diff --git a/demos/ev3dev-lang-demo.cpp b/demos/ev3dev-lang-demo.cpp
index 2323446..01cf286 100644
--- a/demos/ev3dev-lang-demo.cpp
+++ b/demos/ev3dev-lang-demo.cpp
@@ -178,13 +178,8 @@ void motor_action(motor &dev)
          << endl
          << "(i)nfo" << endl
          << "(c)ommand" << endl
-         << "st(o)p command      [" << dev.stop_command()             << "]" << endl
-         << "speed r(e)gulation  [" << dev.speed_regulation_enabled() << "]" << endl;
-
-    if (dev.speed_regulation_enabled()==dev.speed_regulation_on)
-      cout << "speed (s)etpoint (" << dev.speed_sp() << ")" << endl;
-    else
-      cout << "duty cycle (s)etpoint (" << dev.duty_cycle_sp() << ")" << endl;
+         << "st(o)p command      [" << dev.stop_action()              << "]" << endl
+         << "speed (s)etpoint (" << dev.speed_sp() << ")" << endl;
 
     cout << "(p)osition setpoint  (" << dev.position_sp()   << ")" << endl
          << "ramp (u)p setpoint   (" << dev.ramp_up_sp()    << ")" << endl
@@ -204,12 +199,18 @@ void motor_action(motor &dev)
       cout << endl;
 //~autogen generic_report_status classes.motor>currentClass
 
+    cout << "    Address: ";
+    try { cout << dev.address() << endl; }
+    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Commands: ";
     try { cout << dev.commands() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Count Per Rot: ";
     try { cout << dev.count_per_rot() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
+    cout << "    Count Per M: ";
+    try { cout << dev.count_per_m() << endl; }
+    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Driver Name: ";
     try { cout << dev.driver_name() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -219,15 +220,12 @@ void motor_action(motor &dev)
     cout << "    Duty Cycle SP: ";
     try { cout << dev.duty_cycle_sp() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Encoder Polarity: ";
-    try { cout << dev.encoder_polarity() << endl; }
+    cout << "    Full Travel Count: ";
+    try { cout << dev.full_travel_count() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Polarity: ";
     try { cout << dev.polarity() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Address: ";
-    try { cout << dev.address() << endl; }
-    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Position: ";
     try { cout << dev.position() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -243,6 +241,9 @@ void motor_action(motor &dev)
     cout << "    Position SP: ";
     try { cout << dev.position_sp() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
+    cout << "    Max Speed: ";
+    try { cout << dev.max_speed() << endl; }
+    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Speed: ";
     try { cout << dev.speed() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -255,26 +256,23 @@ void motor_action(motor &dev)
     cout << "    Ramp Down SP: ";
     try { cout << dev.ramp_down_sp() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Speed Regulation Enabled: ";
-    try { cout << dev.speed_regulation_enabled() << endl; }
-    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Speed Regulation P: ";
-    try { cout << dev.speed_regulation_p() << endl; }
+    cout << "    Speed P: ";
+    try { cout << dev.speed_p() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Speed Regulation I: ";
-    try { cout << dev.speed_regulation_i() << endl; }
+    cout << "    Speed I: ";
+    try { cout << dev.speed_i() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Speed Regulation D: ";
-    try { cout << dev.speed_regulation_d() << endl; }
+    cout << "    Speed D: ";
+    try { cout << dev.speed_d() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    State: ";
     try { cout << dev.state() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Stop Command: ";
-    try { cout << dev.stop_command() << endl; }
+    cout << "    Stop Action: ";
+    try { cout << dev.stop_action() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Stop Commands: ";
-    try { cout << dev.stop_commands() << endl; }
+    cout << "    Stop Actions: ";
+    try { cout << dev.stop_actions() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Time SP: ";
     try { cout << dev.time_sp() << endl; }
@@ -289,22 +287,11 @@ void motor_action(motor &dev)
       cin >> answer; dev.set_command(answer); cout << endl;
       break;
     case 'o':
-      cout << "stop command " << dev.stop_commands() << ": ";
-      cin >> answer; dev.set_stop_command(answer); cout << endl;
-      break;
-    case 'e':
-      cout << "speed regulation (off, on): ";
-      cin >> answer; dev.set_speed_regulation_enabled(answer); cout << endl;
+      cout << "stop command " << dev.stop_actions() << ": ";
+      cin >> answer; dev.set_stop_action(answer); cout << endl;
       break;
     case 's':
-      if (dev.speed_regulation_enabled()==dev.speed_regulation_on)
-      {
-        cout << "speed: "; cin >> new_value; dev.set_speed_sp(new_value); cout << endl;
-      }
-      else
-      {
-        cout << "duty cycle: "; cin >> new_value; dev.set_duty_cycle_sp(new_value); cout << endl;
-      }
+      cout << "speed: "; cin >> new_value; dev.set_speed_sp(new_value); cout << endl;
       break;
     case 'p':
       cout << "position: "; cin >> new_value; dev.set_position_sp(new_value); cout << endl;
diff --git a/demos/ev3dev-lang-test.cpp b/demos/ev3dev-lang-test.cpp
index bf50af0..31f07c3 100644
--- a/demos/ev3dev-lang-test.cpp
+++ b/demos/ev3dev-lang-test.cpp
@@ -22,7 +22,7 @@
 //-----------------------------------------------------------------------------
 //~autogen autogen-header
 
-// Sections of the following code were auto-generated based on spec v0.9.3-pre, rev 2.
+// Sections of the following code were auto-generated based on spec v1.2.0.
 
 //~autogen
 //-----------------------------------------------------------------------------
@@ -55,6 +55,9 @@ void test_sensor(const char *name)
          << "  Current properties are:" << endl;
 //~autogen generic_report_status classes.sensor>currentClass
 
+    cout << "    Address: ";
+    try { cout << dev.address() << endl; }
+    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Commands: ";
     try { cout << dev.commands() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -73,9 +76,6 @@ void test_sensor(const char *name)
     cout << "    Num Values: ";
     try { cout << dev.num_values() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Address: ";
-    try { cout << dev.address() << endl; }
-    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Units: ";
     try { cout << dev.units() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -99,12 +99,18 @@ void test_motor(const char *name)
          << "  Current properties are:" << endl;
 //~autogen generic_report_status classes.motor>currentClass
 
+    cout << "    Address: ";
+    try { cout << dev.address() << endl; }
+    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Commands: ";
     try { cout << dev.commands() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Count Per Rot: ";
     try { cout << dev.count_per_rot() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
+    cout << "    Count Per M: ";
+    try { cout << dev.count_per_m() << endl; }
+    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Driver Name: ";
     try { cout << dev.driver_name() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -114,15 +120,12 @@ void test_motor(const char *name)
     cout << "    Duty Cycle SP: ";
     try { cout << dev.duty_cycle_sp() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Encoder Polarity: ";
-    try { cout << dev.encoder_polarity() << endl; }
+    cout << "    Full Travel Count: ";
+    try { cout << dev.full_travel_count() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Polarity: ";
     try { cout << dev.polarity() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Address: ";
-    try { cout << dev.address() << endl; }
-    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Position: ";
     try { cout << dev.position() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -138,6 +141,9 @@ void test_motor(const char *name)
     cout << "    Position SP: ";
     try { cout << dev.position_sp() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
+    cout << "    Max Speed: ";
+    try { cout << dev.max_speed() << endl; }
+    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Speed: ";
     try { cout << dev.speed() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -150,26 +156,23 @@ void test_motor(const char *name)
     cout << "    Ramp Down SP: ";
     try { cout << dev.ramp_down_sp() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Speed Regulation Enabled: ";
-    try { cout << dev.speed_regulation_enabled() << endl; }
+    cout << "    Speed P: ";
+    try { cout << dev.speed_p() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Speed Regulation P: ";
-    try { cout << dev.speed_regulation_p() << endl; }
+    cout << "    Speed I: ";
+    try { cout << dev.speed_i() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Speed Regulation I: ";
-    try { cout << dev.speed_regulation_i() << endl; }
-    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Speed Regulation D: ";
-    try { cout << dev.speed_regulation_d() << endl; }
+    cout << "    Speed D: ";
+    try { cout << dev.speed_d() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    State: ";
     try { cout << dev.state() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Stop Command: ";
-    try { cout << dev.stop_command() << endl; }
+    cout << "    Stop Action: ";
+    try { cout << dev.stop_action() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Stop Commands: ";
-    try { cout << dev.stop_commands() << endl; }
+    cout << "    Stop Actions: ";
+    try { cout << dev.stop_actions() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Time SP: ";
     try { cout << dev.time_sp() << endl; }
@@ -193,6 +196,9 @@ void test_dc_motor()
          << "  Current properties are:" << endl;
 //~autogen generic_report_status classes.dcMotor>currentClass
 
+    cout << "    Address: ";
+    try { cout << dev.address() << endl; }
+    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Commands: ";
     try { cout << dev.commands() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -208,9 +214,6 @@ void test_dc_motor()
     cout << "    Polarity: ";
     try { cout << dev.polarity() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Address: ";
-    try { cout << dev.address() << endl; }
-    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Ramp Down SP: ";
     try { cout << dev.ramp_down_sp() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -220,8 +223,8 @@ void test_dc_motor()
     cout << "    State: ";
     try { cout << dev.state() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Stop Commands: ";
-    try { cout << dev.stop_commands() << endl; }
+    cout << "    Stop Actions: ";
+    try { cout << dev.stop_actions() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Time SP: ";
     try { cout << dev.time_sp() << endl; }
@@ -245,6 +248,9 @@ void test_servo_motor()
          << "  Current properties are:" << endl;
 //~autogen generic_report_status classes.servoMotor>currentClass
 
+    cout << "    Address: ";
+    try { cout << dev.address() << endl; }
+    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Driver Name: ";
     try { cout << dev.driver_name() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
@@ -260,9 +266,6 @@ void test_servo_motor()
     cout << "    Polarity: ";
     try { cout << dev.polarity() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
-    cout << "    Address: ";
-    try { cout << dev.address() << endl; }
-    catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
     cout << "    Position SP: ";
     try { cout << dev.position_sp() << endl; }
     catch(...) { cout << "[" << strerror(errno) << "]" << endl; }
diff --git a/demos/remote-control.cpp b/demos/remote-control.cpp
index 1d641a5..3577c37 100644
--- a/demos/remote-control.cpp
+++ b/demos/remote-control.cpp
@@ -50,7 +50,7 @@ std::function<void(bool)> roll(Motor &motor, Leds &leds, int dir) {
             motor.set_duty_cycle_sp(90 * dir).run_forever();
             ev3::led::set_color(leds, dir > 0 ? ev3::led::green : ev3::led::red);
         } else {
-            motor.set_stop_command("brake").stop();
+            motor.set_stop_action("brake").stop();
             for(auto led : leds) led->off();
         }
     };
@@ -81,8 +81,8 @@ int main() {
         if (ts.is_pressed()) {
             ev3::sound::speak("Oops, excuse me!");
 
-            lmotor.set_stop_command("brake").stop();
-            rmotor.set_stop_command("brake").stop();
+            lmotor.set_stop_action("brake").stop();
+            rmotor.set_stop_action("brake").stop();
 
             // Turn red lights on
             ev3::led::set_color(ev3::led::left,  ev3::led::red);
diff --git a/ev3dev.cpp b/ev3dev.cpp
index ed7ea5f..2a43841 100644
--- a/ev3dev.cpp
+++ b/ev3dev.cpp
@@ -26,7 +26,7 @@
 //-----------------------------------------------------------------------------
 //~autogen autogen-header
 
-// Sections of the following code were auto-generated based on spec v0.9.3-pre, rev 2.
+// Sections of the following code were auto-generated based on spec v1.2.0.
 
 //~autogen
 //-----------------------------------------------------------------------------
@@ -751,11 +751,9 @@ const std::string motor::encoder_polarity_normal{ "normal" };
 const std::string motor::encoder_polarity_inversed{ "inversed" };
 const std::string motor::polarity_normal{ "normal" };
 const std::string motor::polarity_inversed{ "inversed" };
-const std::string motor::speed_regulation_on{ "on" };
-const std::string motor::speed_regulation_off{ "off" };
-const std::string motor::stop_command_coast{ "coast" };
-const std::string motor::stop_command_brake{ "brake" };
-const std::string motor::stop_command_hold{ "hold" };
+const std::string motor::stop_action_coast{ "coast" };
+const std::string motor::stop_action_brake{ "brake" };
+const std::string motor::stop_action_hold{ "hold" };
 
 //~autogen
 
@@ -821,8 +819,8 @@ const std::string dc_motor::command_run_direct{ "run-direct" };
 const std::string dc_motor::command_stop{ "stop" };
 const std::string dc_motor::polarity_normal{ "normal" };
 const std::string dc_motor::polarity_inversed{ "inversed" };
-const std::string dc_motor::stop_command_coast{ "coast" };
-const std::string dc_motor::stop_command_brake{ "brake" };
+const std::string dc_motor::stop_action_coast{ "coast" };
+const std::string dc_motor::stop_action_brake{ "brake" };
 
 //~autogen
 
@@ -882,12 +880,13 @@ void led::flash(unsigned on_ms, unsigned off_ms)
 #ifdef EV3DEV_PLATFORM_BRICKPI
 //~autogen leds-define platforms.brickpi.led>currentClass
 
-led led::blue_led1{"brickpi1:blue:ev3dev"};
-led led::blue_led2{"brickpi2:blue:ev3dev"};
+led led::blue_led1{"brickpi:led1:blue:ev3dev"};
+led led::blue_led2{"brickpi:led2:blue:ev3dev"};
 
 std::vector<led*> led::led1{ &led::blue_led1 };
 std::vector<led*> led::led2{ &led::blue_led2 };
 
+std::vector<float> led::black{ static_cast<float>(0) };
 std::vector<float> led::blue{ static_cast<float>(1) };
 
 //-----------------------------------------------------------------------------
@@ -910,11 +909,12 @@ led led::green_right{"ev3:right:green:ev3dev"};
 std::vector<led*> led::left{ &led::red_left, &led::green_left };
 std::vector<led*> led::right{ &led::red_right, &led::green_right };
 
+std::vector<float> led::black{ static_cast<float>(0), static_cast<float>(0) };
 std::vector<float> led::red{ static_cast<float>(1), static_cast<float>(0) };
 std::vector<float> led::green{ static_cast<float>(0), static_cast<float>(1) };
 std::vector<float> led::amber{ static_cast<float>(1), static_cast<float>(1) };
 std::vector<float> led::orange{ static_cast<float>(1), static_cast<float>(0.5) };
-std::vector<float> led::yellow{ static_cast<float>(0.5), static_cast<float>(1) };
+std::vector<float> led::yellow{ static_cast<float>(0.1), static_cast<float>(1) };
 
 //-----------------------------------------------------------------------------
 void led::all_off() {
diff --git a/ev3dev.h b/ev3dev.h
index ed3ff2c..b660cb8 100644
--- a/ev3dev.h
+++ b/ev3dev.h
@@ -29,7 +29,7 @@
 //-----------------------------------------------------------------------------
 //~autogen autogen-header
 
-// Sections of the following code were auto-generated based on spec v0.9.3-pre, rev 2.
+// Sections of the following code were auto-generated based on spec v1.2.0.
 
 //~autogen
 //-----------------------------------------------------------------------------
@@ -199,6 +199,11 @@ class sensor : protected device
 
 //~autogen generic-get-set classes.sensor>currentClass
 
+  // Address: read-only
+  // Returns the name of the port that the sensor is connected to, e.g. `ev3:in1`.
+  // I2C sensors also include the I2C address (decimal), e.g. `ev3:in1:i2c8`.
+  std::string address() const { return get_attr_string("address"); }
+
   // Command: write-only
   // Sends a command to the sensor.
   auto set_command(std::string v) -> decltype(*this) {
@@ -239,11 +244,6 @@ class sensor : protected device
   // for the current mode.
   int num_values() const { return get_attr_int("num_values"); }
 
-  // Address: read-only
-  // Returns the name of the port that the sensor is connected to, e.g. `ev3:in1`.
-  // I2C sensors also include the I2C address (decimal), e.g. `ev3:in1:i2c8`.
-  std::string address() const { return get_attr_string("address"); }
-
   // Units: read-only
   // Returns the units of the measured value for the current mode. May return
   // empty string
@@ -600,6 +600,11 @@ class light_sensor : public sensor
 // positional and directional feedback such as the EV3 and NXT motors.
 // This feedback allows for precise control of the motors. This is the
 // most common type of motor, so we just call it `motor`.
+// 
+// The way to configure a motor is to set the '_sp' attributes when
+// calling a command or before. Only in 'run_direct' mode attribute
+// changes are processed immediately, in the other modes they only
+// take place when a new command is issued.
 
 //~autogen
 class motor : protected device
@@ -622,17 +627,17 @@ class motor : protected device
   static const std::string command_run_forever;
 
   // Run to an absolute position specified by `position_sp` and then
-  // stop using the command specified in `stop_command`.
+  // stop using the action specified in `stop_action`.
   static const std::string command_run_to_abs_pos;
 
   // Run to a position relative to the current `position` value.
   // The new position will be current `position` + `position_sp`.
   // When the new position is reached, the motor will stop using
-  // the command specified by `stop_command`.
+  // the action specified by `stop_action`.
   static const std::string command_run_to_rel_pos;
 
   // Run the motor for the amount of time specified in `time_sp`
-  // and then stop the motor using the command specified by `stop_command`.
+  // and then stop the motor using the action specified by `stop_action`.
   static const std::string command_run_timed;
 
   // Run the motor at the duty cycle specified by `duty_cycle_sp`.
@@ -641,7 +646,7 @@ class motor : protected device
   static const std::string command_run_direct;
 
   // Stop any of the run commands before they are complete using the
-  // command specified by `stop_command`.
+  // action specified by `stop_action`.
   static const std::string command_stop;
 
   // Reset all of the motor parameter attributes to their default value.
@@ -662,32 +667,29 @@ class motor : protected device
   // cause the motor to rotate counter-clockwise.
   static const std::string polarity_inversed;
 
-  // The motor controller will vary the power supplied to the motor
-  // to try to maintain the speed specified in `speed_sp`.
-  static const std::string speed_regulation_on;
-
-  // The motor controller will use the power specified in `duty_cycle_sp`.
-  static const std::string speed_regulation_off;
-
   // Power will be removed from the motor and it will freely coast to a stop.
-  static const std::string stop_command_coast;
+  static const std::string stop_action_coast;
 
   // Power will be removed from the motor and a passive electrical load will
   // be placed on the motor. This is usually done by shorting the motor terminals
   // together. This load will absorb the energy from the rotation of the motors and
   // cause the motor to stop more quickly than coasting.
-  static const std::string stop_command_brake;
+  static const std::string stop_action_brake;
 
   // Does not remove power from the motor. Instead it actively try to hold the motor
   // at the current position. If an external force tries to turn the motor, the motor
   // will ``push back`` to maintain its position.
-  static const std::string stop_command_hold;
+  static const std::string stop_action_hold;
 
 
 //~autogen
 
 //~autogen generic-get-set classes.motor>currentClass
 
+  // Address: read-only
+  // Returns the name of the port that this motor is connected to.
+  std::string address() const { return get_attr_string("address"); }
+
   // Command: write-only
   // Sends a command to the motor controller. See `commands` for a list of
   // possible values.
@@ -703,17 +705,17 @@ class motor : protected device
   // 
   // - `run-forever` will cause the motor to run until another command is sent.
   // - `run-to-abs-pos` will run to an absolute position specified by `position_sp`
-  //   and then stop using the command specified in `stop_command`.
+  //   and then stop using the action specified in `stop_action`.
   // - `run-to-rel-pos` will run to a position relative to the current `position` value.
   //   The new position will be current `position` + `position_sp`. When the new
-  //   position is reached, the motor will stop using the command specified by `stop_command`.
+  //   position is reached, the motor will stop using the action specified by `stop_action`.
   // - `run-timed` will run the motor for the amount of time specified in `time_sp`
-  //   and then stop the motor using the command specified by `stop_command`.
+  //   and then stop the motor using the action specified by `stop_action`.
   // - `run-direct` will run the motor at the duty cycle specified by `duty_cycle_sp`.
   //   Unlike other run commands, changing `duty_cycle_sp` while running *will*
   //   take effect immediately.
   // - `stop` will stop any of the run commands before they are complete using the
-  //   command specified by `stop_command`.
+  //   action specified by `stop_action`.
   // - `reset` will reset all of the motor parameter attributes to their default value.
   //   This will also have the effect of stopping the motor.
   mode_set commands() const { return get_attr_set("commands"); }
@@ -721,10 +723,15 @@ class motor : protected device
   // Count Per Rot: read-only
   // Returns the number of tacho counts in one rotation of the motor. Tacho counts
   // are used by the position and speed attributes, so you can use this value
-  // to convert rotations or degrees to tacho counts. In the case of linear
-  // actuators, the units here will be counts per centimeter.
+  // to convert rotations or degrees to tacho counts. (rotation motors only)
   int count_per_rot() const { return get_attr_int("count_per_rot"); }
 
+  // Count Per M: read-only
+  // Returns the number of tacho counts in one meter of travel of the motor. Tacho
+  // counts are used by the position and speed attributes, so you can use this
+  // value to convert from distance to tacho counts. (linear motors only)
+  int count_per_m() const { return get_attr_int("count_per_m"); }
+
   // Driver Name: read-only
   // Returns the name of the driver that provides this tacho motor device.
   std::string driver_name() const { return get_attr_string("driver_name"); }
@@ -737,25 +744,18 @@ class motor : protected device
   // Duty Cycle SP: read/write
   // Writing sets the duty cycle setpoint. Reading returns the current value.
   // Units are in percent. Valid values are -100 to 100. A negative value causes
-  // the motor to rotate in reverse. This value is only used when `speed_regulation`
-  // is off.
+  // the motor to rotate in reverse.
   int duty_cycle_sp() const { return get_attr_int("duty_cycle_sp"); }
   auto set_duty_cycle_sp(int v) -> decltype(*this) {
     set_attr_int("duty_cycle_sp", v);
     return *this;
   }
 
-  // Encoder Polarity: read/write
-  // Sets the polarity of the rotary encoder. This is an advanced feature to all
-  // use of motors that send inversed encoder signals to the EV3. This should
-  // be set correctly by the driver of a device. It You only need to change this
-  // value if you are using a unsupported device. Valid values are `normal` and
-  // `inversed`.
-  std::string encoder_polarity() const { return get_attr_string("encoder_polarity"); }
-  auto set_encoder_polarity(std::string v) -> decltype(*this) {
-    set_attr_string("encoder_polarity", v);
-    return *this;
-  }
+  // Full Travel Count: read-only
+  // Returns the number of tacho counts in the full travel of the motor. When
+  // combined with the `count_per_m` atribute, you can use this value to
+  // calculate the maximum travel distance of the motor. (linear motors only)
+  int full_travel_count() const { return get_attr_int("full_travel_count"); }
 
   // Polarity: read/write
   // Sets the polarity of the motor. With `normal` polarity, a positive duty
@@ -768,10 +768,6 @@ class motor : protected device
     return *this;
   }
 
-  // Address: read-only
-  // Returns the name of the port that this motor is connected to.
-  std::string address() const { return get_attr_string("address"); }
-
   // Position: read/write
   // Returns the current position of the motor in pulses of the rotary
   // encoder. When the motor rotates clockwise, the position will increase.
@@ -818,16 +814,25 @@ class motor : protected device
     return *this;
   }
 
+  // Max Speed: read-only
+  // Returns the maximum value that is accepted by the `speed_sp` attribute. This
+  // may be slightly different than the maximum speed that a particular motor can
+  // reach - it's the maximum theoretical speed.
+  int max_speed() const { return get_attr_int("max_speed"); }
+
   // Speed: read-only
-  // Returns the current motor speed in tacho counts per second. Not, this is
+  // Returns the current motor speed in tacho counts per second. Note, this is
   // not necessarily degrees (although it is for LEGO motors). Use the `count_per_rot`
   // attribute to convert this value to RPM or deg/sec.
   int speed() const { return get_attr_int("speed"); }
 
   // Speed SP: read/write
-  // Writing sets the target speed in tacho counts per second used when `speed_regulation`
-  // is on. Reading returns the current value.  Use the `count_per_rot` attribute
-  // to convert RPM or deg/sec to tacho counts per second.
+  // Writing sets the target speed in tacho counts per second used for all `run-*`
+  // commands except `run-direct`. Reading returns the current value. A negative
+  // value causes the motor to rotate in reverse with the exception of `run-to-*-pos`
+  // commands where the sign is ignored. Use the `count_per_rot` attribute to convert
+  // RPM or deg/sec to tacho counts per second. Use the `count_per_m` attribute to
+  // convert m/s to tacho counts per second.
   int speed_sp() const { return get_attr_int("speed_sp"); }
   auto set_speed_sp(int v) -> decltype(*this) {
     set_attr_int("speed_sp", v);
@@ -836,10 +841,10 @@ class motor : protected device
 
   // Ramp Up SP: read/write
   // Writing sets the ramp up setpoint. Reading returns the current value. Units
-  // are in milliseconds. When set to a value > 0, the motor will ramp the power
-  // sent to the motor from 0 to 100% duty cycle over the span of this setpoint
-  // when starting the motor. If the maximum duty cycle is limited by `duty_cycle_sp`
-  // or speed regulation, the actual ramp time duration will be less than the setpoint.
+  // are in milliseconds and must be positive. When set to a non-zero value, the
+  // motor speed will increase from 0 to 100% of `max_speed` over the span of this
+  // setpoint. The actual ramp time is the ratio of the difference between the
+  // `speed_sp` and the current `speed` and max_speed multiplied by `ramp_up_sp`.
   int ramp_up_sp() const { return get_attr_int("ramp_up_sp"); }
   auto set_ramp_up_sp(int v) -> decltype(*this) {
     set_attr_int("ramp_up_sp", v);
@@ -848,48 +853,36 @@ class motor : protected device
 
   // Ramp Down SP: read/write
   // Writing sets the ramp down setpoint. Reading returns the current value. Units
-  // are in milliseconds. When set to a value > 0, the motor will ramp the power
-  // sent to the motor from 100% duty cycle down to 0 over the span of this setpoint
-  // when stopping the motor. If the starting duty cycle is less than 100%, the
-  // ramp time duration will be less than the full span of the setpoint.
+  // are in milliseconds and must be positive. When set to a non-zero value, the
+  // motor speed will decrease from 0 to 100% of `max_speed` over the span of this
+  // setpoint. The actual ramp time is the ratio of the difference between the
+  // `speed_sp` and the current `speed` and max_speed multiplied by `ramp_down_sp`.
   int ramp_down_sp() const { return get_attr_int("ramp_down_sp"); }
   auto set_ramp_down_sp(int v) -> decltype(*this) {
     set_attr_int("ramp_down_sp", v);
     return *this;
   }
 
-  // Speed Regulation Enabled: read/write
-  // Turns speed regulation on or off. If speed regulation is on, the motor
-  // controller will vary the power supplied to the motor to try to maintain the
-  // speed specified in `speed_sp`. If speed regulation is off, the controller
-  // will use the power specified in `duty_cycle_sp`. Valid values are `on` and
-  // `off`.
-  std::string speed_regulation_enabled() const { return get_attr_string("speed_regulation"); }
-  auto set_speed_regulation_enabled(std::string v) -> decltype(*this) {
-    set_attr_string("speed_regulation", v);
-    return *this;
-  }
-
-  // Speed Regulation P: read/write
+  // Speed P: read/write
   // The proportional constant for the speed regulation PID.
-  int speed_regulation_p() const { return get_attr_int("speed_pid/Kp"); }
-  auto set_speed_regulation_p(int v) -> decltype(*this) {
+  int speed_p() const { return get_attr_int("speed_pid/Kp"); }
+  auto set_speed_p(int v) -> decltype(*this) {
     set_attr_int("speed_pid/Kp", v);
     return *this;
   }
 
-  // Speed Regulation I: read/write
+  // Speed I: read/write
   // The integral constant for the speed regulation PID.
-  int speed_regulation_i() const { return get_attr_int("speed_pid/Ki"); }
-  auto set_speed_regulation_i(int v) -> decltype(*this) {
+  int speed_i() const { return get_attr_int("speed_pid/Ki"); }
+  auto set_speed_i(int v) -> decltype(*this) {
     set_attr_int("speed_pid/Ki", v);
     return *this;
   }
 
-  // Speed Regulation D: read/write
+  // Speed D: read/write
   // The derivative constant for the speed regulation PID.
-  int speed_regulation_d() const { return get_attr_int("speed_pid/Kd"); }
-  auto set_speed_regulation_d(int v) -> decltype(*this) {
+  int speed_d() const { return get_attr_int("speed_pid/Kd"); }
+  auto set_speed_d(int v) -> decltype(*this) {
     set_attr_int("speed_pid/Kd", v);
     return *this;
   }
@@ -899,29 +892,29 @@ class motor : protected device
   // `running`, `ramping` `holding` and `stalled`.
   mode_set state() const { return get_attr_set("state"); }
 
-  // Stop Command: read/write
-  // Reading returns the current stop command. Writing sets the stop command.
+  // Stop Action: read/write
+  // Reading returns the current stop action. Writing sets the stop action.
   // The value determines the motors behavior when `command` is set to `stop`.
   // Also, it determines the motors behavior when a run command completes. See
-  // `stop_commands` for a list of possible values.
-  std::string stop_command() const { return get_attr_string("stop_command"); }
-  auto set_stop_command(std::string v) -> decltype(*this) {
-    set_attr_string("stop_command", v);
+  // `stop_actions` for a list of possible values.
+  std::string stop_action() const { return get_attr_string("stop_action"); }
+  auto set_stop_action(std::string v) -> decltype(*this) {
+    set_attr_string("stop_action", v);
     return *this;
   }
 
-  // Stop Commands: read-only
-  // Returns a list of stop modes supported by the motor controller.
+  // Stop Actions: read-only
+  // Returns a list of stop actions supported by the motor controller.
   // Possible values are `coast`, `brake` and `hold`. `coast` means that power will
   // be removed from the motor and it will freely coast to a stop. `brake` means
   // that power will be removed from the motor and a passive electrical load will
   // be placed on the motor. This is usually done by shorting the motor terminals
   // together. This load will absorb the energy from the rotation of the motors and
   // cause the motor to stop more quickly than coasting. `hold` does not remove
-  // power from the motor. Instead it actively try to hold the motor at the current
+  // power from the motor. Instead it actively tries to hold the motor at the current
   // position. If an external force tries to turn the motor, the motor will 'push
   // back' to maintain its position.
-  mode_set stop_commands() const { return get_attr_set("stop_commands"); }
+  mode_set stop_actions() const { return get_attr_set("stop_actions"); }
 
   // Time SP: read/write
   // Writing specifies the amount of time the motor will run when using the
@@ -942,17 +935,17 @@ class motor : protected device
     void run_forever() { set_command("run-forever"); }
 
     // Run to an absolute position specified by `position_sp` and then
-    // stop using the command specified in `stop_command`.
+    // stop using the action specified in `stop_action`.
     void run_to_abs_pos() { set_command("run-to-abs-pos"); }
 
     // Run to a position relative to the current `position` value.
     // The new position will be current `position` + `position_sp`.
     // When the new position is reached, the motor will stop using
-    // the command specified by `stop_command`.
+    // the action specified by `stop_action`.
     void run_to_rel_pos() { set_command("run-to-rel-pos"); }
 
     // Run the motor for the amount of time specified in `time_sp`
-    // and then stop the motor using the command specified by `stop_command`.
+    // and then stop the motor using the action specified by `stop_action`.
     void run_timed() { set_command("run-timed"); }
 
     // Run the motor at the duty cycle specified by `duty_cycle_sp`.
@@ -961,7 +954,7 @@ class motor : protected device
     void run_direct() { set_command("run-direct"); }
 
     // Stop any of the run commands before they are complete using the
-    // command specified by `stop_command`.
+    // action specified by `stop_action`.
     void stop() { set_command("stop"); }
 
     // Reset all of the motor parameter attributes to their default value.
@@ -1018,7 +1011,7 @@ class dc_motor : protected device
   static const std::string command_run_forever;
 
   // Run the motor for the amount of time specified in `time_sp`
-  // and then stop the motor using the command specified by `stop_command`.
+  // and then stop the motor using the action specified by `stop_action`.
   static const std::string command_run_timed;
 
   // Run the motor at the duty cycle specified by `duty_cycle_sp`.
@@ -1027,7 +1020,7 @@ class dc_motor : protected device
   static const std::string command_run_direct;
 
   // Stop any of the run commands before they are complete using the
-  // command specified by `stop_command`.
+  // action specified by `stop_action`.
   static const std::string command_stop;
 
   // With `normal` polarity, a positive duty cycle will
@@ -1039,19 +1032,23 @@ class dc_motor : protected device
   static const std::string polarity_inversed;
 
   // Power will be removed from the motor and it will freely coast to a stop.
-  static const std::string stop_command_coast;
+  static const std::string stop_action_coast;
 
   // Power will be removed from the motor and a passive electrical load will
   // be placed on the motor. This is usually done by shorting the motor terminals
   // together. This load will absorb the energy from the rotation of the motors and
   // cause the motor to stop more quickly than coasting.
-  static const std::string stop_command_brake;
+  static const std::string stop_action_brake;
 
 
 //~autogen
 
 //~autogen generic-get-set classes.dcMotor>currentClass
 
+  // Address: read-only
+  // Returns the name of the port that this motor is connected to.
+  std::string address() const { return get_attr_string("address"); }
+
   // Command: write-only
   // Sets the command for the motor. Possible values are `run-forever`, `run-timed` and
   // `stop`. Not all commands may be supported, so be sure to check the contents
@@ -1094,10 +1091,6 @@ class dc_motor : protected device
     return *this;
   }
 
-  // Address: read-only
-  // Returns the name of the port that this motor is connected to.
-  std::string address() const { return get_attr_string("address"); }
-
   // Ramp Down SP: read/write
   // Sets the time in milliseconds that it take the motor to ramp down from 100%
   // to 0%. Valid values are 0 to 10000 (10 seconds). Default is 0.
@@ -1123,18 +1116,18 @@ class dc_motor : protected device
   // `duty_cycle_sp`.
   mode_set state() const { return get_attr_set("state"); }
 
-  // Stop Command: write-only
-  // Sets the stop command that will be used when the motor stops. Read
-  // `stop_commands` to get the list of valid values.
-  auto set_stop_command(std::string v) -> decltype(*this) {
-    set_attr_string("stop_command", v);
+  // Stop Action: write-only
+  // Sets the stop action that will be used when the motor stops. Read
+  // `stop_actions` to get the list of valid values.
+  auto set_stop_action(std::string v) -> decltype(*this) {
+    set_attr_string("stop_action", v);
     return *this;
   }
 
-  // Stop Commands: read-only
-  // Gets a list of stop commands. Valid values are `coast`
+  // Stop Actions: read-only
+  // Gets a list of stop actions. Valid values are `coast`
   // and `brake`.
-  mode_set stop_commands() const { return get_attr_set("stop_commands"); }
+  mode_set stop_actions() const { return get_attr_set("stop_actions"); }
 
   // Time SP: read/write
   // Writing specifies the amount of time the motor will run when using the
@@ -1155,7 +1148,7 @@ class dc_motor : protected device
     void run_forever() { set_command("run-forever"); }
 
     // Run the motor for the amount of time specified in `time_sp`
-    // and then stop the motor using the command specified by `stop_command`.
+    // and then stop the motor using the action specified by `stop_action`.
     void run_timed() { set_command("run-timed"); }
 
     // Run the motor at the duty cycle specified by `duty_cycle_sp`.
@@ -1164,7 +1157,7 @@ class dc_motor : protected device
     void run_direct() { set_command("run-direct"); }
 
     // Stop any of the run commands before they are complete using the
-    // command specified by `stop_command`.
+    // action specified by `stop_action`.
     void stop() { set_command("stop"); }
 
 
@@ -1211,6 +1204,10 @@ class servo_motor : protected device
 
 //~autogen generic-get-set classes.servoMotor>currentClass
 
+  // Address: read-only
+  // Returns the name of the port that this motor is connected to.
+  std::string address() const { return get_attr_string("address"); }
+
   // Command: write-only
   // Sets the command for the servo. Valid values are `run` and `float`. Setting
   // to `run` will cause the servo to be driven to the position_sp set in the
@@ -1271,10 +1268,6 @@ class servo_motor : protected device
     return *this;
   }
 
-  // Address: read-only
-  // Returns the name of the port that this motor is connected to.
-  std::string address() const { return get_attr_string("address"); }
-
   // Position SP: read/write
   // Reading returns the current position_sp of the servo. Writing instructs the
   // servo to move to the specified position_sp. Units are percent. Valid values
@@ -1427,6 +1420,7 @@ class led : protected device
     static std::vector<led*> led1;
     static std::vector<led*> led2;
 
+    static std::vector<float> black;
     static std::vector<float> blue;
 
 //~autogen
@@ -1441,6 +1435,7 @@ class led : protected device
     static std::vector<led*> left;
     static std::vector<led*> right;
 
+    static std::vector<float> black;
     static std::vector<float> red;
     static std::vector<float> green;
     static std::vector<float> amber;
@@ -1682,6 +1677,11 @@ class lego_port : protected device
 
 //~autogen generic-get-set classes.legoPort>currentClass
 
+  // Address: read-only
+  // Returns the name of the port. See individual driver documentation for
+  // the name that will be returned.
+  std::string address() const { return get_attr_string("address"); }
+
   // Driver Name: read-only
   // Returns the name of the driver that loaded this device. You can find the
   // complete list of drivers in the [list of port drivers].
@@ -1702,11 +1702,6 @@ class lego_port : protected device
     return *this;
   }
 
-  // Address: read-only
-  // Returns the name of the port. See individual driver documentation for
-  // the name that will be returned.
-  std::string address() const { return get_attr_string("address"); }
-
   // Set Device: write-only
   // For modes that support it, writing the name of a driver will cause a new
   // device to be registered for that driver and attached to this port. For
diff --git a/tests/api_tests.cpp b/tests/api_tests.cpp
index aadbd9e..88be84b 100644
--- a/tests/api_tests.cpp
+++ b/tests/api_tests.cpp
@@ -17,7 +17,7 @@ void populate_arena(const std::vector<const char*> &devices) {
 }
 
 TEST_CASE( "Device" ) {
-    populate_arena({"medium_motor:0", "infrared_sensor:0"});
+    populate_arena({"medium_motor:0@outA", "infrared_sensor:0@in1"});
 
     ev3::device d;
 
@@ -56,7 +56,7 @@ TEST_CASE( "Device" ) {
 }
 
 TEST_CASE("Medium Motor") {
-    populate_arena({"medium_motor:0"});
+    populate_arena({"medium_motor:0@outA"});
 
     ev3::medium_motor m;
 
@@ -76,28 +76,26 @@ TEST_CASE("Medium Motor") {
 
         std::set<std::string> state = {"running"};
 
-        REQUIRE(m.count_per_rot()            == 360);
-        REQUIRE(m.commands()                 == commands);
-        REQUIRE(m.duty_cycle()               == 0);
-        REQUIRE(m.duty_cycle_sp()            == 42);
-        REQUIRE(m.encoder_polarity()         == "normal");
-        REQUIRE(m.polarity()                 == "normal");
-        REQUIRE(m.address()                  == "outA");
-        REQUIRE(m.position()                 == 42);
-        REQUIRE(m.position_sp()              == 42);
-        REQUIRE(m.ramp_down_sp()             == 0);
-        REQUIRE(m.ramp_up_sp()               == 0);
-        REQUIRE(m.speed()                    == 0);
-        REQUIRE(m.speed_regulation_enabled() == "off");
-        REQUIRE(m.speed_sp()                 == 0);
-        REQUIRE(m.state()                    == state);
-        REQUIRE(m.stop_command()             == "coast");
-        REQUIRE(m.time_sp()                  == 1000);
+        REQUIRE(m.count_per_rot() == 360);
+        REQUIRE(m.commands()      == commands);
+        REQUIRE(m.duty_cycle()    == 0);
+        REQUIRE(m.duty_cycle_sp() == 42);
+        REQUIRE(m.polarity()      == "normal");
+        REQUIRE(m.address()       == "outA");
+        REQUIRE(m.position()      == 42);
+        REQUIRE(m.position_sp()   == 42);
+        REQUIRE(m.ramp_down_sp()  == 0);
+        REQUIRE(m.ramp_up_sp()    == 0);
+        REQUIRE(m.speed()         == 0);
+        REQUIRE(m.speed_sp()      == 0);
+        REQUIRE(m.state()         == state);
+        REQUIRE(m.stop_action()   == "coast");
+        REQUIRE(m.time_sp()       == 1000);
     }
 }
 
 TEST_CASE("Infrared Sensor") {
-    populate_arena({"infrared_sensor:0"});
+    populate_arena({"infrared_sensor:0@in1"});
     ev3::infrared_sensor s;
 
     REQUIRE(s.connected());