGS) $< -o $@ 
-
-
-# Compile: create assembler files from C source files.
-.c.s:
-	$(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-.S.o:
-	$(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-
-
-applet/$(TARGET).cpp: $(TARGET).pde
-	test -d applet || mkdir applet
-	echo '#include "WProgram.h"' > applet/$(TARGET).cpp
-	echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp
-	sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \
-		grep -v 'loop()' >> applet/$(TARGET).cpp
-	cat $(TARGET).pde >> applet/$(TARGET).cpp
-	cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp
-
-# Link: create ELF output file from object files.
-applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ)
-	$(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS)
-#	$(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS)
-
-pd_close_serial:
-	echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true
-
-# Program the device.  
-upload: applet/$(TARGET).hex
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
-
-
-pd_test: build pd_close_serial upload
-
-# Target: clean project.
-clean:
-	$(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \
-	applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \
-	applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \
-	$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
-	rmdir -- applet
-
-depend:
-	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
-	then \
-		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
-			$(MAKEFILE).$$$$ && \
-		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
-	fi
-	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
-		>> $(MAKEFILE); \
-	$(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE)
-
-.PHONY:	all build eep lss sym coff extcoff clean depend pd_close_serial pd_test
-
-# for emacs
-etags:
-	make etags_`uname -s`
-	etags *.pde \
-		$(ARDUINO_SRC)/*.[ch] \
-		$(ARDUINO_SRC)/*.cpp \
-		$(ARDUINO_LIB_SRC)/*/*.[ch] \
-		$(ARDUINO_LIB_SRC)/*/*.cpp \
-		$(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \
-		$(ARDUINO)/hardware/tools/avr/avr/include/*.[ch]
-
-etags_Darwin:
-#	etags -a 
-
-etags_Linux:
-#	etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h
-
-etags_MINGW:
-#	etags -a /usr/include/*.h /usr/include/sys/*.h 
-
-
-path:
-	echo $(PATH)
-	echo $$PATH
-
diff --git a/library.properties b/library.properties
index 6a8ca5e4..abc8dc0f 100644
--- a/library.properties
+++ b/library.properties
@@ -1,10 +1,8 @@
 name=Firmata
+version=2.6.0
 author=Firmata Developers
-email=firmata-devel@lists.sourceforge.net
+maintainer=firmata-devel@lists.sourceforge.net
 sentence=This library implements the Firmata protocol and allows you to control the Arduino board from the an application on the computer.
 paragraph=The Firmata library implements the Firmata protocol for communicating with software on the host computer. This allows you to write custom firmware without having to create your own protocol and objects for the programming environment that you are using.
 url=http://firmata.org
 architectures=*
-version=2.5.0
-dependencies=
-core-dependencies=arduino (>=1.5.0)
diff --git a/readme.md b/readme.md
index 416661c5..621e0999 100644
--- a/readme.md
+++ b/readme.md
@@ -18,6 +18,7 @@ Most of the time you will be interacting with arduino with a client library on t
   * [https://github.com/firmata/pyduino]
   * [https://github.com/lupeke/python-firmata]
   * [https://github.com/tino/pyFirmata]
+  * [https://github.com/MrYsLab/PyMata]
 * perl
   * [https://github.com/ntruchsess/perl-firmata]
   * [https://github.com/rcaputo/rx-firmata]
@@ -41,11 +42,15 @@ Most of the time you will be interacting with arduino with a client library on t
   * [http://code.google.com/p/as3glue/]
 * PHP
   * [https://bitbucket.org/ThomasWeinert/carica-firmata]
+* Haskell
+  * [http://hackage.haskell.org/package/hArduino]
+* iOS
+  * [https://github.com/jacobrosenthal/iosfirmata]
 
 Note: The above libraries may support various versions of the Firmata protocol and therefore may not support all features of the latest Firmata spec nor all arduino and arduino-compatible boards. Refer to the respective projects for details.
 
 ##Updating Firmata in the Arduino IDE
-The version of firmata in the Arduino IDE contains an outdated version of Firmata. To update Firmata, clone the repo into the location of firmata in the arduino IDE or download the latest [tagged version](https://github.com/firmata/arduino/tags) (stable), rename the folder to "Firmata" and replace the existing Firmata folder in your Ardino application. If you are using Arduino 1.5.x, you'll need to delete the avr specific Firmata folder per the instructions in the next section.
+The version of firmata in the Arduino IDE contains an outdated version of Firmata. To update Firmata, clone the repo into the location of firmata in the arduino IDE or download the latest [tagged version](https://github.com/firmata/arduino/tags) (stable), rename the folder to "Firmata" and replace the existing Firmata folder in your Ardino application.
 
 **Mac OSX**:
 
@@ -62,8 +67,8 @@ Using the Git Shell application installed with [GitHub for Windows](http://windo
 
 update the path and arduino version as necessary
 ```bash
-$ rm -r c:/Program\ Files/arduino-1.x/libraries/Firmata
-$ git clone git@github.com:firmata/arduino.git c:/Program\ Files/arduino-1.x/libraries/Firmata
+$ rm -r c:/Program\ Files/arduino/libraries/Firmata
+$ git clone git@github.com:firmata/arduino.git c:/Program\ Files/arduino/libraries/Firmata
 ```
 
 Note: If you use GitHub for Windows, you must clone the firmata/arduino repository using the Git Shell application as described above. You can use the Github for Windows GUI only after you have cloned the repository. Drag the Firmata file into the Github for Windows GUI to track it.
@@ -72,30 +77,8 @@ Note: If you use GitHub for Windows, you must clone the firmata/arduino reposito
 
 update the path and arduino version as necessary
 ```bash
-$ rm -r ~/arduino-1.x/libraries/Firmata
-$ git clone git@github.com:firmata/arduino.git ~/arduino-1.x/libraries/Firmata
-```
-
-##Updating Firmata in the Arduino 1.5.0, 1.5.1 or 1.5.2 IDE
-Follow the instructions above to copy Firmata to the libraries directory. However
-you will also need to delete the version of Firmata that is included in the avr
-platform specific libraries directory. You'll find it in the following locations
-depending on your OS. Delete the Firmata folder. Beginning with Arduino 1.5.3 this
-step will no longer be necessary.
-
-**Mac OSX**:
-```
-/Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/avr/libraries/Firmata
-```
-
-**Windows**:
-```
-/Program\ Files/arduino-1.5.x/hardware/arduino/avr/libraries/Firmata
-```
-
-**Linux**
-```
-~/arduino-1.5.x/hardware/arduino/avr/libraries/Firmata
+$ rm -r ~/arduino/libraries/Firmata
+$ git clone git@github.com:firmata/arduino.git ~/arduino/libraries/Firmata
 ```
 
 <a name="contributing" />
@@ -103,7 +86,7 @@ step will no longer be necessary.
 
 If you discover a bug or would like to propose a new feature, please open a new [issue](https://github.com/firmata/arduino/issues?sort=created&state=open). Due to the limited memory of standard Arduino boards we cannot add every requested feature to StandardFirmata. Requests to add new features to StandardFirmata will be evaluated by the Firmata developers. However it is still possible to add new features to other Firmata implementations (Firmata is a protocol whereas StandardFirmata is just one of many possible implementations).
 
-To contribute, fork this respository and create a new topic branch for the bug, feature or other existing issue you are addressing. Submit the pull request against the *dev* branch.
+To contribute, fork this respository and create a new topic branch for the bug, feature or other existing issue you are addressing. Submit the pull request against the *dev* branch. If you are contributing a feature for configurable firmata, submit the pull request against the *configurable_dev* branch.
 
 If you would like to contribute but don't have a specific bugfix or new feature to contribute, you can take on an existing issue, see issues labeled "pull-request-encouraged". Add a comment to the issue to express your intent to begin work and/or to get any additional information about the issue.
 
diff --git a/release.sh b/release.sh
index 79598857..de3c66f1 100644
--- a/release.sh
+++ b/release.sh
@@ -3,7 +3,7 @@
 # use this script to package Firmata for distribution
 # to do: make an ant script or something else that is cross platform
 
-# package for Arduino 1.0.x
+# create distribution package for Arduino 1.0.x and Arduino 1.5.x
 mkdir -p temp/Firmata
 cp -r examples temp/Firmata
 cp -r extras temp/Firmata
@@ -17,20 +17,5 @@ cd temp
 find . -name "*.DS_Store" -type f -delete
 zip -r Firmata.zip ./Firmata/
 cd ..
-mv ./temp/Firmata.zip Firmata-2.5.0.zip
-
-#package for Arduino 1.5.x
-cp library.properties temp/Firmata
-cd temp/Firmata
-mv readme.md ./extras/
-mkdir src
-mv Boards.h ./src/
-mv Firmata.cpp ./src/
-mv Firmata.h ./src/
-mv utility ./src/
-cd ..
-find . -name "*.DS_Store" -type f -delete
-zip -r Firmata.zip ./Firmata/
-cd ..
-mv ./temp/Firmata.zip Arduino-1.5.x-Firmata-2.5.0.zip
+mv ./temp/Firmata.zip Firmata-2.6.0.zip
 rm -r ./temp
diff --git a/test/encoder_test/encoder_test.ino b/test/encoder_test/encoder_test.ino
new file mode 100644
index 00000000..7ef355ed
--- /dev/null
+++ b/test/encoder_test/encoder_test.ino
@@ -0,0 +1,226 @@
+/*
+ * To run this test suite, you must first install to your Arduino/libraries/ directory : 
+ * the ArduinoUnit library to your Arduino/libraries/ directory. 
+ * available  here: https://github.com/mmurdoch/arduinounit (2.0 or greater.)
+ */
+
+//* Due to arduino issue, Wire and Servo libraries need to be included. Should be fixed in later versions
+#include <Wire.h>
+#include <Servo.h>
+//*/
+#include <ArduinoUnit.h>
+#include "Firmata.h"
+#include "utility/EncoderFirmata.h" 
+
+// overide interrupt macro (for unit tests only)
+#define IS_PIN_INTERRUPT(p)   ((p) == 2 || (p) == 3) 
+
+FakeStream stream;
+
+void setup()
+{
+  Firmata.begin(stream); // use fake stream
+  
+  Serial.begin(57600); // must match port configuration
+}
+
+
+
+test(attachEncoder)
+{  
+  EncoderFirmata encoder;
+  byte encoderNum = 0, pin1 = 2, pin2 = 3;
+  
+  assertFalse(encoder.isEncoderAttached(encoderNum));
+  
+  encoder.attachEncoder(encoderNum, pin1, pin2);
+
+  assertTrue(encoder.isEncoderAttached(encoderNum));
+}
+
+test(requiredMemoryPerInstance)
+{  
+  assertTestPass(attachEncoder);
+  EncoderFirmata encoder;
+  byte encoderNum = 0, pin1 = 2, pin2 = 3;
+  int initialMemory = freeMemory();
+  encoder.attachEncoder(encoderNum, pin1, pin2);
+  int afterInitializationMemory = freeMemory();
+  int requiredMemory = initialMemory - afterInitializationMemory;
+  Serial.print(requiredMemory, DEC);
+  Serial.println(" mem req. per instance");
+  assertTrue(requiredMemory < 16);
+}
+
+test(handleAttachEncoderMessage)
+{  
+  assertTestPass(attachEncoder);
+  EncoderFirmata encoder;
+  byte encoderNum = 0, pin1 = 2, pin2 = 3;
+  
+  assertFalse(encoder.isEncoderAttached(encoderNum));
+  byte message[]={ENCODER_ATTACH, encoderNum, pin1, pin2};
+  encoder.handleSysex(ENCODER_DATA, 4, message);
+
+  assertTrue(encoder.isEncoderAttached(encoderNum));
+}
+
+test(detachEncoder)
+{
+  EncoderFirmata encoder;
+  byte encoderNum = 0, pin1 = 2, pin2 = 3;
+  encoder.attachEncoder(encoderNum, pin1, pin2);
+
+  encoder.detachEncoder(encoderNum);
+  assertFalse(encoder.isEncoderAttached(encoderNum));
+}
+
+test(handeDetachEncoderMessage)
+{
+  
+  EncoderFirmata encoder;
+  byte encoderNum = 0, pin1 = 2, pin2 = 3;
+  encoder.attachEncoder(encoderNum, pin1, pin2);
+
+  byte message[]={ENCODER_DETACH, encoderNum};
+  encoder.handleSysex(ENCODER_DATA, 2, message);
+  assertFalse(encoder.isEncoderAttached(encoderNum));
+}
+
+
+test(handlePinModes)
+{
+  EncoderFirmata encoder;
+  
+  assertTrue(encoder.handlePinMode(2, ENCODER));  // 2 is interrupt
+  assertFalse(encoder.handlePinMode(1, ENCODER)); // 1 is NOT interrupt
+}
+
+test(reportEncoderPosition)
+{
+  assertTestPass(attachEncoder);
+  
+  EncoderFirmata encoder;
+  byte encoderNum = 1, pin1 = 2, pin2 = 3;
+  encoder.attachEncoder(encoderNum, pin1, pin2);
+  
+  stream.reset();
+  encoder.reportPosition(encoderNum);
+  assertEqual(stream.bytesWritten().length(), 8);
+}
+
+test(handeReportEncoderPositionMessage)
+{
+  EncoderFirmata encoder;
+  byte encoderNum = 0, pin1 = 2, pin2 = 3;
+  encoder.attachEncoder(encoderNum, pin1, pin2);
+  
+  stream.reset();
+  byte message[]={ENCODER_REPORT_POSITION, encoderNum};
+  encoder.handleSysex(ENCODER_DATA, 2, message);
+  assertEqual(stream.bytesWritten().length(), 8);
+}
+
+test(reportEncodersPositions)
+{
+  assertTestPass(attachEncoder);
+  
+  EncoderFirmata encoder;
+  byte encoderNum = 0, pin1 = 2, pin2 = 3;
+  encoder.attachEncoder(encoderNum, pin1, pin2);
+  
+  stream.reset();
+  encoder.reportPositions();
+  assertEqual(stream.bytesWritten().length(), 8);
+}
+
+test(handleReportEncodersPositionsMessage)
+{
+  
+  EncoderFirmata encoder;
+  byte encoderNum = 0, pin1 = 2, pin2 = 3;
+  encoder.attachEncoder(encoderNum, pin1, pin2);
+  
+  stream.reset();
+  byte message[]={ENCODER_REPORT_POSITIONS};
+  encoder.handleSysex(ENCODER_DATA, 1, message);
+  assertEqual(stream.bytesWritten().length(), 8);
+}
+
+test(enableAutomaticReports)
+{
+  EncoderFirmata encoder;
+  assertTrue(encoder.isReportingEnabled());
+  encoder.toggleAutoReport(1);
+  assertTrue(encoder.isReportingEnabled());
+  encoder.toggleAutoReport(2);
+  assertTrue(encoder.isReportingEnabled());
+  encoder.toggleAutoReport(0);
+  assertFalse(encoder.isReportingEnabled());
+}
+
+test(handleEnableAutomaticReportsMessage)
+{
+  EncoderFirmata encoder;
+  encoder.toggleAutoReport(0);
+  assertFalse(encoder.isReportingEnabled());
+
+  byte enableMessage[]={ENCODER_REPORT_AUTO, 0x01};
+  encoder.handleSysex(ENCODER_DATA, 2, enableMessage);
+
+  assertTrue(encoder.isReportingEnabled());
+
+  byte disableMessage[]={ENCODER_REPORT_AUTO, 0x00};
+  encoder.handleSysex(ENCODER_DATA, 2, disableMessage);
+
+  assertFalse(encoder.isReportingEnabled());
+}
+
+test(fullReport)
+{
+  assertTestPass(enableAutomaticReports);
+  
+  EncoderFirmata encoder;
+  
+  stream.reset();
+  encoder.report();
+  assertEqual(stream.bytesWritten().length(), 0); // reports disable
+  
+  encoder.toggleAutoReport(1);
+  
+  stream.reset();
+  encoder.report();
+  assertEqual(stream.bytesWritten().length(), 0); // no encoder attached
+
+
+  byte pin1 = 2, pin2 = 3;
+  encoder.attachEncoder(0, pin1, pin2);
+
+  stream.reset();
+  encoder.report();
+  assertEqual(stream.bytesWritten().length(), 8); // 1 encoder attached
+
+  encoder.attachEncoder(1, pin1, pin2);
+
+  stream.reset();
+  encoder.report();
+  assertEqual(stream.bytesWritten().length(), 13); // 2 encoders attached
+}
+
+test(resetEncoder)
+{
+  assertTestPass(attachEncoder);
+  
+  EncoderFirmata encoder;
+  byte encoderNum = 0, pin1 = 2, pin2 = 3;
+  encoder.attachEncoder(encoderNum, pin1, pin2);
+  
+  encoder.reset();
+  assertFalse(encoder.isEncoderAttached(encoderNum));
+}
+
+
+void loop()
+{
+  Test::run();
+}
diff --git a/test/firmata_test/firmata_test.ino b/test/firmata_test/firmata_test.ino
index a0d9bd60..2cb20bc4 100644
--- a/test/firmata_test/firmata_test.ino
+++ b/test/firmata_test/firmata_test.ino
@@ -5,6 +5,10 @@
  * Download version 2.0 or greater.
  */
 
+//* Due to arduino issue, Wire and Servo libraries need to be included. Should be fixed in later versions
+#include <Wire.h>
+#include <Servo.h>
+//*/
 #include <ArduinoUnit.h>
 #include <Firmata.h>
 
diff --git a/utility/Encoder.cpp b/utility/Encoder.cpp
new file mode 100644
index 00000000..6911b4fc
--- /dev/null
+++ b/utility/Encoder.cpp
@@ -0,0 +1,10 @@
+
+#include "Encoder.h"
+
+// Yes, all the code is in the header file, to provide the user
+// configure options with #define (before they include it), and
+// to facilitate some crafty optimizations!
+
+Encoder_internal_state_t * Encoder::interruptArgs[];
+
+
diff --git a/utility/Encoder.h b/utility/Encoder.h
new file mode 100644
index 00000000..cdfd13af
--- /dev/null
+++ b/utility/Encoder.h
@@ -0,0 +1,942 @@
+/* Encoder Library, for measuring quadrature encoded signals
+ * http://www.pjrc.com/teensy/td_libs_Encoder.html
+ * Copyright (c) 2011,2013 PJRC.COM, LLC - Paul Stoffregen <paul@pjrc.com>
+ *
+ * Version 1.2 - fix -2 bug in C-only code
+ * Version 1.1 - expand to support boards with up to 60 interrupts
+ * Version 1.0 - initial release
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+
+#ifndef Encoder_h_
+#define Encoder_h_
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#elif defined(WIRING)
+#include "Wiring.h"
+#else
+#include "WProgram.h"
+#include "pins_arduino.h"
+#endif
+
+#include "encoder_utilities/direct_pin_read.h"
+
+#if defined(ENCODER_USE_INTERRUPTS) || !defined(ENCODER_DO_NOT_USE_INTERRUPTS)
+#define ENCODER_USE_INTERRUPTS
+#define ENCODER_ARGLIST_SIZE CORE_NUM_INTERRUPT
+#include "encoder_utilities/interrupt_pins.h"
+#ifdef ENCODER_OPTIMIZE_INTERRUPTS
+#include "encoder_utilities/interrupt_config.h"
+#endif
+#else
+#define ENCODER_ARGLIST_SIZE 0
+#endif
+
+
+
+// All the data needed by interrupts is consolidated into this ugly struct
+// to facilitate assembly language optimizing of the speed critical update.
+// The assembly code uses auto-incrementing addressing modes, so the struct
+// must remain in exactly this order.
+typedef struct {
+	volatile IO_REG_TYPE * pin1_register;
+	volatile IO_REG_TYPE * pin2_register;
+	IO_REG_TYPE            pin1_bitmask;
+	IO_REG_TYPE            pin2_bitmask;
+	uint8_t                state;
+	int32_t                position;
+} Encoder_internal_state_t;
+
+class Encoder
+{
+public:
+	Encoder(uint8_t pin1, uint8_t pin2) {
+		#ifdef INPUT_PULLUP
+		pinMode(pin1, INPUT_PULLUP);
+		pinMode(pin2, INPUT_PULLUP);
+		#else
+		pinMode(pin1, INPUT);
+		digitalWrite(pin1, HIGH);
+		pinMode(pin2, INPUT);
+		digitalWrite(pin2, HIGH);
+		#endif
+		encoder.pin1_register = PIN_TO_BASEREG(pin1);
+		encoder.pin1_bitmask = PIN_TO_BITMASK(pin1);
+		encoder.pin2_register = PIN_TO_BASEREG(pin2);
+		encoder.pin2_bitmask = PIN_TO_BITMASK(pin2);
+		encoder.position = 0;
+		// allow time for a passive R-C filter to charge
+		// through the pullup resistors, before reading
+		// the initial state
+		delayMicroseconds(2000);
+		uint8_t s = 0;
+		if (DIRECT_PIN_READ(encoder.pin1_register, encoder.pin1_bitmask)) s |= 1;
+		if (DIRECT_PIN_READ(encoder.pin2_register, encoder.pin2_bitmask)) s |= 2;
+		encoder.state = s;
+#ifdef ENCODER_USE_INTERRUPTS
+		interrupts_in_use = attach_interrupt(pin1, &encoder);
+		interrupts_in_use += attach_interrupt(pin2, &encoder);
+#endif
+		//update_finishup();  // to force linker to include the code (does not work)
+	}
+
+
+#ifdef ENCODER_USE_INTERRUPTS
+	inline int32_t read() {
+		if (interrupts_in_use < 2) {
+			noInterrupts();
+			update(&encoder);
+		} else {
+			noInterrupts();
+		}
+		int32_t ret = encoder.position;
+		interrupts();
+		return ret;
+	}
+	inline void write(int32_t p) {
+		noInterrupts();
+		encoder.position = p;
+		interrupts();
+	}
+#else
+	inline int32_t read() {
+		update(&encoder);
+		return encoder.position;
+	}
+	inline void write(int32_t p) {
+		encoder.position = p;
+	}
+#endif
+private:
+	Encoder_internal_state_t encoder;
+#ifdef ENCODER_USE_INTERRUPTS
+	uint8_t interrupts_in_use;
+#endif
+public:
+	static Encoder_internal_state_t * interruptArgs[ENCODER_ARGLIST_SIZE];
+
+//                           _______         _______       
+//               Pin1 ______|       |_______|       |______ Pin1
+// negative <---         _______         _______         __      --> positive
+//               Pin2 __|       |_______|       |_______|   Pin2
+
+		//	new	new	old	old
+		//	pin2	pin1	pin2	pin1	Result
+		//	----	----	----	----	------
+		//	0	0	0	0	no movement
+		//	0	0	0	1	+1
+		//	0	0	1	0	-1
+		//	0	0	1	1	+2  (assume pin1 edges only)
+		//	0	1	0	0	-1
+		//	0	1	0	1	no movement
+		//	0	1	1	0	-2  (assume pin1 edges only)
+		//	0	1	1	1	+1
+		//	1	0	0	0	+1
+		//	1	0	0	1	-2  (assume pin1 edges only)
+		//	1	0	1	0	no movement
+		//	1	0	1	1	-1
+		//	1	1	0	0	+2  (assume pin1 edges only)
+		//	1	1	0	1	-1
+		//	1	1	1	0	+1
+		//	1	1	1	1	no movement
+/*
+	// Simple, easy-to-read "documentation" version :-)
+	//
+	void update(void) {
+		uint8_t s = state & 3;
+		if (digitalRead(pin1)) s |= 4;
+		if (digitalRead(pin2)) s |= 8;
+		switch (s) {
+			case 0: case 5: case 10: case 15:
+				break;
+			case 1: case 7: case 8: case 14:
+				position++; break;
+			case 2: case 4: case 11: case 13:
+				position--; break;
+			case 3: case 12:
+				position += 2; break;
+			default:
+				position -= 2; break;
+		}
+		state = (s >> 2);
+	}
+*/
+
+private:
+	static void update(Encoder_internal_state_t *arg) {
+#if defined(__AVR__)
+		// The compiler believes this is just 1 line of code, so
+		// it will inline this function into each interrupt
+		// handler.  That's a tiny bit faster, but grows the code.
+		// Especially when used with ENCODER_OPTIMIZE_INTERRUPTS,
+		// the inline nature allows the ISR prologue and epilogue
+		// to only save/restore necessary registers, for very nice
+		// speed increase.
+		asm volatile (
+			"ld	r30, X+"		"\n\t"
+			"ld	r31, X+"		"\n\t"
+			"ld	r24, Z"			"\n\t"	// r24 = pin1 input
+			"ld	r30, X+"		"\n\t"
+			"ld	r31, X+"		"\n\t"
+			"ld	r25, Z"			"\n\t"  // r25 = pin2 input
+			"ld	r30, X+"		"\n\t"  // r30 = pin1 mask
+			"ld	r31, X+"		"\n\t"	// r31 = pin2 mask
+			"ld	r22, X"			"\n\t"	// r22 = state
+			"andi	r22, 3"			"\n\t"
+			"and	r24, r30"		"\n\t"
+			"breq	L%=1"			"\n\t"	// if (pin1)
+			"ori	r22, 4"			"\n\t"	//	state |= 4
+		"L%=1:"	"and	r25, r31"		"\n\t"
+			"breq	L%=2"			"\n\t"	// if (pin2)
+			"ori	r22, 8"			"\n\t"	//	state |= 8
+		"L%=2:" "ldi	r30, lo8(pm(L%=table))"	"\n\t"
+			"ldi	r31, hi8(pm(L%=table))"	"\n\t"
+			"add	r30, r22"		"\n\t"
+			"adc	r31, __zero_reg__"	"\n\t"
+			"asr	r22"			"\n\t"
+			"asr	r22"			"\n\t"
+			"st	X+, r22"		"\n\t"  // store new state
+			"ld	r22, X+"		"\n\t"
+			"ld	r23, X+"		"\n\t"
+			"ld	r24, X+"		"\n\t"
+			"ld	r25, X+"		"\n\t"
+			"ijmp"				"\n\t"	// jumps to update_finishup()
+			// TODO move this table to another static function,
+			// so it doesn't get needlessly duplicated.  Easier
+			// said than done, due to linker issues and inlining
+		"L%=table:"				"\n\t"
+			"rjmp	L%=end"			"\n\t"	// 0
+			"rjmp	L%=plus1"		"\n\t"	// 1
+			"rjmp	L%=minus1"		"\n\t"	// 2
+			"rjmp	L%=plus2"		"\n\t"	// 3
+			"rjmp	L%=minus1"		"\n\t"	// 4
+			"rjmp	L%=end"			"\n\t"	// 5
+			"rjmp	L%=minus2"		"\n\t"	// 6
+			"rjmp	L%=plus1"		"\n\t"	// 7
+			"rjmp	L%=plus1"		"\n\t"	// 8
+			"rjmp	L%=minus2"		"\n\t"	// 9
+			"rjmp	L%=end"			"\n\t"	// 10
+			"rjmp	L%=minus1"		"\n\t"	// 11
+			"rjmp	L%=plus2"		"\n\t"	// 12
+			"rjmp	L%=minus1"		"\n\t"	// 13
+			"rjmp	L%=plus1"		"\n\t"	// 14
+			"rjmp	L%=end"			"\n\t"	// 15
+		"L%=minus2:"				"\n\t"
+			"subi	r22, 2"			"\n\t"
+			"sbci	r23, 0"			"\n\t"
+			"sbci	r24, 0"			"\n\t"
+			"sbci	r25, 0"			"\n\t"
+			"rjmp	L%=store"		"\n\t"
+		"L%=minus1:"				"\n\t"
+			"subi	r22, 1"			"\n\t"
+			"sbci	r23, 0"			"\n\t"
+			"sbci	r24, 0"			"\n\t"
+			"sbci	r25, 0"			"\n\t"
+			"rjmp	L%=store"		"\n\t"
+		"L%=plus2:"				"\n\t"
+			"subi	r22, 254"		"\n\t"
+			"rjmp	L%=z"			"\n\t"
+		"L%=plus1:"				"\n\t"
+			"subi	r22, 255"		"\n\t"
+		"L%=z:"	"sbci	r23, 255"		"\n\t"
+			"sbci	r24, 255"		"\n\t"
+			"sbci	r25, 255"		"\n\t"
+		"L%=store:"				"\n\t"
+			"st	-X, r25"		"\n\t"
+			"st	-X, r24"		"\n\t"
+			"st	-X, r23"		"\n\t"
+			"st	-X, r22"		"\n\t"
+		"L%=end:"				"\n"
+		: : "x" (arg) : "r22", "r23", "r24", "r25", "r30", "r31");
+#else
+		uint8_t p1val = DIRECT_PIN_READ(arg->pin1_register, arg->pin1_bitmask);
+		uint8_t p2val = DIRECT_PIN_READ(arg->pin2_register, arg->pin2_bitmask);
+		uint8_t state = arg->state & 3;
+		if (p1val) state |= 4;
+		if (p2val) state |= 8;
+		arg->state = (state >> 2);
+		switch (state) {
+			case 1: case 7: case 8: case 14:
+				arg->position++;
+				return;
+			case 2: case 4: case 11: case 13:
+				arg->position--;
+				return;
+			case 3: case 12:
+				arg->position += 2;
+				return;
+			case 6: case 9:
+				arg->position -= 2;
+				return;
+		}
+#endif
+	}
+/*
+#if defined(__AVR__)
+	// TODO: this must be a no inline function
+	// even noinline does not seem to solve difficult
+	// problems with this.  Oh well, it was only meant
+	// to shrink code size - there's no performance
+	// improvement in this, only code size reduction.
+	__attribute__((noinline)) void update_finishup(void) {
+		asm volatile (
+			"ldi	r30, lo8(pm(Ltable))"	"\n\t"
+			"ldi	r31, hi8(pm(Ltable))"	"\n\t"
+		"Ltable:"				"\n\t"
+			"rjmp	L%=end"			"\n\t"	// 0
+			"rjmp	L%=plus1"		"\n\t"	// 1
+			"rjmp	L%=minus1"		"\n\t"	// 2
+			"rjmp	L%=plus2"		"\n\t"	// 3
+			"rjmp	L%=minus1"		"\n\t"	// 4
+			"rjmp	L%=end"			"\n\t"	// 5
+			"rjmp	L%=minus2"		"\n\t"	// 6
+			"rjmp	L%=plus1"		"\n\t"	// 7
+			"rjmp	L%=plus1"		"\n\t"	// 8
+			"rjmp	L%=minus2"		"\n\t"	// 9
+			"rjmp	L%=end"			"\n\t"	// 10
+			"rjmp	L%=minus1"		"\n\t"	// 11
+			"rjmp	L%=plus2"		"\n\t"	// 12
+			"rjmp	L%=minus1"		"\n\t"	// 13
+			"rjmp	L%=plus1"		"\n\t"	// 14
+			"rjmp	L%=end"			"\n\t"	// 15
+		"L%=minus2:"				"\n\t"
+			"subi	r22, 2"			"\n\t"
+			"sbci	r23, 0"			"\n\t"
+			"sbci	r24, 0"			"\n\t"
+			"sbci	r25, 0"			"\n\t"
+			"rjmp	L%=store"		"\n\t"
+		"L%=minus1:"				"\n\t"
+			"subi	r22, 1"			"\n\t"
+			"sbci	r23, 0"			"\n\t"
+			"sbci	r24, 0"			"\n\t"
+			"sbci	r25, 0"			"\n\t"
+			"rjmp	L%=store"		"\n\t"
+		"L%=plus2:"				"\n\t"
+			"subi	r22, 254"		"\n\t"
+			"rjmp	L%=z"			"\n\t"
+		"L%=plus1:"				"\n\t"
+			"subi	r22, 255"		"\n\t"
+		"L%=z:"	"sbci	r23, 255"		"\n\t"
+			"sbci	r24, 255"		"\n\t"
+			"sbci	r25, 255"		"\n\t"
+		"L%=store:"				"\n\t"
+			"st	-X, r25"		"\n\t"
+			"st	-X, r24"		"\n\t"
+			"st	-X, r23"		"\n\t"
+			"st	-X, r22"		"\n\t"
+		"L%=end:"				"\n"
+		: : : "r22", "r23", "r24", "r25", "r30", "r31");
+	}
+#endif
+*/
+
+
+#ifdef ENCODER_USE_INTERRUPTS
+	// this giant function is an unfortunate consequence of Arduino's
+	// attachInterrupt function not supporting any way to pass a pointer
+	// or other context to the attached function.
+	static uint8_t attach_interrupt(uint8_t pin, Encoder_internal_state_t *state) {
+		switch (pin) {
+		#ifdef CORE_INT0_PIN
+			case CORE_INT0_PIN:
+				interruptArgs[0] = state;
+				attachInterrupt(0, isr0, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT1_PIN
+			case CORE_INT1_PIN:
+				interruptArgs[1] = state;
+				attachInterrupt(1, isr1, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT2_PIN
+			case CORE_INT2_PIN:
+				interruptArgs[2] = state;
+				attachInterrupt(2, isr2, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT3_PIN
+			case CORE_INT3_PIN:
+				interruptArgs[3] = state;
+				attachInterrupt(3, isr3, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT4_PIN
+			case CORE_INT4_PIN:
+				interruptArgs[4] = state;
+				attachInterrupt(4, isr4, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT5_PIN
+			case CORE_INT5_PIN:
+				interruptArgs[5] = state;
+				attachInterrupt(5, isr5, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT6_PIN
+			case CORE_INT6_PIN:
+				interruptArgs[6] = state;
+				attachInterrupt(6, isr6, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT7_PIN
+			case CORE_INT7_PIN:
+				interruptArgs[7] = state;
+				attachInterrupt(7, isr7, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT8_PIN
+			case CORE_INT8_PIN:
+				interruptArgs[8] = state;
+				attachInterrupt(8, isr8, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT9_PIN
+			case CORE_INT9_PIN:
+				interruptArgs[9] = state;
+				attachInterrupt(9, isr9, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT10_PIN
+			case CORE_INT10_PIN:
+				interruptArgs[10] = state;
+				attachInterrupt(10, isr10, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT11_PIN
+			case CORE_INT11_PIN:
+				interruptArgs[11] = state;
+				attachInterrupt(11, isr11, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT12_PIN
+			case CORE_INT12_PIN:
+				interruptArgs[12] = state;
+				attachInterrupt(12, isr12, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT13_PIN
+			case CORE_INT13_PIN:
+				interruptArgs[13] = state;
+				attachInterrupt(13, isr13, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT14_PIN
+			case CORE_INT14_PIN:
+				interruptArgs[14] = state;
+				attachInterrupt(14, isr14, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT15_PIN
+			case CORE_INT15_PIN:
+				interruptArgs[15] = state;
+				attachInterrupt(15, isr15, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT16_PIN
+			case CORE_INT16_PIN:
+				interruptArgs[16] = state;
+				attachInterrupt(16, isr16, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT17_PIN
+			case CORE_INT17_PIN:
+				interruptArgs[17] = state;
+				attachInterrupt(17, isr17, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT18_PIN
+			case CORE_INT18_PIN:
+				interruptArgs[18] = state;
+				attachInterrupt(18, isr18, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT19_PIN
+			case CORE_INT19_PIN:
+				interruptArgs[19] = state;
+				attachInterrupt(19, isr19, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT20_PIN
+			case CORE_INT20_PIN:
+				interruptArgs[20] = state;
+				attachInterrupt(20, isr20, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT21_PIN
+			case CORE_INT21_PIN:
+				interruptArgs[21] = state;
+				attachInterrupt(21, isr21, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT22_PIN
+			case CORE_INT22_PIN:
+				interruptArgs[22] = state;
+				attachInterrupt(22, isr22, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT23_PIN
+			case CORE_INT23_PIN:
+				interruptArgs[23] = state;
+				attachInterrupt(23, isr23, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT24_PIN
+			case CORE_INT24_PIN:
+				interruptArgs[24] = state;
+				attachInterrupt(24, isr24, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT25_PIN
+			case CORE_INT25_PIN:
+				interruptArgs[25] = state;
+				attachInterrupt(25, isr25, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT26_PIN
+			case CORE_INT26_PIN:
+				interruptArgs[26] = state;
+				attachInterrupt(26, isr26, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT27_PIN
+			case CORE_INT27_PIN:
+				interruptArgs[27] = state;
+				attachInterrupt(27, isr27, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT28_PIN
+			case CORE_INT28_PIN:
+				interruptArgs[28] = state;
+				attachInterrupt(28, isr28, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT29_PIN
+			case CORE_INT29_PIN:
+				interruptArgs[29] = state;
+				attachInterrupt(29, isr29, CHANGE);
+				break;
+		#endif
+
+		#ifdef CORE_INT30_PIN
+			case CORE_INT30_PIN:
+				interruptArgs[30] = state;
+				attachInterrupt(30, isr30, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT31_PIN
+			case CORE_INT31_PIN:
+				interruptArgs[31] = state;
+				attachInterrupt(31, isr31, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT32_PIN
+			case CORE_INT32_PIN:
+				interruptArgs[32] = state;
+				attachInterrupt(32, isr32, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT33_PIN
+			case CORE_INT33_PIN:
+				interruptArgs[33] = state;
+				attachInterrupt(33, isr33, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT34_PIN
+			case CORE_INT34_PIN:
+				interruptArgs[34] = state;
+				attachInterrupt(34, isr34, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT35_PIN
+			case CORE_INT35_PIN:
+				interruptArgs[35] = state;
+				attachInterrupt(35, isr35, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT36_PIN
+			case CORE_INT36_PIN:
+				interruptArgs[36] = state;
+				attachInterrupt(36, isr36, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT37_PIN
+			case CORE_INT37_PIN:
+				interruptArgs[37] = state;
+				attachInterrupt(37, isr37, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT38_PIN
+			case CORE_INT38_PIN:
+				interruptArgs[38] = state;
+				attachInterrupt(38, isr38, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT39_PIN
+			case CORE_INT39_PIN:
+				interruptArgs[39] = state;
+				attachInterrupt(39, isr39, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT40_PIN
+			case CORE_INT40_PIN:
+				interruptArgs[40] = state;
+				attachInterrupt(40, isr40, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT41_PIN
+			case CORE_INT41_PIN:
+				interruptArgs[41] = state;
+				attachInterrupt(41, isr41, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT42_PIN
+			case CORE_INT42_PIN:
+				interruptArgs[42] = state;
+				attachInterrupt(42, isr42, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT43_PIN
+			case CORE_INT43_PIN:
+				interruptArgs[43] = state;
+				attachInterrupt(43, isr43, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT44_PIN
+			case CORE_INT44_PIN:
+				interruptArgs[44] = state;
+				attachInterrupt(44, isr44, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT45_PIN
+			case CORE_INT45_PIN:
+				interruptArgs[45] = state;
+				attachInterrupt(45, isr45, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT46_PIN
+			case CORE_INT46_PIN:
+				interruptArgs[46] = state;
+				attachInterrupt(46, isr46, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT47_PIN
+			case CORE_INT47_PIN:
+				interruptArgs[47] = state;
+				attachInterrupt(47, isr47, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT48_PIN
+			case CORE_INT48_PIN:
+				interruptArgs[48] = state;
+				attachInterrupt(48, isr48, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT49_PIN
+			case CORE_INT49_PIN:
+				interruptArgs[49] = state;
+				attachInterrupt(49, isr49, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT50_PIN
+			case CORE_INT50_PIN:
+				interruptArgs[50] = state;
+				attachInterrupt(50, isr50, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT51_PIN
+			case CORE_INT51_PIN:
+				interruptArgs[51] = state;
+				attachInterrupt(51, isr51, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT52_PIN
+			case CORE_INT52_PIN:
+				interruptArgs[52] = state;
+				attachInterrupt(52, isr52, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT53_PIN
+			case CORE_INT53_PIN:
+				interruptArgs[53] = state;
+				attachInterrupt(53, isr53, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT54_PIN
+			case CORE_INT54_PIN:
+				interruptArgs[54] = state;
+				attachInterrupt(54, isr54, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT55_PIN
+			case CORE_INT55_PIN:
+				interruptArgs[55] = state;
+				attachInterrupt(55, isr55, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT56_PIN
+			case CORE_INT56_PIN:
+				interruptArgs[56] = state;
+				attachInterrupt(56, isr56, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT57_PIN
+			case CORE_INT57_PIN:
+				interruptArgs[57] = state;
+				attachInterrupt(57, isr57, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT58_PIN
+			case CORE_INT58_PIN:
+				interruptArgs[58] = state;
+				attachInterrupt(58, isr58, CHANGE);
+				break;
+		#endif
+		#ifdef CORE_INT59_PIN
+			case CORE_INT59_PIN:
+				interruptArgs[59] = state;
+				attachInterrupt(59, isr59, CHANGE);
+				break;
+		#endif
+			default:
+				return 0;
+		}
+		return 1;
+	}
+#endif // ENCODER_USE_INTERRUPTS
+
+
+#if defined(ENCODER_USE_INTERRUPTS) && !defined(ENCODER_OPTIMIZE_INTERRUPTS)
+	#ifdef CORE_INT0_PIN
+	static void isr0(void) { update(interruptArgs[0]); }
+	#endif
+	#ifdef CORE_INT1_PIN
+	static void isr1(void) { update(interruptArgs[1]); }
+	#endif
+	#ifdef CORE_INT2_PIN
+	static void isr2(void) { update(interruptArgs[2]); }
+	#endif
+	#ifdef CORE_INT3_PIN
+	static void isr3(void) { update(interruptArgs[3]); }
+	#endif
+	#ifdef CORE_INT4_PIN
+	static void isr4(void) { update(interruptArgs[4]); }
+	#endif
+	#ifdef CORE_INT5_PIN
+	static void isr5(void) { update(interruptArgs[5]); }
+	#endif
+	#ifdef CORE_INT6_PIN
+	static void isr6(void) { update(interruptArgs[6]); }
+	#endif
+	#ifdef CORE_INT7_PIN
+	static void isr7(void) { update(interruptArgs[7]); }
+	#endif
+	#ifdef CORE_INT8_PIN
+	static void isr8(void) { update(interruptArgs[8]); }
+	#endif
+	#ifdef CORE_INT9_PIN
+	static void isr9(void) { update(interruptArgs[9]); }
+	#endif
+	#ifdef CORE_INT10_PIN
+	static void isr10(void) { update(interruptArgs[10]); }
+	#endif
+	#ifdef CORE_INT11_PIN
+	static void isr11(void) { update(interruptArgs[11]); }
+	#endif
+	#ifdef CORE_INT12_PIN
+	static void isr12(void) { update(interruptArgs[12]); }
+	#endif
+	#ifdef CORE_INT13_PIN
+	static void isr13(void) { update(interruptArgs[13]); }
+	#endif
+	#ifdef CORE_INT14_PIN
+	static void isr14(void) { update(interruptArgs[14]); }
+	#endif
+	#ifdef CORE_INT15_PIN
+	static void isr15(void) { update(interruptArgs[15]); }
+	#endif
+	#ifdef CORE_INT16_PIN
+	static void isr16(void) { update(interruptArgs[16]); }
+	#endif
+	#ifdef CORE_INT17_PIN
+	static void isr17(void) { update(interruptArgs[17]); }
+	#endif
+	#ifdef CORE_INT18_PIN
+	static void isr18(void) { update(interruptArgs[18]); }
+	#endif
+	#ifdef CORE_INT19_PIN
+	static void isr19(void) { update(interruptArgs[19]); }
+	#endif
+	#ifdef CORE_INT20_PIN
+	static void isr20(void) { update(interruptArgs[20]); }
+	#endif
+	#ifdef CORE_INT21_PIN
+	static void isr21(void) { update(interruptArgs[21]); }
+	#endif
+	#ifdef CORE_INT22_PIN
+	static void isr22(void) { update(interruptArgs[22]); }
+	#endif
+	#ifdef CORE_INT23_PIN
+	static void isr23(void) { update(interruptArgs[23]); }
+	#endif
+	#ifdef CORE_INT24_PIN
+	static void isr24(void) { update(interruptArgs[24]); }
+	#endif
+	#ifdef CORE_INT25_PIN
+	static void isr25(void) { update(interruptArgs[25]); }
+	#endif
+	#ifdef CORE_INT26_PIN
+	static void isr26(void) { update(interruptArgs[26]); }
+	#endif
+	#ifdef CORE_INT27_PIN
+	static void isr27(void) { update(interruptArgs[27]); }
+	#endif
+	#ifdef CORE_INT28_PIN
+	static void isr28(void) { update(interruptArgs[28]); }
+	#endif
+	#ifdef CORE_INT29_PIN
+	static void isr29(void) { update(interruptArgs[29]); }
+	#endif
+	#ifdef CORE_INT30_PIN
+	static void isr30(void) { update(interruptArgs[30]); }
+	#endif
+	#ifdef CORE_INT31_PIN
+	static void isr31(void) { update(interruptArgs[31]); }
+	#endif
+	#ifdef CORE_INT32_PIN
+	static void isr32(void) { update(interruptArgs[32]); }
+	#endif
+	#ifdef CORE_INT33_PIN
+	static void isr33(void) { update(interruptArgs[33]); }
+	#endif
+	#ifdef CORE_INT34_PIN
+	static void isr34(void) { update(interruptArgs[34]); }
+	#endif
+	#ifdef CORE_INT35_PIN
+	static void isr35(void) { update(interruptArgs[35]); }
+	#endif
+	#ifdef CORE_INT36_PIN
+	static void isr36(void) { update(interruptArgs[36]); }
+	#endif
+	#ifdef CORE_INT37_PIN
+	static void isr37(void) { update(interruptArgs[37]); }
+	#endif
+	#ifdef CORE_INT38_PIN
+	static void isr38(void) { update(interruptArgs[38]); }
+	#endif
+	#ifdef CORE_INT39_PIN
+	static void isr39(void) { update(interruptArgs[39]); }
+	#endif
+	#ifdef CORE_INT40_PIN
+	static void isr40(void) { update(interruptArgs[40]); }
+	#endif
+	#ifdef CORE_INT41_PIN
+	static void isr41(void) { update(interruptArgs[41]); }
+	#endif
+	#ifdef CORE_INT42_PIN
+	static void isr42(void) { update(interruptArgs[42]); }
+	#endif
+	#ifdef CORE_INT43_PIN
+	static void isr43(void) { update(interruptArgs[43]); }
+	#endif
+	#ifdef CORE_INT44_PIN
+	static void isr44(void) { update(interruptArgs[44]); }
+	#endif
+	#ifdef CORE_INT45_PIN
+	static void isr45(void) { update(interruptArgs[45]); }
+	#endif
+	#ifdef CORE_INT46_PIN
+	static void isr46(void) { update(interruptArgs[46]); }
+	#endif
+	#ifdef CORE_INT47_PIN
+	static void isr47(void) { update(interruptArgs[47]); }
+	#endif
+	#ifdef CORE_INT48_PIN
+	static void isr48(void) { update(interruptArgs[48]); }
+	#endif
+	#ifdef CORE_INT49_PIN
+	static void isr49(void) { update(interruptArgs[49]); }
+	#endif
+	#ifdef CORE_INT50_PIN
+	static void isr50(void) { update(interruptArgs[50]); }
+	#endif
+	#ifdef CORE_INT51_PIN
+	static void isr51(void) { update(interruptArgs[51]); }
+	#endif
+	#ifdef CORE_INT52_PIN
+	static void isr52(void) { update(interruptArgs[52]); }
+	#endif
+	#ifdef CORE_INT53_PIN
+	static void isr53(void) { update(interruptArgs[53]); }
+	#endif
+	#ifdef CORE_INT54_PIN
+	static void isr54(void) { update(interruptArgs[54]); }
+	#endif
+	#ifdef CORE_INT55_PIN
+	static void isr55(void) { update(interruptArgs[55]); }
+	#endif
+	#ifdef CORE_INT56_PIN
+	static void isr56(void) { update(interruptArgs[56]); }
+	#endif
+	#ifdef CORE_INT57_PIN
+	static void isr57(void) { update(interruptArgs[57]); }
+	#endif
+	#ifdef CORE_INT58_PIN
+	static void isr58(void) { update(interruptArgs[58]); }
+	#endif
+	#ifdef CORE_INT59_PIN
+	static void isr59(void) { update(interruptArgs[59]); }
+	#endif
+#endif
+};
+
+#if defined(ENCODER_USE_INTERRUPTS) && defined(ENCODER_OPTIMIZE_INTERRUPTS)
+#if defined(__AVR__)
+#if defined(INT0_vect) && CORE_NUM_INTERRUPT > 0
+ISR(INT0_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(0)]); }
+#endif
+#if defined(INT1_vect) && CORE_NUM_INTERRUPT > 1
+ISR(INT1_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(1)]); }
+#endif
+#if defined(INT2_vect) && CORE_NUM_INTERRUPT > 2
+ISR(INT2_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(2)]); }
+#endif
+#if defined(INT3_vect) && CORE_NUM_INTERRUPT > 3
+ISR(INT3_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(3)]); }
+#endif
+#if defined(INT4_vect) && CORE_NUM_INTERRUPT > 4
+ISR(INT4_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(4)]); }
+#endif
+#if defined(INT5_vect) && CORE_NUM_INTERRUPT > 5
+ISR(INT5_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(5)]); }
+#endif
+#if defined(INT6_vect) && CORE_NUM_INTERRUPT > 6
+ISR(INT6_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(6)]); }
+#endif
+#if defined(INT7_vect) && CORE_NUM_INTERRUPT > 7
+ISR(INT7_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(7)]); }
+#endif
+#endif // AVR
+#endif // ENCODER_OPTIMIZE_INTERRUPTS
+
+
+#endif
diff --git a/utility/EncoderFirmata.cpp b/utility/EncoderFirmata.cpp
new file mode 100644
index 00000000..3c9fccd4
--- /dev/null
+++ b/utility/EncoderFirmata.cpp
@@ -0,0 +1,245 @@
+/*
+  EncoderFirmata.cpp - Firmata library
+  Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
+  Copyright (C) 2010-2011 Paul Stoffregen.  All rights reserved.
+  Copyright (C) 2009 Shigeru Kobayashi.  All rights reserved.
+  Copyright (C) 2009-2011 Jeff Hoefs.  All rights reserved.
+  Copyright (C) 2013 Norbert Truchsess. All rights reserved.
+  Copyright (C) 2013 Nicolas Panel. All rights reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  See file LICENSE.txt for further informations on licensing terms.
+  
+  Provide encoder feature based on PJRC implementation.
+  See http://www.pjrc.com/teensy/td_libs_Encoder.html for more informations
+*/
+
+#include <Firmata.h>
+#include "EncoderFirmata.h"
+#include "Encoder.h"
+#include <String.h>
+
+#define isAttached(encoderNum) (encoderNum < MAX_ENCODERS && encoders[encoderNum])
+
+static Encoder *encoders[MAX_ENCODERS];
+static int32_t positions[MAX_ENCODERS];
+static byte autoReport = 0x02;
+
+/* Constructor */
+EncoderFirmata::EncoderFirmata()
+{
+  memset(encoders,0,sizeof(Encoder*)*MAX_ENCODERS);
+}
+
+void EncoderFirmata::attachEncoder(byte encoderNum, byte pinANum, byte pinBNum)
+{
+  if (isAttached(encoderNum))
+  {
+    //Firmata.sendString("Encoder Warning: encoder is already attached. Operation cancelled.");
+    return;
+  }
+  
+  if (!IS_PIN_INTERRUPT(pinANum) || !IS_PIN_INTERRUPT(pinBNum))
+  {
+    //Firmata.sendString("Encoder Warning: For better performences, you should only use Interrput pins.");
+  }
+  Firmata.setPinMode(pinANum, ENCODER);
+  Firmata.setPinMode(pinBNum, ENCODER);
+  encoders[encoderNum] = new Encoder(pinANum, pinBNum);
+  reportPosition(encoderNum);
+}
+
+void EncoderFirmata::detachEncoder(byte encoderNum)
+{
+  if (isAttached(encoderNum))
+  {
+    free(encoders[encoderNum]);
+    encoders[encoderNum] = NULL;
+  }
+}
+
+boolean EncoderFirmata::handlePinMode(byte pin, int mode)
+{
+  if (mode == ENCODER) {
+    if (IS_PIN_INTERRUPT(pin)) 
+    {
+      // nothing to do, pins states are managed 
+      // in "attach/detach Encoder" methods
+      return true;
+    }
+  }
+  return false;
+}
+
+void EncoderFirmata::handleCapability(byte pin)
+{
+  if (IS_PIN_INTERRUPT(pin)) {
+    Firmata.write(ENCODER);
+    Firmata.write(28); //28 bits used for absolute position
+  }
+}
+
+
+/* Handle ENCODER_DATA (0x61) sysex commands
+ * See protocol details in "examples/SimpleEncoderFirmata/SimpleEncoderFirmata.ino"
+*/
+boolean EncoderFirmata::handleSysex(byte command, byte argc, byte *argv)
+{
+  if (command == ENCODER_DATA) 
+  {
+    byte encoderCommand, encoderNum, pinA, pinB, enableReports; 
+    
+    encoderCommand= argv[0];
+
+    if (encoderCommand == ENCODER_ATTACH) 
+    {
+      encoderNum = argv[1];
+      pinA = argv[2];
+      pinB = argv[3];
+      if (Firmata.getPinMode(pinA)==IGNORE || Firmata.getPinMode(pinB)==IGNORE)
+      {
+        return false;
+      }  
+      attachEncoder(encoderNum, pinA, pinB);
+      return true;
+    }
+    
+    
+    if (encoderCommand == ENCODER_REPORT_POSITION)
+    {
+      encoderNum = argv[1];
+      reportPosition(encoderNum);
+      return true;
+    }
+    
+    if (encoderCommand == ENCODER_REPORT_POSITIONS)
+    {
+      reportPositions();
+      return true;
+    }
+    
+    if (encoderCommand == ENCODER_RESET_POSITION)
+    {
+      encoderNum = argv[1];
+      resetPosition(encoderNum);
+      return true;
+    }
+    if (encoderCommand == ENCODER_REPORT_AUTO)
+    {
+      autoReport = argv[1];
+      return true;
+    }
+    
+    if (encoderCommand == ENCODER_DETACH)
+    {
+      encoderNum = argv[1];
+      detachEncoder(encoderNum);
+      return true;
+    }
+    
+    //Firmata.sendString("Encoder Error: Invalid command");
+  }
+  return false;
+}
+
+void EncoderFirmata::reset()
+{
+  byte encoder;
+  for(encoder=0; encoder<MAX_ENCODERS; encoder++) 
+  {
+    detachEncoder(encoder);
+  }
+  autoReport = 0x02;
+}
+
+void EncoderFirmata::report()
+{
+  if (autoReport > 0)
+  {
+    bool report = false;
+    for (uint8_t encoderNum=0; encoderNum < MAX_ENCODERS; encoderNum++)
+    {
+      if (isAttached(encoderNum))
+      {
+        int32_t position = encoders[encoderNum]->read();
+        if ( autoReport == 1 || positions[encoderNum] != position )
+        {
+          if (!report)
+          {
+            Firmata.write(START_SYSEX);
+            Firmata.write(ENCODER_DATA);
+            report = true;
+          }
+          positions[encoderNum] = position;
+          _reportEncoderPosition(encoderNum,position);
+        }
+      }
+    }
+    if (report)
+    {
+      Firmata.write(END_SYSEX);
+    }
+  }
+}
+
+boolean EncoderFirmata::isEncoderAttached(byte encoderNum)
+{
+  return isAttached(encoderNum);
+}
+
+void EncoderFirmata::resetPosition(byte encoderNum)
+{
+  if (isAttached(encoderNum))
+  {
+    encoders[encoderNum]->write(0);
+  }
+}
+
+// Report specify encoder postion using midi protocol
+void EncoderFirmata::reportPosition(byte encoder)
+{
+  if (isAttached(encoder))
+  {
+    Firmata.write(START_SYSEX);
+    Firmata.write(ENCODER_DATA);
+
+    _reportEncoderPosition(encoder,encoders[encoder]->read());
+
+    Firmata.write(END_SYSEX);
+  }
+}
+// Report all attached encoders positions (one message for all encoders) 
+void EncoderFirmata::reportPositions()
+{
+  byte tmpReport = autoReport;
+  autoReport = 1;
+  report();
+  autoReport = tmpReport;
+}
+
+void EncoderFirmata::_reportEncoderPosition(byte encoder, int32_t position)
+{
+  long absValue = abs(position);
+  byte direction = position >= 0 ? 0x00 : 0x01;
+  Firmata.write((direction << 6) | (encoder));
+  Firmata.write((byte)absValue & 0x7F);
+  Firmata.write((byte)(absValue >> 7) & 0x7F);
+  Firmata.write((byte)(absValue >> 14) & 0x7F);
+  Firmata.write((byte)(absValue >> 21) & 0x7F);
+}
+
+void EncoderFirmata::toggleAutoReport(byte report)
+{
+  autoReport = report;
+}
+
+bool EncoderFirmata::isReportingEnabled()
+{
+  return autoReport > 0;
+}
+
+
diff --git a/utility/EncoderFirmata.h b/utility/EncoderFirmata.h
new file mode 100644
index 00000000..1a42e2c5
--- /dev/null
+++ b/utility/EncoderFirmata.h
@@ -0,0 +1,71 @@
+/*
+  EncoderFirmata.h - Firmata library
+  Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
+  Copyright (C) 2010-2011 Paul Stoffregen.  All rights reserved.
+  Copyright (C) 2009 Shigeru Kobayashi.  All rights reserved.
+  Copyright (C) 2009-2011 Jeff Hoefs.  All rights reserved.
+  Copyright (C) 2013 Norbert Truchsess. All rights reserved.
+  Copyright (C) 2014 Nicolas Panel. All rights reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  See file LICENSE.txt for further informations on licensing terms.
+
+  Provide encoder feature based on PJRC implementation.
+  See http://www.pjrc.com/teensy/td_libs_Encoder.html for more informations
+  
+  EncoderFirmata handle instructions and is able to automatically report positions.
+  See protocol details in "examples / SimpleEncoderFirmata / SimpleEncoderFirmata.ino"
+    
+*/
+
+#ifndef EncoderFirmata_h
+#define EncoderFirmata_h
+
+#include <Firmata.h>
+#include "FirmataFeature.h"
+
+// This optional setting causes Encoder to use more optimized code
+// safe if 'attachInterrupt' is never used in the same time
+//#define ENCODER_OPTIMIZE_INTERRUPTS // => not compiling
+#include "Encoder.h"
+
+#define MAX_ENCODERS                5 // arbitrary value, may need to adjust
+#define ENCODER_ATTACH              (0x00)
+#define ENCODER_REPORT_POSITION     (0x01)
+#define ENCODER_REPORT_POSITIONS    (0x02)
+#define ENCODER_RESET_POSITION      (0x03)
+#define ENCODER_REPORT_AUTO         (0x04)
+#define ENCODER_DETACH              (0x05)
+
+class EncoderFirmata:public FirmataFeature
+{
+public:
+  EncoderFirmata();
+  //~EncoderFirmata(); => never destroy in practice
+  
+  // FirmataFeature implementation
+  boolean handlePinMode(byte pin, int mode);
+  void handleCapability(byte pin);
+  boolean handleSysex(byte command, byte argc, byte *argv);
+  void reset();
+  
+  // EncoderFirmata implementation
+  void report();
+  boolean isEncoderAttached(byte encoderNum); 
+  void attachEncoder(byte encoderNum, byte pinANum, byte pinBNum);
+  void detachEncoder(byte encoderNum);
+  void reportPosition(byte encoderNum);
+  void reportPositions();
+  void resetPosition(byte encoderNum);
+  void toggleAutoReport(byte report);
+  bool isReportingEnabled();
+
+private:
+  static void _reportEncoderPosition(byte encoder, int32_t position);
+};
+
+#endif
diff --git a/utility/I2CFirmata.cpp b/utility/I2CFirmata.cpp
index a2857bad..aceffbf0 100644
--- a/utility/I2CFirmata.cpp
+++ b/utility/I2CFirmata.cpp
@@ -49,23 +49,21 @@ void I2CFirmata::readAndReportData(byte address, int theRegister, byte numBytes)
   Wire.requestFrom(address, numBytes);  // all bytes are returned in requestFrom
 
   // check to be sure correct number of bytes were returned by slave
-  if(numBytes == Wire.available()) {
-    i2cRxData[0] = address;
-    i2cRxData[1] = theRegister;
-    for (int i = 0; i < numBytes; i++) {
-      #if ARDUINO >= 100
-      i2cRxData[2 + i] = Wire.read();
-      #else
-      i2cRxData[2 + i] = Wire.receive();
-      #endif
-    }
+  if(numBytes < Wire.available()) {
+      Firmata.sendString("I2C: Too many bytes received");
+  } else if(numBytes > Wire.available()) {
+      Firmata.sendString("I2C: Too few bytes received"); 
   }
-  else {
-    if(numBytes > Wire.available()) {
-      Firmata.sendString("I2C Read Error: Too many bytes received");
-    } else {
-      Firmata.sendString("I2C Read Error: Too few bytes received");
-    }
+
+  i2cRxData[0] = address;
+  i2cRxData[1] = theRegister;
+
+  for (int i = 0; i < numBytes && Wire.available(); i++) {
+    #if ARDUINO >= 100
+    i2cRxData[2 + i] = Wire.read();
+    #else
+    i2cRxData[2 + i] = Wire.receive();
+    #endif
   }
 
   // send slave address, register and received bytes
@@ -75,7 +73,7 @@ void I2CFirmata::readAndReportData(byte address, int theRegister, byte numBytes)
 boolean I2CFirmata::handlePinMode(byte pin, int mode)
 {
   if (IS_PIN_I2C(pin)) {
-    if (mode==I2C) {
+    if (mode == I2C) {
       // the user must call I2C_CONFIG to enable I2C for a device
       return true;
     } else if (isI2CEnabled) {
@@ -119,7 +117,7 @@ void I2CFirmata::handleI2CRequest(byte argc, byte *argv)
   byte data;
   mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
   if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
-    Firmata.sendString("10-bit addressing mode is not yet supported");
+    Firmata.sendString("10-bit addressing not supported");
     return;
   }
   else {
@@ -165,7 +163,7 @@ void I2CFirmata::handleI2CRequest(byte argc, byte *argv)
     query[queryIndex].bytes = argv[4] + (argv[5] << 7);
     break;
   case I2C_STOP_READING:
-        byte queryIndexToSkip;
+    byte queryIndexToSkip;
     // if read continuous mode is enabled for only 1 i2c device, disable
     // read continuous reporting for that device
     if (queryIndex <= 0) {
@@ -175,7 +173,7 @@ void I2CFirmata::handleI2CRequest(byte argc, byte *argv)
       // determine which device to stop reading and remove it's data from
       // the array, shifiting other array data to fill the space
       for (byte i = 0; i < queryIndex + 1; i++) {
-        if (query[i].addr = slaveAddress) {
+        if (query[i].addr == slaveAddress) {
           queryIndexToSkip = i;
           break;
         }
@@ -184,7 +182,7 @@ void I2CFirmata::handleI2CRequest(byte argc, byte *argv)
       for (byte i = queryIndexToSkip; i<queryIndex + 1; i++) {
         if (i < MAX_QUERIES) {
           query[i].addr = query[i+1].addr;
-          query[i].reg = query[i+1].addr;
+          query[i].reg = query[i+1].reg;
           query[i].bytes = query[i+1].bytes;
         }
       }
diff --git a/utility/encoder_utilities/direct_pin_read.h b/utility/encoder_utilities/direct_pin_read.h
new file mode 100644
index 00000000..97b88620
--- /dev/null
+++ b/utility/encoder_utilities/direct_pin_read.h
@@ -0,0 +1,27 @@
+#ifndef direct_pin_read_h_
+#define direct_pin_read_h_
+
+#if defined(__AVR__) || defined(__MK20DX128__) || defined(__MK20DX256__)
+
+#define IO_REG_TYPE			uint8_t
+#define PIN_TO_BASEREG(pin)             (portInputRegister(digitalPinToPort(pin)))
+#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
+#define DIRECT_PIN_READ(base, mask)     (((*(base)) & (mask)) ? 1 : 0)
+
+#elif defined(__SAM3X8E__)
+
+#define IO_REG_TYPE			uint32_t
+#define PIN_TO_BASEREG(pin)             (portInputRegister(digitalPinToPort(pin)))
+#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
+#define DIRECT_PIN_READ(base, mask)     (((*(base)) & (mask)) ? 1 : 0)
+
+#elif defined(__PIC32MX__)
+
+#define IO_REG_TYPE			uint32_t
+#define PIN_TO_BASEREG(pin)             (portModeRegister(digitalPinToPort(pin)))
+#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
+#define DIRECT_PIN_READ(base, mask)	(((*(base+4)) & (mask)) ? 1 : 0)
+
+#endif
+
+#endif
diff --git a/utility/encoder_utilities/interrupt_config.h b/utility/encoder_utilities/interrupt_config.h
new file mode 100644
index 00000000..cde6adf2
--- /dev/null
+++ b/utility/encoder_utilities/interrupt_config.h
@@ -0,0 +1,87 @@
+#if defined(__AVR__)
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#define attachInterrupt(num, func, mode) enableInterrupt(num)
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define SCRAMBLE_INT_ORDER(num) ((num < 4) ? num + 2 : ((num < 6) ? num - 4 : num))
+#define DESCRAMBLE_INT_ORDER(num) ((num < 2) ? num + 4 : ((num < 6) ? num - 2 : num))
+#else
+#define SCRAMBLE_INT_ORDER(num) (num)
+#define DESCRAMBLE_INT_ORDER(num) (num)
+#endif
+
+static void enableInterrupt(uint8_t num)
+{
+	switch (DESCRAMBLE_INT_ORDER(num)) {
+		#if defined(EICRA) && defined(EIMSK)
+		case 0:
+			EICRA = (EICRA & 0xFC) | 0x01;
+			EIMSK |= 0x01;
+			return;
+		case 1:
+			EICRA = (EICRA & 0xF3) | 0x04;
+			EIMSK |= 0x02;
+			return;
+		case 2:
+			EICRA = (EICRA & 0xCF) | 0x10;
+			EIMSK |= 0x04;
+			return;
+		case 3:
+			EICRA = (EICRA & 0x3F) | 0x40;
+			EIMSK |= 0x08;
+			return;
+		#elif defined(MCUCR) && defined(GICR)
+		case 0:
+			MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
+			GICR |= (1 << INT0);
+			return;
+		case 1:
+			MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
+			GICR |= (1 << INT1);
+			return;
+		#elif defined(MCUCR) && defined(GIMSK)
+		case 0:
+			MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
+			GIMSK |= (1 << INT0);
+			return;
+		case 1:
+			MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
+			GIMSK |= (1 << INT1);
+			return;
+		#endif
+		#if defined(EICRB) && defined(EIMSK)
+		case 4:
+			EICRB = (EICRB & 0xFC) | 0x01;
+			EIMSK |= 0x10;
+			return;
+		case 5:
+			EICRB = (EICRB & 0xF3) | 0x04;
+			EIMSK |= 0x20;
+			return;
+		case 6:
+			EICRB = (EICRB & 0xCF) | 0x10;
+			EIMSK |= 0x40;
+			return;
+		case 7:
+			EICRB = (EICRB & 0x3F) | 0x40;
+			EIMSK |= 0x80;
+			return;
+		#endif
+	}
+}
+
+#elif defined(__PIC32MX__)
+
+#ifdef ENCODER_OPTIMIZE_INTERRUPTS
+#undef ENCODER_OPTIMIZE_INTERRUPTS
+#endif
+
+#else
+
+#ifdef ENCODER_OPTIMIZE_INTERRUPTS
+#undef ENCODER_OPTIMIZE_INTERRUPTS
+#endif
+
+#endif
diff --git a/utility/encoder_utilities/interrupt_pins.h b/utility/encoder_utilities/interrupt_pins.h
new file mode 100644
index 00000000..e677c4f8
--- /dev/null
+++ b/utility/encoder_utilities/interrupt_pins.h
@@ -0,0 +1,156 @@
+// interrupt pins for known boards
+
+// Teensy (and maybe others) define these automatically
+#if !defined(CORE_NUM_INTERRUPT)
+
+// Wiring boards
+#if defined(WIRING)
+  #define CORE_NUM_INTERRUPT	NUM_EXTERNAL_INTERRUPTS
+  #if NUM_EXTERNAL_INTERRUPTS > 0
+  #define CORE_INT0_PIN		EI0
+  #endif
+  #if NUM_EXTERNAL_INTERRUPTS > 1
+  #define CORE_INT1_PIN		EI1
+  #endif
+  #if NUM_EXTERNAL_INTERRUPTS > 2
+  #define CORE_INT2_PIN		EI2
+  #endif
+  #if NUM_EXTERNAL_INTERRUPTS > 3
+  #define CORE_INT3_PIN		EI3
+  #endif
+  #if NUM_EXTERNAL_INTERRUPTS > 4
+  #define CORE_INT4_PIN		EI4
+  #endif
+  #if NUM_EXTERNAL_INTERRUPTS > 5
+  #define CORE_INT5_PIN		EI5
+  #endif
+  #if NUM_EXTERNAL_INTERRUPTS > 6
+  #define CORE_INT6_PIN		EI6
+  #endif
+  #if NUM_EXTERNAL_INTERRUPTS > 7
+  #define CORE_INT7_PIN		EI7
+  #endif
+
+// Arduino Uno, Duemilanove, Diecimila, LilyPad, Mini, Fio, etc...
+#elif defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__)
+  #define CORE_NUM_INTERRUPT	2
+  #define CORE_INT0_PIN		2
+  #define CORE_INT1_PIN		3
+
+// Arduino Mega
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+  #define CORE_NUM_INTERRUPT	6
+  #define CORE_INT0_PIN		2
+  #define CORE_INT1_PIN		3
+  #define CORE_INT2_PIN		21
+  #define CORE_INT3_PIN		20
+  #define CORE_INT4_PIN		19
+  #define CORE_INT5_PIN		18
+
+// Arduino Leonardo (untested)
+#elif defined(__AVR_ATmega32U4__) && !defined(CORE_TEENSY)
+  #define CORE_NUM_INTERRUPT	4
+  #define CORE_INT0_PIN		3
+  #define CORE_INT1_PIN		2
+  #define CORE_INT2_PIN		0
+  #define CORE_INT3_PIN		1
+
+// Sanguino (untested)
+#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
+  #define CORE_NUM_INTERRUPT	3
+  #define CORE_INT0_PIN		10
+  #define CORE_INT1_PIN		11
+  #define CORE_INT2_PIN		2
+
+// Chipkit Uno32 - attachInterrupt may not support CHANGE option
+#elif defined(__PIC32MX__) && defined(_BOARD_UNO_)
+  #define CORE_NUM_INTERRUPT	5
+  #define CORE_INT0_PIN		38
+  #define CORE_INT1_PIN		2
+  #define CORE_INT2_PIN		7
+  #define CORE_INT3_PIN		8
+  #define CORE_INT4_PIN		35
+
+// Chipkit Uno32 - attachInterrupt may not support CHANGE option
+#elif defined(__PIC32MX__) && defined(_BOARD_MEGA_)
+  #define CORE_NUM_INTERRUPT	5
+  #define CORE_INT0_PIN		3
+  #define CORE_INT1_PIN		2
+  #define CORE_INT2_PIN		7
+  #define CORE_INT3_PIN		21
+  #define CORE_INT4_PIN		20
+
+// http://hlt.media.mit.edu/?p=1229
+#elif defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)
+  #define CORE_NUM_INTERRUPT    1
+  #define CORE_INT0_PIN		2
+
+// Arduino Due (untested)
+#elif defined(__SAM3X8E__) 
+  #define CORE_NUM_INTERRUPT	54
+  #define CORE_INT0_PIN		0
+  #define CORE_INT1_PIN		1
+  #define CORE_INT2_PIN		2
+  #define CORE_INT3_PIN		3
+  #define CORE_INT4_PIN		4
+  #define CORE_INT5_PIN		5
+  #define CORE_INT6_PIN		6
+  #define CORE_INT7_PIN		7
+  #define CORE_INT8_PIN		8
+  #define CORE_INT9_PIN		9
+  #define CORE_INT10_PIN	10
+  #define CORE_INT11_PIN	11
+  #define CORE_INT12_PIN	12
+  #define CORE_INT13_PIN	13
+  #define CORE_INT14_PIN	14
+  #define CORE_INT15_PIN	15
+  #define CORE_INT16_PIN	16
+  #define CORE_INT17_PIN	17
+  #define CORE_INT18_PIN	18
+  #define CORE_INT19_PIN	19
+  #define CORE_INT20_PIN	20
+  #define CORE_INT21_PIN	21
+  #define CORE_INT22_PIN	22
+  #define CORE_INT23_PIN	23
+  #define CORE_INT24_PIN	24
+  #define CORE_INT25_PIN	25
+  #define CORE_INT26_PIN	26
+  #define CORE_INT27_PIN	27
+  #define CORE_INT28_PIN	28
+  #define CORE_INT29_PIN	29
+  #define CORE_INT30_PIN	30
+  #define CORE_INT31_PIN	31
+  #define CORE_INT32_PIN	32
+  #define CORE_INT33_PIN	33
+  #define CORE_INT34_PIN	34
+  #define CORE_INT35_PIN	35
+  #define CORE_INT36_PIN	36
+  #define CORE_INT37_PIN	37
+  #define CORE_INT38_PIN	38
+  #define CORE_INT39_PIN	39
+  #define CORE_INT40_PIN	40
+  #define CORE_INT41_PIN	41
+  #define CORE_INT42_PIN	42
+  #define CORE_INT43_PIN	43
+  #define CORE_INT44_PIN	44
+  #define CORE_INT45_PIN	45
+  #define CORE_INT46_PIN	46
+  #define CORE_INT47_PIN	47
+  #define CORE_INT48_PIN	48
+  #define CORE_INT49_PIN	49
+  #define CORE_INT50_PIN	50
+  #define CORE_INT51_PIN	51
+  #define CORE_INT52_PIN	52
+  #define CORE_INT53_PIN	53
+
+#endif
+#endif
+
+#if !defined(CORE_NUM_INTERRUPT)
+#error "Interrupts are unknown for this board, please add to this code"
+#endif
+#if CORE_NUM_INTERRUPT <= 0
+#error "Encoder requires interrupt pins, but this board does not have any :("
+#error "You could try defining ENCODER_DO_NOT_USE_INTERRUPTS as a kludge."
+#endif
+