diff --git a/platypush/plugins/gpio/zeroborg.py b/platypush/plugins/gpio/zeroborg.py
new file mode 100755
index 00000000..f3fd315b
--- /dev/null
+++ b/platypush/plugins/gpio/zeroborg.py
@@ -0,0 +1,929 @@
+#!/usr/bin/env python
+# coding: latin-1
+"""
+This module is designed to communicate with the ZeroBorg
+
+Use by creating an instance of the class, call the Init function, then command as desired, e.g.
+import ZeroBorg
+ZB = ZeroBorg.ZeroBorg()
+ZB.Init()
+# User code here, use ZB to control the board
+
+Multiple boards can be used when configured with different I?C addresses by creating multiple instances, e.g.
+import ZeroBorg
+ZB1 = ZeroBorg.ZeroBorg()
+ZB2 = ZeroBorg.ZeroBorg()
+ZB1.i2cAddress = 0x44
+ZB2.i2cAddress = 0x45
+ZB1.Init()
+ZB2.Init()
+# User code here, use ZB1 and ZB2 to control each board separately
+
+For explanations of the functions available call the Help function, e.g.
+import ZeroBorg
+ZB = ZeroBorg.ZeroBorg()
+ZB.Help()
+See the website at www.piborg.org/zeroborg for more details
+"""
+
+# Import the libraries we need
+import io
+import fcntl
+import types
+import time
+
+# Constant values
+I2C_SLAVE               = 0x0703
+PWM_MAX                 = 255
+I2C_NORM_LEN            = 4
+I2C_LONG_LEN            = 24
+
+I2C_ID_ZEROBORG         = 0x40
+
+COMMAND_SET_LED         = 1     # Set the LED status
+COMMAND_GET_LED         = 2     # Get the LED status
+COMMAND_SET_A_FWD       = 3     # Set motor 1 PWM rate in a forwards direction
+COMMAND_SET_A_REV       = 4     # Set motor 1 PWM rate in a reverse direction
+COMMAND_GET_A           = 5     # Get motor 1 direction and PWM rate
+COMMAND_SET_B_FWD       = 6     # Set motor 2 PWM rate in a forwards direction
+COMMAND_SET_B_REV       = 7     # Set motor 2 PWM rate in a reverse direction
+COMMAND_GET_B           = 8     # Get motor 2 direction and PWM rate
+COMMAND_SET_C_FWD       = 9     # Set motor 3 PWM rate in a forwards direction
+COMMAND_SET_C_REV       = 10    # Set motor 3 PWM rate in a reverse direction
+COMMAND_GET_C           = 11    # Get motor 3 direction and PWM rate
+COMMAND_SET_D_FWD       = 12    # Set motor 4 PWM rate in a forwards direction
+COMMAND_SET_D_REV       = 13    # Set motor 4 PWM rate in a reverse direction
+COMMAND_GET_D           = 14    # Get motor 4 direction and PWM rate
+COMMAND_ALL_OFF         = 15    # Switch everything off
+COMMAND_SET_ALL_FWD     = 16    # Set all motors PWM rate in a forwards direction
+COMMAND_SET_ALL_REV     = 17    # Set all motors PWM rate in a reverse direction
+COMMAND_SET_FAILSAFE    = 18    # Set the failsafe flag, turns the motors off if communication is interrupted
+COMMAND_GET_FAILSAFE    = 19    # Get the failsafe flag
+COMMAND_RESET_EPO       = 20    # Resets the EPO flag, use after EPO has been tripped and switch is now clear
+COMMAND_GET_EPO         = 21    # Get the EPO latched flag
+COMMAND_SET_EPO_IGNORE  = 22    # Set the EPO ignored flag, allows the system to run without an EPO
+COMMAND_GET_EPO_IGNORE  = 23    # Get the EPO ignored flag
+COMMAND_GET_NEW_IR      = 24    # Get the new IR message received flag
+COMMAND_GET_LAST_IR     = 25    # Get the last IR message received (long message, resets new IR flag)
+COMMAND_SET_LED_IR      = 26    # Set the LED for indicating IR messages
+COMMAND_GET_LED_IR      = 27    # Get if the LED is being used to indicate IR messages
+COMMAND_GET_ANALOG_1    = 28    # Get the analog reading from port #1, pin 2
+COMMAND_GET_ANALOG_2    = 29    # Get the analog reading from port #2, pin 4
+COMMAND_GET_ID          = 0x99  # Get the board identifier
+COMMAND_SET_I2C_ADD     = 0xAA  # Set a new I2C address
+
+COMMAND_VALUE_FWD       = 1     # I2C value representing forward
+COMMAND_VALUE_REV       = 2     # I2C value representing reverse
+
+COMMAND_VALUE_ON        = 1     # I2C value representing on
+COMMAND_VALUE_OFF       = 0     # I2C value representing off
+
+COMMAND_ANALOG_MAX      = 0x3FF # Maximum value for analog readings
+
+IR_MAX_BYTES            = I2C_LONG_LEN - 2
+
+def ScanForZeroBorg(busNumber = 1):
+    """
+ScanForZeroBorg([busNumber])
+
+Scans the I?C bus for a ZeroBorg boards and returns a list of all usable addresses
+The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
+    """
+    found = []
+    print('Scanning I?C bus #%d' % (busNumber))
+    bus = ZeroBorg()
+    for address in range(0x03, 0x78, 1):
+        try:
+            bus.InitBusOnly(busNumber, address)
+            i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
+            if len(i2cRecv) == I2C_NORM_LEN:
+                if i2cRecv[1] == I2C_ID_ZEROBORG:
+                    print('Found ZeroBorg at %02X' % (address))
+                    found.append(address)
+                else:
+                    pass
+            else:
+                pass
+        except KeyboardInterrupt:
+            raise
+        except:
+            pass
+    if len(found) == 0:
+        print('No ZeroBorg boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber))
+    elif len(found) == 1:
+        print('1 ZeroBorg board found')
+    else:
+        print('%d ZeroBorg boards found' % (len(found)))
+    return found
+
+
+def SetNewAddress(newAddress, oldAddress = -1, busNumber = 1):
+    """
+SetNewAddress(newAddress, [oldAddress], [busNumber])
+
+Scans the I?C bus for the first ZeroBorg and sets it to a new I2C address
+If oldAddress is supplied it will change the address of the board at that address rather than scanning the bus
+The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1
+Warning, this new I?C address will still be used after resetting the power on the device
+    """
+    if newAddress < 0x03:
+        print('Error, I?C addresses below 3 (0x03) are reserved, use an address between 3 (0x03) and 119 (0x77)')
+        return
+    elif newAddress > 0x77:
+        print('Error, I?C addresses above 119 (0x77) are reserved, use an address between 3 (0x03) and 119 (0x77)')
+        return
+    if oldAddress < 0x0:
+        found = ScanForZeroBorg(busNumber)
+        if len(found) < 1:
+            print('No ZeroBorg boards found, cannot set a new I?C address!')
+            return
+        else:
+            oldAddress = found[0]
+    print('Changing I2C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber))
+    bus = ZeroBorg()
+    bus.InitBusOnly(busNumber, oldAddress)
+    try:
+        i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
+        if len(i2cRecv) == I2C_NORM_LEN:
+            if i2cRecv[1] == I2C_ID_ZEROBORG:
+                foundChip = True
+                print('Found ZeroBorg at %02X' % (oldAddress))
+            else:
+                foundChip = False
+                print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_ZEROBORG))
+        else:
+            foundChip = False
+            print('Missing ZeroBorg at %02X' % (oldAddress))
+    except KeyboardInterrupt:
+        raise
+    except:
+        foundChip = False
+        print('Missing ZeroBorg at %02X' % (oldAddress))
+    if foundChip:
+        bus.RawWrite(COMMAND_SET_I2C_ADD, [newAddress])
+        time.sleep(0.1)
+        print('Address changed to %02X, attempting to talk with the new address' % (newAddress))
+        try:
+            bus.InitBusOnly(busNumber, newAddress)
+            i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
+            if len(i2cRecv) == I2C_NORM_LEN:
+                if i2cRecv[1] == I2C_ID_ZEROBORG:
+                    foundChip = True
+                    print('Found ZeroBorg at %02X' % (newAddress))
+                else:
+                    foundChip = False
+                    print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_ZEROBORG))
+            else:
+                foundChip = False
+                print('Missing ZeroBorg at %02X' % (newAddress))
+        except KeyboardInterrupt:
+            raise
+        except:
+            foundChip = False
+            print('Missing ZeroBorg at %02X' % (newAddress))
+    if foundChip:
+        print('New I?C address of %02X set successfully' % (newAddress))
+    else:
+        print('Failed to set new I?C address...')
+
+
+# Class used to control ZeroBorg
+class ZeroBorg:
+    """
+This module is designed to communicate with the ZeroBorg
+
+busNumber               I?C bus on which the ZeroBorg is attached (Rev 1 is bus 0, Rev 2 is bus 1)
+bus                     the smbus object used to talk to the I?C bus
+i2cAddress              The I?C address of the ZeroBorg chip to control
+foundChip               True if the ZeroBorg chip can be seen, False otherwise
+printFunction           Function reference to call when printing text, if None "print" is used
+    """
+
+    # Shared values used by this class
+    busNumber               = 1                 # Check here for Rev 1 vs Rev 2 and select the correct bus
+    i2cAddress              = I2C_ID_ZEROBORG   # I?C address, override for a different address
+    foundChip               = False
+    printFunction           = None
+    i2cWrite                = None
+    i2cRead                 = None
+
+
+    def RawWrite(self, command, data):
+        """
+RawWrite(command, data)
+
+Sends a raw command on the I2C bus to the ZeroBorg
+Command codes can be found at the top of ZeroBorg.py, data is a list of 0 or more byte values
+
+Under most circumstances you should use the appropriate function instead of RawWrite
+        """
+        rawOutput = chr(command)
+        for singleByte in data:
+            rawOutput += chr(singleByte)
+        self.i2cWrite.write(rawOutput)
+
+
+    def RawRead(self, command, length, retryCount = 3):
+        """
+RawRead(command, length, [retryCount])
+
+Reads data back from the ZeroBorg after sending a GET command
+Command codes can be found at the top of ZeroBorg.py, length is the number of bytes to read back
+
+The function checks that the first byte read back matches the requested command
+If it does not it will retry the request until retryCount is exhausted (default is 3 times)
+
+Under most circumstances you should use the appropriate function instead of RawRead
+        """
+        while retryCount > 0:
+            self.RawWrite(command, [])
+            rawReply = self.i2cRead.read(length)
+            reply = []
+            for singleByte in rawReply:
+                reply.append(ord(singleByte))
+            if command == reply[0]:
+                break
+            else:
+                retryCount -= 1
+        if retryCount > 0:
+            return reply
+        else:
+            raise IOError('I2C read for command %d failed' % (command))
+
+
+    def InitBusOnly(self, busNumber, address):
+        """
+InitBusOnly(busNumber, address)
+
+Prepare the I2C driver for talking to a ZeroBorg on the specified bus and I2C address
+This call does not check the board is present or working, under most circumstances use Init() instead
+        """
+        self.busNumber = busNumber
+        self.i2cAddress = address
+        self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0)
+        fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress)
+        self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0)
+        fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
+
+
+    def Print(self, message):
+        """
+Print(message)
+
+Wrapper used by the ZeroBorg instance to print messages, will call printFunction if set, print otherwise
+        """
+        if self.printFunction == None:
+            print(message)
+        else:
+            self.printFunction(message)
+
+
+    def NoPrint(self, message):
+        """
+NoPrint(message)
+
+Does nothing, intended for disabling diagnostic printout by using:
+ZB = ZeroBorg.ZeroBorg()
+ZB.printFunction = ZB.NoPrint
+        """
+        pass
+
+
+    def Init(self, tryOtherBus = False):
+        """
+Init([tryOtherBus])
+
+Prepare the I2C driver for talking to the ZeroBorg
+
+If tryOtherBus is True, this function will attempt to use the other bus if the ThunderBorg devices can not be found on the current busNumber
+    This is only really useful for early Raspberry Pi models!
+        """
+        self.Print('Loading ZeroBorg on bus %d, address %02X' % (self.busNumber, self.i2cAddress))
+
+        # Open the bus
+        self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0)
+        fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress)
+        self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0)
+        fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
+
+        # Check for ZeroBorg
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
+            if len(i2cRecv) == I2C_NORM_LEN:
+                if i2cRecv[1] == I2C_ID_ZEROBORG:
+                    self.foundChip = True
+                    self.Print('Found ZeroBorg at %02X' % (self.i2cAddress))
+                else:
+                    self.foundChip = False
+                    self.Print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (self.i2cAddress, i2cRecv[1], I2C_ID_ZEROBORG))
+            else:
+                self.foundChip = False
+                self.Print('Missing ZeroBorg at %02X' % (self.i2cAddress))
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.foundChip = False
+            self.Print('Missing ZeroBorg at %02X' % (self.i2cAddress))
+
+        # See if we are missing chips
+        if not self.foundChip:
+            self.Print('ZeroBorg was not found')
+            if tryOtherBus:
+                if self.busNumber == 1:
+                    self.busNumber = 0
+                else:
+                    self.busNumber = 1
+                self.Print('Trying bus %d instead' % (self.busNumber))
+                self.Init(False)
+            else:
+                self.Print('Are you sure your ZeroBorg is properly attached, the correct address is used, and the I2C drivers are running?')
+                self.bus = None
+        else:
+            self.Print('ZeroBorg loaded on bus %d' % (self.busNumber))
+
+
+    def SetMotor1(self, power):
+        """
+SetMotor1(power)
+
+Sets the drive level for motor 1, from +1 to -1.
+e.g.
+SetMotor1(0)     -> motor 1 is stopped
+SetMotor1(0.75)  -> motor 1 moving forward at 75% power
+SetMotor1(-0.5)  -> motor 1 moving reverse at 50% power
+SetMotor1(1)     -> motor 1 moving forward at 100% power
+        """
+        if power < 0:
+            # Reverse
+            command = COMMAND_SET_A_REV
+            pwm = -int(PWM_MAX * power)
+            if pwm > PWM_MAX:
+                pwm = PWM_MAX
+        else:
+            # Forward / stopped
+            command = COMMAND_SET_A_FWD
+            pwm = int(PWM_MAX * power)
+            if pwm > PWM_MAX:
+                pwm = PWM_MAX
+
+        try:
+            self.RawWrite(command, [pwm])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed sending motor 1 drive level!')
+
+
+    def GetMotor1(self):
+        """
+power = GetMotor1()
+
+Gets the drive level for motor 1, from +1 to -1.
+e.g.
+0     -> motor 1 is stopped
+0.75  -> motor 1 moving forward at 75% power
+-0.5  -> motor 1 moving reverse at 50% power
+1     -> motor 1 moving forward at 100% power
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_A, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading motor 1 drive level!')
+            return
+
+        power = float(i2cRecv[2]) / float(PWM_MAX)
+
+        if i2cRecv[1] == COMMAND_VALUE_FWD:
+            return power
+        elif i2cRecv[1] == COMMAND_VALUE_REV:
+            return -power
+        else:
+            return
+
+
+    def SetMotor2(self, power):
+        """
+SetMotor1(power)
+
+Sets the drive level for motor 2, from +1 to -1.
+e.g.
+SetMotor2(0)     -> motor 2 is stopped
+SetMotor2(0.75)  -> motor 2 moving forward at 75% power
+SetMotor2(-0.5)  -> motor 2 moving reverse at 50% power
+SetMotor2(1)     -> motor 2 moving forward at 100% power
+        """
+        if power < 0:
+            # Reverse
+            command = COMMAND_SET_B_REV
+            pwm = -int(PWM_MAX * power)
+            if pwm > PWM_MAX:
+                pwm = PWM_MAX
+        else:
+            # Forward / stopped
+            command = COMMAND_SET_B_FWD
+            pwm = int(PWM_MAX * power)
+            if pwm > PWM_MAX:
+                pwm = PWM_MAX
+
+        try:
+            self.RawWrite(command, [pwm])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed sending motor 2 drive level!')
+
+
+    def GetMotor2(self):
+        """
+power = GetMotor2()
+
+Gets the drive level for motor 2, from +1 to -1.
+e.g.
+0     -> motor 2 is stopped
+0.75  -> motor 2 moving forward at 75% power
+-0.5  -> motor 2 moving reverse at 50% power
+1     -> motor 2 moving forward at 100% power
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_B, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading motor 2 drive level!')
+            return
+
+        power = float(i2cRecv[2]) / float(PWM_MAX)
+
+        if i2cRecv[1] == COMMAND_VALUE_FWD:
+            return power
+        elif i2cRecv[1] == COMMAND_VALUE_REV:
+            return -power
+        else:
+            return
+
+
+    def SetMotor3(self, power):
+        """
+SetMotor3(power)
+
+Sets the drive level for motor 3, from +1 to -1.
+e.g.
+SetMotor3(0)     -> motor 3 is stopped
+SetMotor3(0.75)  -> motor 3 moving forward at 75% power
+SetMotor3(-0.5)  -> motor 3 moving reverse at 50% power
+SetMotor3(1)     -> motor 3 moving forward at 100% power
+        """
+        if power < 0:
+            # Reverse
+            command = COMMAND_SET_C_REV
+            pwm = -int(PWM_MAX * power)
+            if pwm > PWM_MAX:
+                pwm = PWM_MAX
+        else:
+            # Forward / stopped
+            command = COMMAND_SET_C_FWD
+            pwm = int(PWM_MAX * power)
+            if pwm > PWM_MAX:
+                pwm = PWM_MAX
+
+        try:
+            self.RawWrite(command, [pwm])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed sending motor 3 drive level!')
+
+
+    def GetMotor3(self):
+        """
+power = GetMotor3()
+
+Gets the drive level for motor 3, from +1 to -1.
+e.g.
+0     -> motor 3 is stopped
+0.75  -> motor 3 moving forward at 75% power
+-0.5  -> motor 3 moving reverse at 50% power
+1     -> motor 3 moving forward at 100% power
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_C, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading motor 3 drive level!')
+            return
+
+        power = float(i2cRecv[2]) / float(PWM_MAX)
+
+        if i2cRecv[1] == COMMAND_VALUE_FWD:
+            return power
+        elif i2cRecv[1] == COMMAND_VALUE_REV:
+            return -power
+        else:
+            return
+
+
+    def SetMotor4(self, power):
+        """
+SetMotor4(power)
+
+Sets the drive level for motor 4, from +1 to -1.
+e.g.
+SetMotor4(0)     -> motor 4 is stopped
+SetMotor4(0.75)  -> motor 4 moving forward at 75% power
+SetMotor4(-0.5)  -> motor 4 moving reverse at 50% power
+SetMotor4(1)     -> motor 4 moving forward at 100% power
+        """
+        if power < 0:
+            # Reverse
+            command = COMMAND_SET_D_REV
+            pwm = -int(PWM_MAX * power)
+            if pwm > PWM_MAX:
+                pwm = PWM_MAX
+        else:
+            # Forward / stopped
+            command = COMMAND_SET_D_FWD
+            pwm = int(PWM_MAX * power)
+            if pwm > PWM_MAX:
+                pwm = PWM_MAX
+
+        try:
+            self.RawWrite(command, [pwm])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed sending motor 4 drive level!')
+
+
+    def GetMotor4(self):
+        """
+power = GetMotor4()
+
+Gets the drive level for motor 4, from +1 to -1.
+e.g.
+0     -> motor 4 is stopped
+0.75  -> motor 4 moving forward at 75% power
+-0.5  -> motor 4 moving reverse at 50% power
+1     -> motor 4 moving forward at 100% power
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_D, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading motor 4 drive level!')
+            return
+
+        power = float(i2cRecv[2]) / float(PWM_MAX)
+
+        if i2cRecv[1] == COMMAND_VALUE_FWD:
+            return power
+        elif i2cRecv[1] == COMMAND_VALUE_REV:
+            return -power
+        else:
+            return
+
+
+    def SetMotors(self, power):
+        """
+SetMotors(power)
+
+Sets the drive level for all motors, from +1 to -1.
+e.g.
+SetMotors(0)     -> all motors are stopped
+SetMotors(0.75)  -> all motors are moving forward at 75% power
+SetMotors(-0.5)  -> all motors are moving reverse at 50% power
+SetMotors(1)     -> all motors are moving forward at 100% power
+        """
+        if power < 0:
+            # Reverse
+            command = COMMAND_SET_ALL_REV
+            pwm = -int(PWM_MAX * power)
+            if pwm > PWM_MAX:
+                pwm = PWM_MAX
+        else:
+            # Forward / stopped
+            command = COMMAND_SET_ALL_FWD
+            pwm = int(PWM_MAX * power)
+            if pwm > PWM_MAX:
+                pwm = PWM_MAX
+
+        try:
+            self.RawWrite(command, [pwm])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed sending all motors drive level!')
+
+
+    def MotorsOff(self):
+        """
+MotorsOff()
+
+Sets all motors to stopped, useful when ending a program
+        """
+        try:
+            self.RawWrite(COMMAND_ALL_OFF, [0])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed sending motors off command!')
+
+
+    def SetLed(self, state):
+        """
+SetLed(state)
+
+Sets the current state of the LED, False for off, True for on
+        """
+        if state:
+            level = COMMAND_VALUE_ON
+        else:
+            level = COMMAND_VALUE_OFF
+
+        try:
+            self.RawWrite(COMMAND_SET_LED, [level])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed sending LED state!')
+
+
+    def GetLed(self):
+        """
+state = GetLed()
+
+Reads the current state of the LED, False for off, True for on
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_LED, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading LED state!')
+            return
+
+        if i2cRecv[1] == COMMAND_VALUE_OFF:
+            return False
+        else:
+            return True
+
+
+    def ResetEpo(self):
+        """
+ResetEpo()
+
+Resets the EPO latch state, use to allow movement again after the EPO has been tripped
+        """
+        try:
+            self.RawWrite(COMMAND_RESET_EPO, [0])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed resetting EPO!')
+
+
+    def GetEpo(self):
+        """
+state = GetEpo()
+
+Reads the system EPO latch state.
+If False the EPO has not been tripped, and movement is allowed.
+If True the EPO has been tripped, movement is disabled if the EPO is not ignored (see SetEpoIgnore)
+    Movement can be re-enabled by calling ResetEpo.
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_EPO, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading EPO ignore state!')
+            return
+
+        if i2cRecv[1] == COMMAND_VALUE_OFF:
+            return False
+        else:
+            return True
+
+
+    def SetEpoIgnore(self, state):
+        """
+SetEpoIgnore(state)
+
+Sets the system to ignore or use the EPO latch, set to False if you have an EPO switch, True if you do not
+        """
+        if state:
+            level = COMMAND_VALUE_ON
+        else:
+            level = COMMAND_VALUE_OFF
+
+        try:
+            self.RawWrite(COMMAND_SET_EPO_IGNORE, [level])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed sending EPO ignore state!')
+
+
+    def GetEpoIgnore(self):
+        """
+state = GetEpoIgnore()
+
+Reads the system EPO ignore state, False for using the EPO latch, True for ignoring the EPO latch
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_EPO_IGNORE, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading EPO ignore state!')
+            return
+
+        if i2cRecv[1] == COMMAND_VALUE_OFF:
+            return False
+        else:
+            return True
+
+
+    def HasNewIrMessage(self):
+        """
+state = HasNewIrMessage()
+
+Reads the new IR message received flag.
+If False there has been no messages to the IR sensor since the last read.
+If True there has been a new IR message which can be read using GetIrMessage().
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_NEW_IR, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading new IR message received flag!')
+            return
+
+        if i2cRecv[1] == COMMAND_VALUE_OFF:
+            return False
+        else:
+            return True
+
+
+    def GetIrMessage(self):
+        """
+message = GetIrMessage()
+
+Reads the last IR message which has been received and clears the new IR message received flag.
+Returns the bytes from the remote control as a hexadecimal string, e.g. 'F75AD5AA8000'
+Use HasNewIrMessage() to see if there has been a new IR message since the last call.
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_LAST_IR, I2C_LONG_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading IR message!')
+            return
+
+        message = ''
+        for i in range(IR_MAX_BYTES):
+            message += '%02X' % (i2cRecv[1+i])
+        return message.rstrip('0')
+
+
+    def SetLedIr(self, state):
+        """
+SetLedIr(state)
+
+Sets if IR messages control the state of the LED, False for no effect, True for incoming messages blink the LED
+        """
+        if state:
+            level = COMMAND_VALUE_ON
+        else:
+            level = COMMAND_VALUE_OFF
+
+        try:
+            self.RawWrite(COMMAND_SET_LED_IR, [level])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed sending LED state!')
+
+
+    def GetLedIr(self):
+        """
+state = GetLedIr()
+
+Reads if IR messages control the state of the LED, False for no effect, True for incoming messages blink the LED
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_LED_IR, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading LED state!')
+            return
+
+        if i2cRecv[1] == COMMAND_VALUE_OFF:
+            return False
+        else:
+            return True
+
+
+    def GetAnalog1(self):
+        """
+voltage = GetAnalog1()
+
+Reads the current analog level from port #1 (pin 2).
+Returns the value as a voltage based on the 3.3 V reference pin (pin 1).
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_ANALOG_1, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading analog level #1!')
+            return
+
+        raw = (i2cRecv[1] << 8) + i2cRecv[2]
+        level = float(raw) / float(COMMAND_ANALOG_MAX)
+        return level * 3.3
+
+
+    def GetAnalog2(self):
+        """
+voltage = GetAnalog2()
+
+Reads the current analog level from port #2 (pin 4).
+Returns the value as a voltage based on the 3.3 V reference pin (pin 1).
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_ANALOG_2, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading analog level #2!')
+            return
+
+        raw = (i2cRecv[1] << 8) + i2cRecv[2]
+        level = float(raw) / float(COMMAND_ANALOG_MAX)
+        return level * 3.3
+
+
+    def SetCommsFailsafe(self, state):
+        """
+SetCommsFailsafe(state)
+
+Sets the system to enable or disable the communications failsafe
+The failsafe will turn the motors off unless it is commanded at least once every 1/4 of a second
+Set to True to enable this failsafe, set to False to disable this failsafe
+The failsafe is disabled at power on
+        """
+        if state:
+            level = COMMAND_VALUE_ON
+        else:
+            level = COMMAND_VALUE_OFF
+
+        try:
+            self.RawWrite(COMMAND_SET_FAILSAFE, [level])
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed sending communications failsafe state!')
+
+
+    def GetCommsFailsafe(self):
+        """
+state = GetCommsFailsafe()
+
+Read the current system state of the communications failsafe, True for enabled, False for disabled
+The failsafe will turn the motors off unless it is commanded at least once every 1/4 of a second
+        """
+        try:
+            i2cRecv = self.RawRead(COMMAND_GET_FAILSAFE, I2C_NORM_LEN)
+        except KeyboardInterrupt:
+            raise
+        except:
+            self.Print('Failed reading communications failsafe state!')
+            return
+
+        if i2cRecv[1] == COMMAND_VALUE_OFF:
+            return False
+        else:
+            return True
+
+
+    def Help(self):
+        """
+Help()
+
+Displays the names and descriptions of the various functions and settings provided
+        """
+        funcList = [ZeroBorg.__dict__.get(a) for a in dir(ZeroBorg) if isinstance(ZeroBorg.__dict__.get(a), types.FunctionType)]
+        funcListSorted = sorted(funcList, key = lambda x: x.func_code.co_firstlineno)
+
+        print(self.__doc__)
+        print
+        for func in funcListSorted:
+            print('=== %s === %s' % (func.func_name, func.func_doc))
+