diff --git a/PSL/SENSORS/MF522.py b/PSL/SENSORS/MF522.py
index f9bf1abc..f200c312 100644
--- a/PSL/SENSORS/MF522.py
+++ b/PSL/SENSORS/MF522.py
@@ -1 +1,512 @@
-#TODO
+# -*- coding: utf-8 -*-
+# MF522 - Software stack to access the MF522 RFID reader via  FOSSASIA PSLab
+#
+
+
+
+from __future__ import print_function
+from PSL import sciencelab
+import time
+def connect(I,cs):
+    return MF522(I,cs)
+
+class MF522:
+    #Constants from https://github.com/miguelbalboa/rfid ( Open source License : UNLICENSE)
+    CommandReg                = 0x01 << 1        # starts and stops command execution
+    ComIEnReg                = 0x02 << 1        # enable and disable interrupt request control bits
+    DivIEnReg                = 0x03 << 1        # enable and disable interrupt request control bits
+    ComIrqReg                = 0x04 << 1        # interrupt request bits
+    DivIrqReg                = 0x05 << 1        # interrupt request bits
+    ErrorReg                = 0x06 << 1        # error bits showing the error status of the last command executed
+    Status1Reg                = 0x07 << 1        # communication status bits
+    Status2Reg                = 0x08 << 1        # receiver and transmitter status bits
+    FIFODataReg                = 0x09 << 1        # input and output of 64 byte FIFO buffer
+    FIFOLevelReg                = 0x0A << 1        # number of bytes stored in the FIFO buffer
+    WaterLevelReg                = 0x0B << 1        # level for FIFO underflow and overflow warning
+    ControlReg                = 0x0C << 1        # miscellaneous control registers
+    BitFramingReg                = 0x0D << 1        # adjustments for bit-oriented frames
+    CollReg                    = 0x0E << 1        # bit position of the first bit-collision detected on the RF sciencelab
+
+    ModeReg                    = 0x11 << 1        # defines general modes for transmitting and receiving
+    TxModeReg                = 0x12 << 1        # defines transmission data rate and framing
+    RxModeReg                = 0x13 << 1        # defines reception data rate and framing
+    TxControlReg                = 0x14 << 1        # controls the logical behavior of the antenna driver pins TX1 and TX2
+    TxASKReg                = 0x15 << 1        # controls the setting of the transmission modulation
+    TxSelReg                = 0x16 << 1        # selects the internal sources for the antenna driver
+    RxSelReg                = 0x17 << 1        # selects internal receiver settings
+    RxThresholdReg                = 0x18 << 1        # selects thresholds for the bit decoder
+    DemodReg                = 0x19 << 1        # defines demodulator settings
+    MfTxReg                    = 0x1C << 1        # controls some MIFARE communication transmit parameters
+    MfRxReg                    = 0x1D << 1        # controls some MIFARE communication receive parameters
+    SerialSpeedReg                = 0x1F << 1        # selects the speed of the serial UART sciencelab
+
+    CRCResultRegH                = 0x21 << 1        # shows the MSB and LSB values of the CRC calculation
+    CRCResultRegL                = 0x22 << 1
+    ModWidthReg                = 0x24 << 1        # controls the ModWidth setting?
+    RFCfgReg                = 0x26 << 1        # configures the receiver gain
+    GsNReg                    = 0x27 << 1        # selects the conductance of the antenna driver pins TX1 and TX2 for modulation
+    CWGsPReg                = 0x28 << 1        # defines the conductance of the p-driver output during periods of no modulation
+    ModGsPReg                = 0x29 << 1        # defines the conductance of the p-driver output during periods of modulation
+    TModeReg                = 0x2A << 1        # defines settings for the internal timer
+    TPrescalerReg                = 0x2B << 1        # the lower 8 bits of the TPrescaler value. The 4 high bits are in TModeReg.
+    TReloadRegH                = 0x2C << 1        # defines the 16-bit timer reload value
+    TReloadRegL                = 0x2D << 1
+    TCounterValueRegH            = 0x2E << 1        # shows the 16-bit timer value
+    TCounterValueRegL            = 0x2F << 1
+
+    TestSel1Reg                = 0x31 << 1        # general test signal configuration
+    TestSel2Reg                = 0x32 << 1        # general test signal configuration
+    TestPinEnReg                = 0x33 << 1        # enables pin output driver on pins D1 to D7
+    TestPinValueReg                = 0x34 << 1        # defines the values for D1 to D7 when it is used as an I/O bus
+    TestBusReg                = 0x35 << 1        # shows the status of the internal test bus
+    AutoTestReg                = 0x36 << 1        # controls the digital self test
+    VersionReg                = 0x37 << 1        # shows the software version
+    AnalogTestReg                = 0x38 << 1        # controls the pins AUX1 and AUX2
+    TestDAC1Reg                = 0x39 << 1        # defines the test value for TestDAC1
+    TestDAC2Reg                = 0x3A << 1        # defines the test value for TestDAC2
+    TestADCReg                = 0x3B << 1       # shows the value of ADC I and Q channels
+
+    # MFRC522 commands. Described in chapter 10 of the datasheet.
+    PCD_Idle                = 0x00            #no action, cancels current command execution
+    PCD_Mem                    = 0x01            #stores 25 bytes into the internal buffer
+    PCD_GenerateRandomID    = 0x02                    #generates a 10-byte random ID number
+    PCD_CalcCRC                = 0x03                #activates the CRC coprocessor or performs a self test
+    PCD_Transmit                = 0x04                # transmits data from the FIFO buffer
+    PCD_NoCmdChange                = 0x07
+    PCD_Receive                = 0x08                #activates the receiver circuits
+    PCD_Transceive                 = 0x0C                #transmits data from FIFO buffer to antenna and automatically activates the receiver after transmission
+    PCD_MFAuthent                 = 0x0E                #performs the MIFARE standard authentication as a reader
+    PCD_SoftReset                = 0x0F                #resets the MFRC522
+
+    RxGain_18dB                = 0x00 << 4        # 000b - 18 dB, minimum
+    RxGain_23dB                = 0x01 << 4        # 001b - 23 dB
+    RxGain_18dB_2                = 0x02 << 4        # 010b - 18 dB, it seems 010b is a duplicate for 000b
+    RxGain_23dB_2                = 0x03 << 4        # 011b - 23 dB, it seems 011b is a duplicate for 001b
+    RxGain_33dB                = 0x04 << 4        # 100b - 33 dB, average, and typical default
+    RxGain_38dB                = 0x05 << 4        # 101b - 38 dB
+    RxGain_43dB                = 0x06 << 4        # 110b - 43 dB
+    RxGain_48dB                = 0x07 << 4        # 111b - 48 dB, maximum
+    RxGain_min                = 0x00 << 4        # 000b - 18 dB, minimum, convenience for RxGain_18dB
+    RxGain_avg                = 0x04 << 4        # 100b - 33 dB, average, convenience for RxGain_33dB
+    RxGain_max                = 0x07 << 4        # 111b - 48 dB, maximum, convenience for RxGain_48dB
+
+    # The commands used by the PCD to manage communication with several PICCs (ISO 14443-3, Type A, section 6.4)
+    PICC_CMD_REQA            = 0x26                 # REQuest command, Type A. Invites PICCs in state IDLE to go to READY and prepare for anticollision or selection
+    PICC_CMD_WUPA            = 0x52                 # Wake-UP command, prepare for anticollision or selection. 7 bit frame.
+    PICC_CMD_CT            = 0x88                 # Cascade Tag. Not really a command, but used during anti collision.
+    PICC_CMD_SEL_CL1        = 0x93                 # Anti collision/Select, Cascade Level 1
+    PICC_CMD_SEL_CL2        = 0x95                 # Anti collision/Select, Cascade Level 2
+    PICC_CMD_SEL_CL3        = 0x97                 # Anti collision/Select, Cascade Level 3
+    PICC_CMD_HLTA            = 0x50                 # HaLT command, Type A. Instructs an ACTIVE PICC to go to state HALT.
+    # The commands used for MIFARE Classic (from http://www.mouser.com/ds/2/302/MF1S503x-89574.pdf, Section 9)
+    # Use PCD_MFAuthent to authenticate access to a sector, then use these commands to read/write/modify the blocks on the sector.
+    # The read/write commands can also be used for MIFARE Ultralight.
+    PICC_CMD_MF_AUTH_KEY_A    = 0x60                 # Perform authentication with Key A
+    PICC_CMD_MF_AUTH_KEY_B    = 0x61                 # Perform authentication with Key B
+    PICC_CMD_MF_READ        = 0x30                 # Reads one 16 byte block from the authenticated sector of the PICC. Also used for MIFARE Ultralight.
+    PICC_CMD_MF_WRITE        = 0xA0                 # Writes one 16 byte block to the authenticated sector of the PICC. Called "COMPATIBILITY WRITE" for MIFARE Ultralight.
+    PICC_CMD_MF_DECREMENT    = 0xC0                 # Decrements the contents of a block and stores the result in the internal data register.
+    PICC_CMD_MF_INCREMENT    = 0xC1                 # Increments the contents of a block and stores the result in the internal data register.
+    PICC_CMD_MF_RESTORE        = 0xC2                 # Reads the contents of a block into the internal data register.
+    PICC_CMD_MF_TRANSFER    = 0xB0                 # Writes the contents of the internal data register to a block.
+
+
+
+    NRSTPD = 22
+    MAX_LEN = 16
+    MI_OK       = 0
+    MI_NOTAGERR = 1
+    MI_ERR      = 2
+
+    PCD_CALCCRC    = 0x03
+
+    PICC_REQIDL    = 0x26
+    PICC_REQALL    = 0x52
+    PICC_ANTICOLL  = 0x93
+    PICC_SElECTTAG = 0x93
+    PICC_AUTHENT1A = 0x60
+    PICC_AUTHENT1B = 0x61
+    PICC_READ      = 0x30
+    PICC_WRITE     = 0xA0
+    PICC_DECREMENT = 0xC0
+    PICC_INCREMENT = 0xC1
+    PICC_RESTORE   = 0xC2
+    PICC_TRANSFER  = 0xB0
+    PICC_HALT      = 0x50
+
+
+
+    # The commands used for MIFARE Ultralight (from http://www.nxp.com/documents/data_sheet/MF0ICU1.pdf, Section 8.6)
+    # The PICC_CMD_MF_READ and PICC_CMD_MF_WRITE can also be used for MIFARE Ultralight.
+    PICC_CMD_UL_WRITE        = 0xA2        #Writes one 4 byte page to the PICC.
+
+    MF_ACK                    = 0xA                 # The MIFARE Classic uses a 4 bit ACK/NAK. Any other value than 0xA is NAK.
+    MF_KEY_SIZE                = 6            # A Mifare Crypto1 key is 6 bytes.
+
+
+    def __init__(self,I,cs='CS1'):
+        self.cs=cs
+        self.I = I
+        self.I.SPI.set_parameters(2,1,1,0)
+        if not self.reset():
+            self.connected=False
+            return None
+        self.write(self.TModeReg, 0x80)
+        self.write(self.TPrescalerReg, 0xA9)
+        self.write(self.TReloadRegH, 0x03)
+        self.write(self.TReloadRegL, 0xE8)
+
+        self.write(self.TxASKReg, 0x40)
+        self.write(self.ModeReg, 0x3D)
+
+        #Enable the antenna
+        self.enableAntenna()
+        self.connected = True
+
+    def MFRC522_Init(self):
+        GPIO.output(self.NRSTPD, 1)
+        self.MFRC522_Reset();
+        self.write(self.TModeReg, 0x8D)
+        self.write(self.TPrescalerReg, 0x3E)
+        self.write(self.TReloadRegL, 30)
+        self.write(self.TReloadRegH, 0)
+
+        self.write(self.TxAutoReg, 0x40)
+        self.write(self.ModeReg, 0x3D)
+        self.AntennaOn()
+
+    def enableAntenna(self):
+        val = self.read(self.TxControlReg);
+        if ((val & 0x03) != 0x03):
+            self.write(self.TxControlReg, val | 0x03);
+
+    def reset(self):
+        self.write(self.CommandReg,self.PCD_SoftReset)
+        s=time.time()
+        while (self.read(self.CommandReg) & (1<<4)):
+            print ('wait')
+            time.sleep(0.1)
+            if time.time() - s > .5: return False
+        return True
+
+    def write(self,register,val):
+        self.I.SPI.set_cs(self.cs,0)
+        ret = self.I.SPI.send16(((register&0x7F)<<8)|val)
+        self.I.SPI.set_cs(self.cs,1)
+        return ret&0xFF
+
+    def read(self,register):
+        self.I.SPI.set_cs(self.cs,0)
+        ret = self.I.SPI.send16((register|0x80)<<8)
+        self.I.SPI.set_cs(self.cs,1)
+        return ret&0xFF
+
+    def readMany(self,register,total):
+        self.I.SPI.set_cs(self.cs,0)
+        self.I.SPI.send8(register)
+        vals = []
+        for a in range(total-1):
+            vals.append( I.SPI.send8(register) )
+        vals.append( I.SPI.send8(0) )
+        self.I.SPI.set_cs(self.cs,1)
+        return vals
+
+
+    def getStatus(self):
+        return self.read(self.Status1Reg)
+
+    def getVersion(self):
+        ver = self.read(self.VersionReg)
+        if ver==0x88: print ('Cloned version: Fudan Semiconductors')
+        elif ver==0x90: print ('version 1.0')
+        elif ver==0x91: print ('version 1.0')
+        elif ver==0x92: print ('version 2.0')
+        else: print ('Unknown version ',ver)
+        return ver
+
+
+    def SetBitMask(self, reg, mask):
+        tmp = self.read(reg)
+        self.write(reg, tmp | mask)
+
+    def ClearBitMask(self, reg, mask):
+        tmp = self.read(reg);
+        self.write(reg, tmp & (~mask))
+
+    def MFRC522_ToCard(self,command,sendData):
+        returnedData = []
+        backLen = 0
+        status = self.MI_ERR
+        irqEn = 0x00
+        waitIRq = 0x00
+        lastBits = None
+        n = 0
+        i = 0
+
+        if command == self.PCD_MFAuthent:
+            irqEn = 0x12
+            waitIRq = 0x10
+        if command == self.PCD_Transceive:
+            irqEn = 0x77
+            waitIRq = 0x30
+
+        self.write(self.ComIEnReg, irqEn|0x80)
+        self.ClearBitMask(self.ComIrqReg, 0x80)
+        self.SetBitMask(self.FIFOLevelReg, 0x80)
+
+        self.write(self.CommandReg, self.PCD_Idle);
+
+        for a in sendData:
+            self.write(self.FIFODataReg, a)
+        self.write(self.CommandReg, command)
+
+        if command == self.PCD_Transceive:
+            self.SetBitMask(self.BitFramingReg, 0x80)
+
+        i = 2000
+        while True:
+            n = self.read(self.ComIrqReg)
+            i = i - 1
+            if ~((i!=0) and ~(n&0x01) and ~(n&waitIRq)):
+                break
+
+        self.ClearBitMask(self.BitFramingReg, 0x80)
+
+        if i != 0:
+            if (self.read(self.ErrorReg) & 0x1B)==0x00:
+                status = self.MI_OK
+
+                if n & irqEn & 0x01:
+                  status = self.MI_NOTAGERR
+
+                if command == self.PCD_Transceive:
+                  n = self.read(self.FIFOLevelReg)
+                  lastBits = self.read(self.ControlReg) & 0x07
+                  if lastBits != 0:
+                    backLen = (n-1)*8 + lastBits
+                  else:
+                    backLen = n*8
+
+                  if n == 0:
+                    n = 1
+                  if n > self.MAX_LEN:
+                    n = self.MAX_LEN
+
+                  i = 0
+                  while i<n:
+                    returnedData.append(self.read(self.FIFODataReg))
+                    i = i + 1;
+            else:
+                status = self.MI_ERR
+        return (status,returnedData,backLen)
+
+
+    def MFRC522_Request(self, reqMode):
+        status = None
+        backBits = None
+        TagType = []
+
+        self.write(self.BitFramingReg, 0x07)
+
+        TagType.append(reqMode);
+        (status,returnedData,backBits) = self.MFRC522_ToCard(self.PCD_Transceive, TagType)
+
+        if ((status != self.MI_OK) | (backBits != 0x10)):
+            status = self.MI_ERR
+        return (status,backBits)
+
+    def MFRC522_Anticoll(self):
+        returnedData = []
+        serNumCheck = 0
+
+        serNum = []
+
+        self.write(self.BitFramingReg, 0x00)
+
+        serNum.append(self.PICC_ANTICOLL)
+        serNum.append(0x20)
+
+        (status,returnedData,backBits) = self.MFRC522_ToCard(self.PCD_Transceive,serNum)
+
+        if(status == self.MI_OK):
+            i = 0
+            if len(returnedData)==5:
+                while i<4:
+                    serNumCheck = serNumCheck ^ returnedData[i]
+                    i = i + 1
+                if serNumCheck != returnedData[i]:
+                    status = self.MI_ERR
+            else:
+                status = self.MI_ERR
+
+        return (status,returnedData)
+  
+    def CalulateCRC(self, pIndata):
+        self.ClearBitMask(self.DivIrqReg, 0x04)
+        self.SetBitMask(self.FIFOLevelReg, 0x80);
+        for a in pIndata:
+            self.write(self.FIFODataReg, a)
+        self.write(self.CommandReg, self.PCD_CALCCRC)
+        for i in range(0xFF):
+            n = self.read(self.DivIrqReg)
+            if (n&0x04):
+                break
+        pOutData = []
+        pOutData.append(self.read(self.CRCResultRegL))
+        pOutData.append(self.read(self.CRCResultRegH))
+        return pOutData
+  
+    def MFRC522_SelectTag(self, serNum):
+        returnedData = []
+        buf = []
+        buf.append(self.PICC_SElECTTAG)
+        buf.append(0x70)
+        i = 0
+        while i<5:
+            buf.append(serNum[i])
+            i = i + 1
+        pOut = self.CalulateCRC(buf)
+        buf.append(pOut[0])
+        buf.append(pOut[1])
+        (status, returnedData, backLen) = self.MFRC522_ToCard(self.PCD_Transceive, buf)
+
+        if (status == self.MI_OK) and (backLen == 0x18):
+            return returnedData[0]
+        else:
+            return 0
+  
+    def MFRC522_Auth(self, authMode, BlockAddr, Sectorkey, serNum):
+        buff = []
+        # First byte should be the authMode (A or B)
+        buff.append(authMode)
+        # Second byte is the trailerBlock (usually 7)
+        buff.append(BlockAddr)
+        # Now we need to append the authKey which usually is 6 bytes of 0xFF
+        i = 0
+        while(i < len(Sectorkey)):
+            buff.append(Sectorkey[i])
+            i = i + 1
+        i = 0
+
+        # Next we append the first 4 bytes of the UID
+        while(i < 4):
+            buff.append(serNum[i])
+            i = i +1
+
+        # Now we start the authentication itself
+        (status, returnedData, backLen) = self.MFRC522_ToCard(self.PCD_MFAuthent,buff)
+
+        # Check if an error occurred
+        if not(status == self.MI_OK):
+            print ("AUTH ERROR!!")
+        if not (self.read(self.Status2Reg) & 0x08) != 0:
+            print ("AUTH ERROR(status2reg & 0x08) != 0")
+
+        # Return the status
+        return status
+
+    def MFRC522_StopCrypto1(self):
+        self.ClearBitMask(self.Status2Reg, 0x08)
+        self.SetBitMask(self.CommandReg, 0x10)
+
+    def MFRC522_Read(self, blockAddr):
+        recvData = []
+        recvData.append(self.PICC_READ)
+        recvData.append(blockAddr)
+        pOut = self.CalulateCRC(recvData)
+        recvData.append(pOut[0])
+        recvData.append(pOut[1])
+        (status, returnedData, backLen) = self.MFRC522_ToCard(self.PCD_Transceive, recvData)
+        if not(status == self.MI_OK):
+            print ("Error while reading!")
+        i = 0
+        return returnedData
+
+    def MFRC522_Write(self, blockAddr, writeData):
+        buff = []
+        buff.append(self.PICC_WRITE)
+        buff.append(blockAddr)
+        crc = self.CalulateCRC(buff)
+        buff.append(crc[0])
+        buff.append(crc[1])
+        (status, returnedData, backLen) = self.MFRC522_ToCard(self.PCD_Transceive, buff)
+        if not(status == self.MI_OK) or not(backLen == 4) or not((returnedData[0] & 0x0F) == 0x0A):
+            status = self.MI_ERR
+
+        print (str(backLen)+" returnedData &0x0F == 0x0A "+str(returnedData[0]&0x0F))
+        if status == self.MI_OK:
+            i = 0
+            buf = []
+            while i < 16:
+                buf.append(writeData[i])
+                i = i + 1
+            crc = self.CalulateCRC(buf)
+            buf.append(crc[0])
+            buf.append(crc[1])
+            (status, returnedData, backLen) = self.MFRC522_ToCard(self.PCD_Transceive,buf)
+            if not(status == self.MI_OK) or not(backLen == 4) or not((returnedData[0] & 0x0F) == 0x0A):
+                print ("Error while writing")
+            if status == self.MI_OK:
+                print ("Data written")
+
+    def MFRC522_DumpClassic1K(self, key, uid):
+        i = 0
+        while i < 64:
+            status = self.MFRC522_Auth(self.PICC_AUTHENT1A, i, key, uid)
+            # Check if authenticated
+            if status == self.MI_OK:
+                self.MFRC522_Read(i)
+            else:
+                print ("Authentication error")
+            i = i+1
+
+
+
+if __name__ == "__main__":
+    from PSL import sciencelab
+    I= sciencelab.connect()
+    A = MF522(I,'CS1')
+    ret =  A.getStatus()
+    print (ret,hex(ret),bin(ret))
+    A.getVersion()
+    import time
+    while 1:
+        (status,TagType) = A.MFRC522_Request(A.PICC_CMD_REQA)
+        if status == A.MI_OK:
+            print ("Card detected")
+            (status,uid) = A.MFRC522_Anticoll()
+            if status == A.MI_OK:
+                print ("Card read UID: "+str(uid[0])+","+str(uid[1])+","+str(uid[2])+","+str(uid[3]))
+                key = [0xFF,0xFF,0xFF,0xFF,0xFF,0xFF]
+                A.MFRC522_SelectTag(uid)
+                status = A.MFRC522_Auth(A.PICC_AUTHENT1A, 8, key, uid)
+                if status == A.MI_OK:
+                    A.MFRC522_Read(8)
+                    # Variable for the data to write
+                    '''
+                    data = []
+                    # Fill the data with 0xFF
+                    for x in range(0,16):
+                        data.append(0xFF)
+                    print ("Sector 8 looked like this:")
+                    # Read block 8
+                    A.MFRC522_Read(8)
+                    print ("\n")
+                    print ("Sector 8 will now be filled with 0xFF:")
+                    # Write the data
+                    A.MFRC522_Write(8, data)
+                    print ("\n")
+                    print ("It now looks like this:")
+                    # Check to see if it was written
+                    A.MFRC522_Read(8)
+                    print ("\n")
+                    '''
+                    A.MFRC522_StopCrypto1()
+                else:
+                    print ("Authentication error")
+        else:
+            print ('not detected')
+
+#A.reset()
+
+
diff --git a/PSL/SENSORS/MLX90614.py b/PSL/SENSORS/MLX90614.py
index f9bf1abc..1d9bfa57 100644
--- a/PSL/SENSORS/MLX90614.py
+++ b/PSL/SENSORS/MLX90614.py
@@ -1 +1,70 @@
-#TODO
+from __future__ import print_function
+from numpy import int16
+def connect(route,**args):
+	return MLX90614(route,**args)
+
+class MLX90614():
+	NUMPLOTS=1
+	PLOTNAMES=['Temp']
+	ADDRESS = 0x5A
+	name = 'PIR temperature'
+	def __init__(self,I2C,**args):
+		self.I2C=I2C
+		self.ADDRESS = args.get('address',self.ADDRESS)
+		self.OBJADDR=0x07
+		self.AMBADDR=0x06
+
+		self.source=self.OBJADDR
+		
+		self.name = 'Passive IR temperature sensor'
+		self.params={'readReg':range(0x20),
+		'select_source':['object temperature','ambient temperature']}
+		
+		try:
+			print ('switching baud to 100k')
+			self.I2C.configI2C(100e3)
+		except:
+			print ('FAILED TO CHANGE BAUD RATE')
+
+
+	def select_source(self,source):
+		if source=='object temperature':
+			self.source = self.OBJADDR
+		elif source=='ambient temperature':
+			self.source = self.AMBADDR
+
+
+	def readReg(self,addr):
+		x= self.getVals(addr,2)
+		print (hex(addr),hex(x[0]|(x[1]<<8)))
+
+
+	def getVals(self,addr,bytes):
+		vals = self.I2C.readBulk(self.ADDRESS,addr,bytes) 
+		return vals
+
+	def getRaw(self):
+		vals=self.getVals(self.source,3)
+		if vals:
+			if len(vals)==3:
+				return [((((vals[1]&0x007f)<<8)+vals[0])*0.02)-0.01 - 273.15]
+			else:
+				return False
+		else:
+			return False
+
+	def getObjectTemperature(self):
+		self.source = self.OBJADDR
+		val=self.getRaw()
+		if val:
+			return val[0]
+		else:
+			return False
+
+	def getAmbientTemperature(self):
+		self.source = self.AMBADDR
+		val=self.getRaw()
+		if val:
+			return val[0]
+		else:
+			return False
diff --git a/PSL/SENSORS/MPU6050.py b/PSL/SENSORS/MPU6050.py
index f9bf1abc..e9313173 100644
--- a/PSL/SENSORS/MPU6050.py
+++ b/PSL/SENSORS/MPU6050.py
@@ -1 +1,134 @@
-#TODO
+from numpy import int16,std
+from PSL.SENSORS.Kalman import KalmanFilter
+
+def connect(route,**args):
+	return MPU6050(route,**args)
+
+class MPU6050():
+	'''
+	Mandatory members:
+	GetRaw : Function called by Graphical apps. Must return values stored in a list
+	NUMPLOTS : length of list returned by GetRaw. Even single datapoints need to be stored in a list before returning
+	PLOTNAMES : a list of strings describing each element in the list returned by GetRaw. len(PLOTNAMES) = NUMPLOTS
+	name : the name of the sensor shown to the user
+	params:
+		A dictionary of function calls(single arguments only) paired with list of valid argument values. (Primitive. I know.)
+		These calls can be used for one time configuration settings
+
+	'''
+	GYRO_CONFIG = 0x1B
+	ACCEL_CONFIG = 0x1C
+	GYRO_SCALING= [131,65.5,32.8,16.4]
+	ACCEL_SCALING=[16384,8192,4096,2048]
+	AR=3
+	GR=3
+	NUMPLOTS=7
+	PLOTNAMES = ['Ax','Ay','Az','Temp','Gx','Gy','Gz']
+	ADDRESS = 0x68
+	name = 'Accel/gyro'
+	def __init__(self,I2C,**args):
+		self.I2C=I2C
+		self.ADDRESS = args.get('address',self.ADDRESS)
+		self.name = 'Accel/gyro'
+		self.params={'powerUp':['Go'],'setGyroRange':[250,500,1000,2000],'setAccelRange':[2,4,8,16],'KalmanFilter':[.01,.1,1,10,100,1000,10000,'OFF']}
+		self.setGyroRange(2000)
+		self.setAccelRange(16)
+		'''
+		try:
+			self.I2C.configI2C(400e3)
+		except:
+			pass
+		'''
+		self.powerUp(True)
+		self.K=None
+
+
+
+	def KalmanFilter(self,opt):
+		if opt=='OFF':
+			self.K=None
+			return
+		noise=[[]]*self.NUMPLOTS
+		for a in range(500):
+			vals=self.getRaw()
+			for b in range(self.NUMPLOTS):noise[b].append(vals[b])
+
+		self.K=[None]*7
+		for a in range(self.NUMPLOTS):
+			sd = std(noise[a])
+			self.K[a] = KalmanFilter(1./opt, sd**2)
+
+	def getVals(self,addr,bytes):
+		vals = self.I2C.readBulk(self.ADDRESS,addr,bytes) 
+		return vals
+
+	def powerUp(self,x):
+		self.I2C.writeBulk(self.ADDRESS,[0x6B,0])
+
+	def setGyroRange(self,rs):
+		self.GR=self.params['setGyroRange'].index(rs)
+		self.I2C.writeBulk(self.ADDRESS,[self.GYRO_CONFIG,self.GR<<3])
+		
+	def setAccelRange(self,rs):
+		self.AR=self.params['setAccelRange'].index(rs)
+		self.I2C.writeBulk(self.ADDRESS,[self.ACCEL_CONFIG,self.AR<<3])
+
+	def getRaw(self):
+		'''
+		This method must be defined if you want GUIs to use this class to generate 
+		plots on the fly.
+		It must return a set of different values read from the sensor. such as X,Y,Z acceleration.
+		The length of this list must not change, and must be defined in the variable NUMPLOTS.
+		
+		GUIs will generate as many plots, and the data returned from this method will be appended appropriately
+		'''
+		vals=self.getVals(0x3B,14)
+		if vals:
+			if len(vals)==14:
+				raw=[0]*7
+				for a in range(3):raw[a] = 1.*int16(vals[a*2]<<8|vals[a*2+1])/self.ACCEL_SCALING[self.AR]
+				for a in range(4,7):raw[a] = 1.*int16(vals[a*2]<<8|vals[a*2+1])/self.GYRO_SCALING[self.GR]
+				raw[3] = int16(vals[6]<<8|vals[7])/340. + 36.53
+				if not self.K:
+					return raw
+				else:
+					for b in range(self.NUMPLOTS):
+						self.K[b].input_latest_noisy_measurement(raw[b])
+						raw[b]=self.K[b].get_latest_estimated_measurement()
+					return raw
+
+			else:
+				return False
+		else:
+			return False
+
+	def getAccel(self):
+		vals=self.getVals(0x3B,6)
+		ax=int16(vals[0]<<8|vals[1])
+		ay=int16(vals[2]<<8|vals[3])
+		az=int16(vals[4]<<8|vals[5])
+		return [ax/65535.,ay/65535.,az/65535.]
+
+	def getTemp(self):
+		vals=self.getVals(0x41,6)
+		t=int16(vals[0]<<8|vals[1])
+		return t/65535.
+
+	def getGyro(self):
+		vals=self.getVals(0x43,6)
+		ax=int16(vals[0]<<8|vals[1])
+		ay=int16(vals[2]<<8|vals[3])
+		az=int16(vals[4]<<8|vals[5])
+		return [ax/65535.,ay/65535.,az/65535.]
+		
+if __name__ == "__main__":
+ from PSL import sciencelab
+ I= sciencelab.connect()
+ A = connect(I.I2C) 
+ t,x,y,z = I.I2C.capture(A.ADDRESS,0x43,6,5000,1000,'int') 
+ #print (t,x,y,z)
+ from pylab import *
+ plot(t,x)
+ plot(t,y)
+ plot(t,z)
+ show()
diff --git a/PSL/SENSORS/SHT21.py b/PSL/SENSORS/SHT21.py
index f9bf1abc..1d1c4974 100644
--- a/PSL/SENSORS/SHT21.py
+++ b/PSL/SENSORS/SHT21.py
@@ -1 +1,90 @@
-#TODO
+from __future__ import print_function
+from numpy import int16
+import time
+
+def connect(route,**args):
+	'''
+	route can either be I.I2C , or a radioLink instance
+	'''
+	return SHT21(route,**args)
+
+class SHT21():	
+	RESET = 0xFE
+	TEMP_ADDRESS = 0xF3
+	HUMIDITY_ADDRESS = 0xF5	
+	selected=0xF3
+	NUMPLOTS=1
+	PLOTNAMES = ['Data']
+	ADDRESS = 0x40
+	name = 'Humidity/Temperature'
+	def __init__(self,I2C,**args):
+		self.I2C=I2C
+		self.ADDRESS = args.get('address',self.ADDRESS)
+		self.name = 'Humidity/Temperature'
+		'''
+		try:
+			print ('switching baud to 400k')
+			self.I2C.configI2C(400e3)
+		except:
+			print ('FAILED TO CHANGE BAUD RATE')
+		'''
+		self.params={'selectParameter':['temperature','humidity']}
+		self.init('')
+
+
+	def init(self,x):
+		self.I2C.writeBulk(self.ADDRESS,[self.RESET]) #soft reset
+		time.sleep(0.1)
+	
+	def rawToTemp(self,vals):
+		if vals:
+			if len(vals):
+				v = (vals[0]<<8)|(vals[1]&0xFC)  #make integer & remove status bits
+				v*=175.72;	v/= (1<<16);	v-=46.85
+				return [v]
+		return False
+
+	def rawToRH(self,vals):
+		if vals:
+			if len(vals):
+				v = (vals[0]<<8)|(vals[1]&0xFC)  #make integer & remove status bits
+				v*=125.;	v/= (1<<16);	v-=6
+				return [v]
+		return False
+
+	@staticmethod
+	def _calculate_checksum(data, number_of_bytes):
+		"""5.7 CRC Checksum using the polynomial given in the datasheet
+		Credits: https://github.com/jaques/sht21_python/blob/master/sht21.py
+		"""
+		# CRC
+		POLYNOMIAL = 0x131 # //P(x)=x^8+x^5+x^4+1 = 100110001
+		crc = 0
+		# calculates 8-Bit checksum with given polynomial
+		for byteCtr in range(number_of_bytes):
+			crc ^= (data[byteCtr])
+			for bit in range(8, 0, -1):
+				if crc & 0x80:
+					crc = (crc << 1) ^ POLYNOMIAL
+				else:
+					crc = (crc << 1)
+		return crc
+
+
+	def selectParameter(self,param):
+		if param=='temperature':self.selected=self.TEMP_ADDRESS
+		elif param=='humidity':self.selected=self.HUMIDITY_ADDRESS
+
+	def getRaw(self):
+		self.I2C.writeBulk(self.ADDRESS,[self.selected])
+		if self.selected==self.TEMP_ADDRESS:time.sleep(0.1)
+		elif self.selected==self.HUMIDITY_ADDRESS:time.sleep(0.05)
+
+		vals = self.I2C.simpleRead(self.ADDRESS,3)
+		if vals:
+			if self._calculate_checksum(vals,2)!=vals[2]:
+				return False
+				print (vals)
+		if self.selected==self.TEMP_ADDRESS:return self.rawToTemp(vals)		
+		elif self.selected==self.HUMIDITY_ADDRESS:return self.rawToRH(vals)		
+		
diff --git a/PSL/SENSORS/SSD1306.py b/PSL/SENSORS/SSD1306.py
index f9bf1abc..f85c3d9f 100644
--- a/PSL/SENSORS/SSD1306.py
+++ b/PSL/SENSORS/SSD1306.py
@@ -1 +1,453 @@
-#TODO
+'''
+Adapted into Python from Adafruit's oled.cpp
+Original license text:
+
+Software License Agreement (BSD License)
+
+Copyright (c) 2012, Adafruit Industries
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright
+notice, this list of conditions and the following disclaimer in the
+documentation and/or other materials provided with the distribution.
+3. Neither the name of the copyright holders nor the
+names of its contributors may be used to endorse or promote products
+derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+'''
+from __future__ import print_function
+from numpy import int16
+import time
+
+def connect(route,**args):
+	return SSD1306(route,**args)
+
+class SSD1306():
+	ADDRESS = 0x3C
+
+	#--------------Parameters--------------------
+	#This must be defined in order to let GUIs automatically create menus
+	#for changing various options of this sensor
+	#It's a dictionary of the string representations of functions matched with an array
+	#of options that each one can accept
+	params={'load':['logo'],
+	'scroll':['left','right','topright','topleft','bottomleft','bottomright','stop']
+	}
+
+	NUMPLOTS=0
+	PLOTNAMES = ['']
+	name = 'OLED Display'
+	_width=128;WIDTH = 128;
+	_height=64;HEIGHT = 64;
+
+	rotation = 0
+	cursor_y = 0
+	cursor_x = 0
+	textsize = 1
+	textcolor =1
+	textbgcolor = 0
+	wrap = True
+
+
+
+	SSD1306_128_64 	=1
+	SSD1306_128_32 	=2
+	SSD1306_96_16 	=3
+
+	#    -----------------------------------------------------------------------*/
+	DISPLAY_TYPE =  SSD1306_96_16
+	##   self.SSD1306_128_32
+	#/*=========================================================================*/
+
+	SSD1306_LCDWIDTH     =             128
+	SSD1306_LCDHEIGHT    =             64
+
+
+	SSD1306_SETCONTRAST =0x81
+	SSD1306_DISPLAYALLON_RESUME =0xA4
+	SSD1306_DISPLAYALLON =0xA5
+	SSD1306_NORMALDISPLAY =0xA6
+	SSD1306_INVERTDISPLAY =0xA7
+	SSD1306_DISPLAYOFF= 0xAE
+	SSD1306_DISPLAYON= 0xAF
+
+	SSD1306_SETDISPLAYOFFSET= 0xD3
+	SSD1306_SETCOMPINS= 0xDA
+
+	SSD1306_SETVCOMDETECT= 0xDB
+
+	SSD1306_SETDISPLAYCLOCKDIV =0xD5
+	SSD1306_SETPRECHARGE= 0xD9
+
+	SSD1306_SETMULTIPLEX= 0xA8
+
+	SSD1306_SETLOWCOLUMN =0x00
+	SSD1306_SETHIGHCOLUMN =0x10
+
+	SSD1306_SETSTARTLINE= 0x40
+
+	SSD1306_MEMORYMODE= 0x20
+
+	SSD1306_COMSCANINC =0xC0
+	SSD1306_COMSCANDEC= 0xC8
+
+	SSD1306_SEGREMAP =0xA0
+
+	SSD1306_CHARGEPUMP= 0x8D
+
+	SSD1306_EXTERNALVCC= 0x1
+	SSD1306_SWITCHCAPVCC =0x2
+
+
+	logobuff = [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 127, 127, 63, 63, 159, 159, 223, 223, 207, 207, 207, 239, 239, 47, 47, 39, 39, 7, 7, 67, 67, 83, 131, 135, 7, 7, 15, 15, 31, 191, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 63, 31, 15, 199, 99, 17, 25, 12, 4, 2, 3, 7, 63, 255, 255, 255, 255, 255, 255, 255, 255, 254, 252, 240, 224, 224, 224, 192, 192, 128, 128, 128, 128, 129, 128, 0, 0, 0, 0, 0, 3, 3, 7, 31, 127, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 127, 15, 3, 192, 120, 134, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 252, 252, 249, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 143, 0, 0, 124, 199, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 240, 252, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 240, 128, 0, 7, 56, 96, 128, 0, 0, 0, 0, 0, 0, 0, 12, 63, 255, 127, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 31, 7, 227, 243, 249, 249, 249, 249, 249, 249, 243, 255, 255, 199, 131, 49, 57, 57, 57, 121, 115, 255, 255, 255, 255, 15, 15, 159, 207, 207, 207, 143, 31, 63, 255, 255, 159, 207, 207, 207, 143, 31, 63, 255, 255, 255, 15, 15, 159, 207, 207, 207, 255, 255, 0, 0, 255, 127, 63, 159, 207, 239, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 248, 240, 224, 129, 2, 4, 8, 16, 32, 96, 64, 128, 128, 135, 30, 115, 207, 159, 255, 255, 255, 255, 127, 63, 31, 31, 31, 31, 31, 31, 31, 7, 7, 7, 127, 127, 127, 127, 127, 127, 255, 255, 255, 255, 252, 240, 227, 231, 207, 207, 207, 207, 207, 207, 231, 255, 255, 231, 207, 207, 207, 207, 207, 198, 224, 240, 255, 255, 255, 0, 0, 231, 207, 207, 207, 199, 224, 240, 255, 225, 193, 204, 204, 204, 228, 192, 192, 255, 255, 255, 192, 192, 255, 255, 255, 255, 255, 255, 192, 192, 252, 248, 243, 231, 207, 223, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 252, 248, 248, 240, 240, 224, 225, 225, 193, 193, 195, 195, 195, 195, 195, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 62, 62, 62, 62, 62, 62, 255, 243, 3, 3, 51, 51, 51, 19, 135, 239, 255, 255, 63, 63, 159, 159, 159, 159, 63, 127, 255, 255, 255, 63, 31, 159, 159, 159, 31, 252, 252, 255, 63, 63, 159, 159, 159, 159, 63, 127, 255, 255, 255, 223, 159, 159, 159, 31, 127, 255, 255, 255, 255, 223, 31, 31, 191, 159, 159, 159, 255, 255, 127, 63, 159, 159, 159, 159, 31, 31, 255, 255, 247, 3, 7, 159, 159, 159, 31, 127, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 252, 252, 252, 252, 252, 252, 252, 252, 224, 224, 224, 255, 255, 255, 255, 255, 255, 255, 243, 240, 240, 247, 255, 254, 252, 248, 243, 255, 255, 248, 248, 242, 242, 242, 242, 242, 250, 255, 255, 255, 241, 242, 242, 242, 242, 248, 253, 255, 255, 248, 248, 242, 242, 242, 242, 242, 250, 255, 255, 249, 240, 242, 242, 242, 240, 240, 255, 255, 255, 255, 243, 240, 240, 243, 243, 255, 255, 255, 255, 252, 248, 243, 243, 243, 243, 243, 255, 255, 255, 247, 240, 240, 247, 255, 247, 240, 240, 247, 255]
+	font = [0x00, 0x00, 0x00, 0x00, 0x00,	0x3E, 0x5B, 0x4F, 0x5B, 0x3E,	0x3E, 0x6B, 0x4F, 0x6B, 0x3E,
+		0x1C, 0x3E, 0x7C, 0x3E, 0x1C,	0x18, 0x3C, 0x7E, 0x3C, 0x18,	0x1C, 0x57, 0x7D, 0x57, 0x1C,
+		0x1C, 0x5E, 0x7F, 0x5E, 0x1C,	0x00, 0x18, 0x3C, 0x18, 0x00,	0xFF, 0xE7, 0xC3, 0xE7, 0xFF,
+		0x00, 0x18, 0x24, 0x18, 0x00,	0xFF, 0xE7, 0xDB, 0xE7, 0xFF,	0x30, 0x48, 0x3A, 0x06, 0x0E,
+		0x26, 0x29, 0x79, 0x29, 0x26,	0x40, 0x7F, 0x05, 0x05, 0x07,	0x40, 0x7F, 0x05, 0x25, 0x3F,
+		0x5A, 0x3C, 0xE7, 0x3C, 0x5A,	0x7F, 0x3E, 0x1C, 0x1C, 0x08,	0x08, 0x1C, 0x1C, 0x3E, 0x7F,
+		0x14, 0x22, 0x7F, 0x22, 0x14,	0x5F, 0x5F, 0x00, 0x5F, 0x5F,	0x06, 0x09, 0x7F, 0x01, 0x7F,
+		0x00, 0x66, 0x89, 0x95, 0x6A,	0x60, 0x60, 0x60, 0x60, 0x60,	0x94, 0xA2, 0xFF, 0xA2, 0x94,
+		0x08, 0x04, 0x7E, 0x04, 0x08,	0x10, 0x20, 0x7E, 0x20, 0x10,	0x08, 0x08, 0x2A, 0x1C, 0x08,
+		0x08, 0x1C, 0x2A, 0x08, 0x08,	0x1E, 0x10, 0x10, 0x10, 0x10,	0x0C, 0x1E, 0x0C, 0x1E, 0x0C,
+		0x30, 0x38, 0x3E, 0x38, 0x30,	0x06, 0x0E, 0x3E, 0x0E, 0x06,	0x00, 0x00, 0x00, 0x00, 0x00,
+		0x00, 0x00, 0x5F, 0x00, 0x00,	0x00, 0x07, 0x00, 0x07, 0x00,	0x14, 0x7F, 0x14, 0x7F, 0x14,
+		0x24, 0x2A, 0x7F, 0x2A, 0x12,	0x23, 0x13, 0x08, 0x64, 0x62,	0x36, 0x49, 0x56, 0x20, 0x50,
+		0x00, 0x08, 0x07, 0x03, 0x00,	0x00, 0x1C, 0x22, 0x41, 0x00,	0x00, 0x41, 0x22, 0x1C, 0x00,
+		0x2A, 0x1C, 0x7F, 0x1C, 0x2A,	0x08, 0x08, 0x3E, 0x08, 0x08,	0x00, 0x80, 0x70, 0x30, 0x00,
+		0x08, 0x08, 0x08, 0x08, 0x08,	0x00, 0x00, 0x60, 0x60, 0x00,	0x20, 0x10, 0x08, 0x04, 0x02,
+		0x3E, 0x51, 0x49, 0x45, 0x3E,	0x00, 0x42, 0x7F, 0x40, 0x00,	0x72, 0x49, 0x49, 0x49, 0x46,
+		0x21, 0x41, 0x49, 0x4D, 0x33,	0x18, 0x14, 0x12, 0x7F, 0x10,	0x27, 0x45, 0x45, 0x45, 0x39,
+		0x3C, 0x4A, 0x49, 0x49, 0x31,	0x41, 0x21, 0x11, 0x09, 0x07,	0x36, 0x49, 0x49, 0x49, 0x36,
+		0x46, 0x49, 0x49, 0x29, 0x1E,	0x00, 0x00, 0x14, 0x00, 0x00,	0x00, 0x40, 0x34, 0x00, 0x00,
+		0x00, 0x08, 0x14, 0x22, 0x41,	0x14, 0x14, 0x14, 0x14, 0x14,	0x00, 0x41, 0x22, 0x14, 0x08,
+		0x02, 0x01, 0x59, 0x09, 0x06,	0x3E, 0x41, 0x5D, 0x59, 0x4E,	0x7C, 0x12, 0x11, 0x12, 0x7C,
+		0x7F, 0x49, 0x49, 0x49, 0x36,	0x3E, 0x41, 0x41, 0x41, 0x22,	0x7F, 0x41, 0x41, 0x41, 0x3E,
+		0x7F, 0x49, 0x49, 0x49, 0x41,	0x7F, 0x09, 0x09, 0x09, 0x01,	0x3E, 0x41, 0x41, 0x51, 0x73,
+		0x7F, 0x08, 0x08, 0x08, 0x7F,	0x00, 0x41, 0x7F, 0x41, 0x00,	0x20, 0x40, 0x41, 0x3F, 0x01,
+		0x7F, 0x08, 0x14, 0x22, 0x41,	0x7F, 0x40, 0x40, 0x40, 0x40,	0x7F, 0x02, 0x1C, 0x02, 0x7F,
+		0x7F, 0x04, 0x08, 0x10, 0x7F,	0x3E, 0x41, 0x41, 0x41, 0x3E,	0x7F, 0x09, 0x09, 0x09, 0x06,
+		0x3E, 0x41, 0x51, 0x21, 0x5E,	0x7F, 0x09, 0x19, 0x29, 0x46,	0x26, 0x49, 0x49, 0x49, 0x32,
+		0x03, 0x01, 0x7F, 0x01, 0x03,	0x3F, 0x40, 0x40, 0x40, 0x3F,	0x1F, 0x20, 0x40, 0x20, 0x1F,
+		0x3F, 0x40, 0x38, 0x40, 0x3F,	0x63, 0x14, 0x08, 0x14, 0x63,	0x03, 0x04, 0x78, 0x04, 0x03,
+		0x61, 0x59, 0x49, 0x4D, 0x43,	0x00, 0x7F, 0x41, 0x41, 0x41,	0x02, 0x04, 0x08, 0x10, 0x20,
+		0x00, 0x41, 0x41, 0x41, 0x7F,	0x04, 0x02, 0x01, 0x02, 0x04,	0x40, 0x40, 0x40, 0x40, 0x40,
+		0x00, 0x03, 0x07, 0x08, 0x00,	0x20, 0x54, 0x54, 0x78, 0x40,	0x7F, 0x28, 0x44, 0x44, 0x38,
+		0x38, 0x44, 0x44, 0x44, 0x28,	0x38, 0x44, 0x44, 0x28, 0x7F,	0x38, 0x54, 0x54, 0x54, 0x18,
+		0x00, 0x08, 0x7E, 0x09, 0x02,	0x18, 0xA4, 0xA4, 0x9C, 0x78,	0x7F, 0x08, 0x04, 0x04, 0x78,
+		0x00, 0x44, 0x7D, 0x40, 0x00,	0x20, 0x40, 0x40, 0x3D, 0x00,	0x7F, 0x10, 0x28, 0x44, 0x00,
+		0x00, 0x41, 0x7F, 0x40, 0x00,	0x7C, 0x04, 0x78, 0x04, 0x78,	0x7C, 0x08, 0x04, 0x04, 0x78,
+		0x38, 0x44, 0x44, 0x44, 0x38,	0xFC, 0x18, 0x24, 0x24, 0x18,	0x18, 0x24, 0x24, 0x18, 0xFC,
+		0x7C, 0x08, 0x04, 0x04, 0x08,	0x48, 0x54, 0x54, 0x54, 0x24,	0x04, 0x04, 0x3F, 0x44, 0x24,
+		0x3C, 0x40, 0x40, 0x20, 0x7C,	0x1C, 0x20, 0x40, 0x20, 0x1C,	0x3C, 0x40, 0x30, 0x40, 0x3C,
+		0x44, 0x28, 0x10, 0x28, 0x44,	0x4C, 0x90, 0x90, 0x90, 0x7C,	0x44, 0x64, 0x54, 0x4C, 0x44,
+		0x00, 0x08, 0x36, 0x41, 0x00,	0x00, 0x00, 0x77, 0x00, 0x00,	0x00, 0x41, 0x36, 0x08, 0x00,
+		0x02, 0x01, 0x02, 0x04, 0x02,	0x3C, 0x26, 0x23, 0x26, 0x3C,	0x1E, 0xA1, 0xA1, 0x61, 0x12,
+		0x3A, 0x40, 0x40, 0x20, 0x7A,	0x38, 0x54, 0x54, 0x55, 0x59,	0x21, 0x55, 0x55, 0x79, 0x41,
+		0x21, 0x54, 0x54, 0x78, 0x41,	0x21, 0x55, 0x54, 0x78, 0x40,	0x20, 0x54, 0x55, 0x79, 0x40,
+		0x0C, 0x1E, 0x52, 0x72, 0x12,	0x39, 0x55, 0x55, 0x55, 0x59,	0x39, 0x54, 0x54, 0x54, 0x59,
+		0x39, 0x55, 0x54, 0x54, 0x58,	0x00, 0x00, 0x45, 0x7C, 0x41,	0x00, 0x02, 0x45, 0x7D, 0x42,
+		0x00, 0x01, 0x45, 0x7C, 0x40,	0xF0, 0x29, 0x24, 0x29, 0xF0,	0xF0, 0x28, 0x25, 0x28, 0xF0,
+		0x7C, 0x54, 0x55, 0x45, 0x00,	0x20, 0x54, 0x54, 0x7C, 0x54,	0x7C, 0x0A, 0x09, 0x7F, 0x49,
+		0x32, 0x49, 0x49, 0x49, 0x32,	0x32, 0x48, 0x48, 0x48, 0x32,	0x32, 0x4A, 0x48, 0x48, 0x30,
+		0x3A, 0x41, 0x41, 0x21, 0x7A,	0x3A, 0x42, 0x40, 0x20, 0x78,	0x00, 0x9D, 0xA0, 0xA0, 0x7D,
+		0x39, 0x44, 0x44, 0x44, 0x39,	0x3D, 0x40, 0x40, 0x40, 0x3D,	0x3C, 0x24, 0xFF, 0x24, 0x24,
+		0x48, 0x7E, 0x49, 0x43, 0x66,	0x2B, 0x2F, 0xFC, 0x2F, 0x2B,	0xFF, 0x09, 0x29, 0xF6, 0x20,
+		0xC0, 0x88, 0x7E, 0x09, 0x03,	0x20, 0x54, 0x54, 0x79, 0x41,	0x00, 0x00, 0x44, 0x7D, 0x41,
+		0x30, 0x48, 0x48, 0x4A, 0x32,	0x38, 0x40, 0x40, 0x22, 0x7A,	0x00, 0x7A, 0x0A, 0x0A, 0x72,
+		0x7D, 0x0D, 0x19, 0x31, 0x7D,	0x26, 0x29, 0x29, 0x2F, 0x28,	0x26, 0x29, 0x29, 0x29, 0x26,
+		0x30, 0x48, 0x4D, 0x40, 0x20,	0x38, 0x08, 0x08, 0x08, 0x08,	0x08, 0x08, 0x08, 0x08, 0x38,
+		0x2F, 0x10, 0xC8, 0xAC, 0xBA,	0x2F, 0x10, 0x28, 0x34, 0xFA,	0x00, 0x00, 0x7B, 0x00, 0x00,
+		0x08, 0x14, 0x2A, 0x14, 0x22,	0x22, 0x14, 0x2A, 0x14, 0x08,	0xAA, 0x00, 0x55, 0x00, 0xAA,
+		0xAA, 0x55, 0xAA, 0x55, 0xAA,	0x00, 0x00, 0x00, 0xFF, 0x00,	0x10, 0x10, 0x10, 0xFF, 0x00,
+		0x14, 0x14, 0x14, 0xFF, 0x00,	0x10, 0x10, 0xFF, 0x00, 0xFF,	0x10, 0x10, 0xF0, 0x10, 0xF0,
+		0x14, 0x14, 0x14, 0xFC, 0x00,	0x14, 0x14, 0xF7, 0x00, 0xFF,	0x00, 0x00, 0xFF, 0x00, 0xFF,
+		0x14, 0x14, 0xF4, 0x04, 0xFC,	0x14, 0x14, 0x17, 0x10, 0x1F,	0x10, 0x10, 0x1F, 0x10, 0x1F,
+		0x14, 0x14, 0x14, 0x1F, 0x00,	0x10, 0x10, 0x10, 0xF0, 0x00,	0x00, 0x00, 0x00, 0x1F, 0x10,
+		0x10, 0x10, 0x10, 0x1F, 0x10,	0x10, 0x10, 0x10, 0xF0, 0x10,	0x00, 0x00, 0x00, 0xFF, 0x10,
+		0x10, 0x10, 0x10, 0x10, 0x10,	0x10, 0x10, 0x10, 0xFF, 0x10,	0x00, 0x00, 0x00, 0xFF, 0x14,
+		0x00, 0x00, 0xFF, 0x00, 0xFF,	0x00, 0x00, 0x1F, 0x10, 0x17,	0x00, 0x00, 0xFC, 0x04, 0xF4,
+		0x14, 0x14, 0x17, 0x10, 0x17,	0x14, 0x14, 0xF4, 0x04, 0xF4,	0x00, 0x00, 0xFF, 0x00, 0xF7,
+		0x14, 0x14, 0x14, 0x14, 0x14,	0x14, 0x14, 0xF7, 0x00, 0xF7,	0x14, 0x14, 0x14, 0x17, 0x14,
+		0x10, 0x10, 0x1F, 0x10, 0x1F,	0x14, 0x14, 0x14, 0xF4, 0x14,	0x10, 0x10, 0xF0, 0x10, 0xF0,
+		0x00, 0x00, 0x1F, 0x10, 0x1F,	0x00, 0x00, 0x00, 0x1F, 0x14,	0x00, 0x00, 0x00, 0xFC, 0x14,
+		0x00, 0x00, 0xF0, 0x10, 0xF0,	0x10, 0x10, 0xFF, 0x10, 0xFF,	0x14, 0x14, 0x14, 0xFF, 0x14,
+		0x10, 0x10, 0x10, 0x1F, 0x00,	0x00, 0x00, 0x00, 0xF0, 0x10,	0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+		0xF0, 0xF0, 0xF0, 0xF0, 0xF0,	0xFF, 0xFF, 0xFF, 0x00, 0x00,	0x00, 0x00, 0x00, 0xFF, 0xFF,
+		0x0F, 0x0F, 0x0F, 0x0F, 0x0F,	0x38, 0x44, 0x44, 0x38, 0x44,	0x7C, 0x2A, 0x2A, 0x3E, 0x14,
+		0x7E, 0x02, 0x02, 0x06, 0x06,	0x02, 0x7E, 0x02, 0x7E, 0x02,	0x63, 0x55, 0x49, 0x41, 0x63,
+		0x38, 0x44, 0x44, 0x3C, 0x04,	0x40, 0x7E, 0x20, 0x1E, 0x20,	0x06, 0x02, 0x7E, 0x02, 0x02,
+		0x99, 0xA5, 0xE7, 0xA5, 0x99,	0x1C, 0x2A, 0x49, 0x2A, 0x1C,	0x4C, 0x72, 0x01, 0x72, 0x4C,
+		0x30, 0x4A, 0x4D, 0x4D, 0x30,	0x30, 0x48, 0x78, 0x48, 0x30,	0xBC, 0x62, 0x5A, 0x46, 0x3D,
+		0x3E, 0x49, 0x49, 0x49, 0x00,	0x7E, 0x01, 0x01, 0x01, 0x7E,	0x2A, 0x2A, 0x2A, 0x2A, 0x2A,
+		0x44, 0x44, 0x5F, 0x44, 0x44,	0x40, 0x51, 0x4A, 0x44, 0x40,	0x40, 0x44, 0x4A, 0x51, 0x40,
+		0x00, 0x00, 0xFF, 0x01, 0x03,	0xE0, 0x80, 0xFF, 0x00, 0x00,	0x08, 0x08, 0x6B, 0x6B, 0x08,
+		0x36, 0x12, 0x36, 0x24, 0x36,	0x06, 0x0F, 0x09, 0x0F, 0x06,	0x00, 0x00, 0x18, 0x18, 0x00,
+		0x00, 0x00, 0x10, 0x10, 0x00,	0x30, 0x40, 0xFF, 0x01, 0x01,	0x00, 0x1F, 0x01, 0x01, 0x1E,
+		0x00, 0x19, 0x1D, 0x17, 0x12,	0x00, 0x3C, 0x3C, 0x3C, 0x3C,	0x00, 0x00, 0x00, 0x00, 0x00] #ascii fonts
+	def __init__(self,I2C,**args):
+		self.buff =[0 for a in range(1024)]
+		self.ADDRESS = args.get('address',self.ADDRESS)
+		self.I2C = I2C
+		self.SSD1306_command(self.SSD1306_DISPLAYOFF);                    #0xAE
+		self.SSD1306_command(self.SSD1306_SETDISPLAYCLOCKDIV);            # 0xD5
+		self.SSD1306_command(0x80);                                  # the suggested ratio 0x80
+		self.SSD1306_command(self.SSD1306_SETMULTIPLEX);                  # 0xA8
+		self.SSD1306_command(0x3F);
+		self.SSD1306_command(self.SSD1306_SETDISPLAYOFFSET);              # 0xD3
+		self.SSD1306_command(0x0);                                   # no offset
+		self.SSD1306_command(self.SSD1306_SETSTARTLINE | 0x0);            # line #0
+		self.SSD1306_command(self.SSD1306_CHARGEPUMP);                    # 0x8D
+		self.SSD1306_command(0x14); 									#vccstate = self.SSD1306_SWITCHCAPVCC;
+		self.SSD1306_command(self.SSD1306_MEMORYMODE);                    # 0x20
+		self.SSD1306_command(0x00);                                  # 0x0 act like ks0108
+		self.SSD1306_command(self.SSD1306_SEGREMAP | 0x1);
+		self.SSD1306_command(self.SSD1306_COMSCANDEC);
+		self.SSD1306_command(self.SSD1306_SETCOMPINS);                    # 0xDA
+		self.SSD1306_command(0x12);
+		self.SSD1306_command(self.SSD1306_SETCONTRAST);                   # 0x81
+		self.SSD1306_command(0xFF); 									#	vccstate = self.SSD1306_SWITCHCAPVCC;
+		self.SSD1306_command(self.SSD1306_SETPRECHARGE);                  # 0xd9
+		self.SSD1306_command(0xF1); 									#	vccstate = self.SSD1306_SWITCHCAPVCC;
+		self.SSD1306_command(self.SSD1306_SETVCOMDETECT);                 # 0xDB
+		self.SSD1306_command(0x40);
+		self.SSD1306_command(self.SSD1306_DISPLAYALLON_RESUME);           # 0xA4
+		self.SSD1306_command(self.SSD1306_NORMALDISPLAY);                 # 0xA6
+		self.SSD1306_command(self.SSD1306_DISPLAYON);#--turn on oled panel
+
+	def load(self,arg):
+		self.scroll('stop')
+		if arg=='logo':
+			self.clearDisplay()
+			for a in range(1024):self.buff[a]=self.logobuff[a]
+			self.displayOLED()
+
+	def SSD1306_command(self,cmd):
+		self.I2C.writeBulk(self.ADDRESS,[0x00,cmd]) 
+
+	def SSD1306_data(self,data):
+		self.I2C.writeBulk(self.ADDRESS,[0x40,data]) 
+
+	def clearDisplay(self):
+		self.setCursor(0,0)
+		for a in range(self.SSD1306_LCDWIDTH*self.SSD1306_LCDHEIGHT/8):self.buff[a]=0;
+
+
+	def displayOLED(self):
+		self.SSD1306_command(self.SSD1306_SETLOWCOLUMN | 0x0);  # low col = 0
+		self.SSD1306_command(self.SSD1306_SETHIGHCOLUMN | 0x0); # hi col = 0
+		self.SSD1306_command(self.SSD1306_SETSTARTLINE | 0x0);  # line #0
+		a=0
+		while (a < self.SSD1306_LCDWIDTH*self.SSD1306_LCDHEIGHT/8):
+			self.I2C.writeBulk(self.ADDRESS,[0x40]+self.buff[a:a+16]) 
+			a+=16
+
+	def setContrast(self,i):
+		self.SSD1306_command(self.SSD1306_SETCONTRAST)
+		self.SSD1306_command(i)
+
+
+
+	def drawPixel(self,x,y,color):
+		if (color == 1):
+			self.buff[x+ (y/8)*self.SSD1306_LCDWIDTH] |= (1<<(y%8))
+		else:
+			self.buff[x+ (y/8)*self.SSD1306_LCDWIDTH] &= ~(1<<(y%8))
+
+	def drawCircle(self,x0,y0, r,color):
+		f = 1 - r
+		ddF_x = 1
+		ddF_y = -2 * r
+		x = 0
+		y = r
+		self.drawPixel(x0, y0+r, color)
+		self.drawPixel(x0, y0-r, color)
+		self.drawPixel(x0+r, y0, color)
+		self.drawPixel(x0-r, y0, color)
+		while (x<y):
+			if (f >= 0):
+				y-=1
+				ddF_y += 2
+				f += ddF_y
+			x+=1
+			ddF_x += 2
+			f += ddF_x
+			self.drawPixel(x0 + x, y0 + y, color)
+			self.drawPixel(x0 - x, y0 + y, color)
+			self.drawPixel(x0 + x, y0 - y, color)
+			self.drawPixel(x0 - x, y0 - y, color)
+			self.drawPixel(x0 + y, y0 + x, color)
+			self.drawPixel(x0 - y, y0 + x, color)
+			self.drawPixel(x0 + y, y0 - x, color)
+			self.drawPixel(x0 - y, y0 - x, color)
+
+
+	def drawLine(self,x0, y0, x1, y1, color):
+		steep = abs(y1 - y0) > abs(x1 - x0)
+		if (steep):
+			tmp = y0
+			y0=x0
+			x0=tmp
+			tmp = y1
+			y1=x1
+			x1=tmp
+		if (x0 > x1):
+			tmp = x1
+			x1=x0
+			x0=tmp
+			tmp = y1
+			y1=y0
+			y0=tmp
+			
+		dx = x1 - x0
+		dy = abs(y1 - y0)
+		err = dx / 2
+		
+		if (y0 < y1):
+			ystep = 1
+		else:
+			ystep = -1
+
+		while(x0<=x1):
+			if (steep): self.drawPixel(y0, x0, color)
+			else:   	self.drawPixel(x0, y0, color)
+			err -= dy
+			if (err < 0):
+				y0 += ystep
+				err += dx
+			x0+=1
+
+	def drawRect(self,x, y, w,h,color):
+		self.drawFastHLine(x, y, w, color)
+		self.drawFastHLine(x, y+h-1, w, color)
+		self.drawFastVLine(x, y, h, color)
+		self.drawFastVLine(x+w-1, y, h, color)
+
+
+	def drawFastVLine(self,x, y, h, color):
+		self.drawLine(x, y, x, y+h-1, color)
+
+	def drawFastHLine(self,x, y, w, color):
+		self.drawLine(x, y, x+w-1, y, color)
+
+
+	def fillRect(self, x,  y,  w,  h,  color):
+		for i in range(x,x+w):
+			self.drawFastVLine(i, y, h, color)
+
+
+	def writeString(self,s):
+		for a in s: self.writeChar(ord(a))
+
+	def writeChar(self,c):
+		if (c == '\n'):
+			cursor_y += textsize*8;
+			cursor_x = 0;
+		elif(c == '\r'):
+			pass
+		else:
+			self.drawChar(self.cursor_x, self.cursor_y, c, self.textcolor, self.textbgcolor, self.textsize)
+			self.cursor_x += self.textsize*6
+			if (self.wrap and (self.cursor_x > (self._width - self.textsize*6))):
+				self.cursor_y += self.textsize*8
+				self.cursor_x = 0
+
+	def drawChar(self, x, y, c,color, bg,  size):
+		if((x >= self._width) or  (y >= self._height) or  ((x + 5 * size - 1) < 0) or  ((y + 8 * size - 1) < 0)):
+			return;
+		for i in range(6):
+			if (i == 5): line = 0x0;
+			else: line = self.font[c*5+i];
+			for j in range(8):
+				if (line & 0x1):
+					if (size == 1): self.drawPixel(x+i, y+j, color);
+					else:     self.fillRect(x+(i*size), y+(j*size), size, size, color);
+				elif (bg != color):
+					if (size == 1):	self.drawPixel(x+i, y+j, bg);
+					else:	self.fillRect(x+i*size, y+j*size, size, size, bg);
+				line >>= 1
+
+	def setCursor(self, x, y):
+		self.cursor_x = x
+		self.cursor_y = y
+
+	def setTextSize(self,s):
+		self.textsize = s if (s > 0) else 1
+
+	def setTextColor(self,c, b):
+		self.textcolor = c
+		self.textbgcolor = b
+
+
+	def setTextWrap(self,w):
+		self.wrap = w
+
+	def scroll(self,arg):
+		if arg=='left':
+			self.SSD1306_command(0x27) #up-0x29 ,2A left-0x27 right0x26
+		if arg=='right':
+			self.SSD1306_command(0x26) #up-0x29 ,2A left-0x27 right0x26
+		if arg in ['topright','bottomright']:
+			self.SSD1306_command(0x29) #up-0x29 ,2A left-0x27 right0x26
+		if arg in ['topleft','bottomleft']:
+			self.SSD1306_command(0x2A) #up-0x29 ,2A left-0x27 right0x26
+
+		if arg in ['left','right','topright','topleft','bottomleft','bottomright']:
+			self.SSD1306_command(0x00) #dummy
+			self.SSD1306_command(0x0) #start page
+			self.SSD1306_command(0x7)  #time interval 0b100 - 3 frames
+			self.SSD1306_command(0xf)  #end page
+			if arg in ['topleft','topright']:
+				self.SSD1306_command(0x02) #dummy 00 . xx for horizontal scroll (speed)
+			elif arg in ['bottomleft','bottomright']:
+				self.SSD1306_command(0xfe) #dummy 00 . xx for horizontal scroll (speed)
+
+			if arg in ['left','right']:
+				self.SSD1306_command(0x02) #dummy 00 . xx for horizontal scroll (speed)
+				self.SSD1306_command(0xff)
+
+			self.SSD1306_command(0x2F)
+		
+		if arg=='stop':
+			self.SSD1306_command(0x2E)
+
+
+	def pulseIt(self):
+		for a in range(2):
+			self.SSD1306_command(0xD6)
+			self.SSD1306_command(0x01)
+			time.sleep(0.1)	
+			self.SSD1306_command(0xD6)
+			self.SSD1306_command(0x00)
+			time.sleep(0.1)	
+
+		
+
+if __name__ == "__main__":
+	from PSL import sciencelab
+	I= sciencelab.connect()
+	O=connect(I.I2C)
+	textbgcolor=0
+	textcolor=1
+	O.load('logo')
+	O.scroll('topright')
+	import time
+	time.sleep(2.8)
+	O.scroll('stop')
+
+