diff --git a/docs/accelerometer-pan-tilt.md b/docs/accelerometer-pan-tilt.md
index 69afe0d67..26af41e53 100644
--- a/docs/accelerometer-pan-tilt.md
+++ b/docs/accelerometer-pan-tilt.md
@@ -8,7 +8,7 @@ node eg/accelerometer-pan-tilt.js
 
 ```javascript
 var five = require("johnny-five"),
-    board;
+  board;
 
 board = new five.Board();
 
@@ -16,7 +16,7 @@ board.on("ready", function() {
 
   var range, pan, tilt, accel;
 
-  range = [ 0, 170 ];
+  range = [0, 170];
 
   // Servo to control panning
   pan = new five.Servo({
@@ -32,18 +32,18 @@ board.on("ready", function() {
 
   // Accelerometer to control pan/tilt
   accel = new five.Accelerometer({
-    pins: [ "A3", "A4", "A5" ],
+    pins: ["A3", "A4", "A5"],
     freq: 250
   });
 
   // Center all servos
   (five.Servos()).center();
 
-  accel.on("acceleration", function( err, timestamp ) {
+  accel.on("acceleration", function(err, timestamp) {
     // console.log( "acceleration", this.axis );
 
-    tilt.move( Math.abs( Math.ceil(170 * this.pitch.toFixed(2)) - 180 ) );
-    pan.move( Math.ceil(170 * this.roll.toFixed(2)) );
+    tilt.move(Math.abs(Math.ceil(170 * this.pitch.toFixed(2)) - 180));
+    pan.move(Math.ceil(170 * this.roll.toFixed(2)));
 
     // TODO: Math.abs(v - 180) as inversion function ?
   });
diff --git a/docs/accelerometer.md b/docs/accelerometer.md
index f01828bde..4a91331ac 100644
--- a/docs/accelerometer.md
+++ b/docs/accelerometer.md
@@ -8,7 +8,7 @@ node eg/accelerometer.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, accel;
+  board, accel;
 
 board = new five.Board();
 
@@ -25,7 +25,7 @@ board.on("ready", function() {
   //
 
   accel = new five.Accelerometer({
-    pins: [ "A3", "A4", "A5" ],
+    pins: ["A3", "A4", "A5"],
     freq: 100,
     threshold: 0.2
   });
@@ -37,18 +37,18 @@ board.on("ready", function() {
   // Fires once every N ms, equal to value of freg
   // Defaults to 500ms
   //
-  accel.on("acceleration", function( err, data ) {
+  accel.on("acceleration", function(err, data) {
 
-    console.log( "acceleration", data.smooth );
+    console.log("acceleration", data.smooth);
   });
 
   // "axischange"
   //
   // Fires only when X, Y or Z has changed
   //
-  accel.on("axischange", function( err, timestamp ) {
+  accel.on("axischange", function(err, timestamp) {
 
-    console.log( "axischange", this.raw );
+    console.log("axischange", this.raw);
   });
 });
 
diff --git a/docs/board-multi.md b/docs/board-multi.md
index 69ebd4491..32e44bd67 100644
--- a/docs/board-multi.md
+++ b/docs/board-multi.md
@@ -10,7 +10,7 @@ node eg/board-multi.js
 var five = require("johnny-five");
 
 // Create 2 board instances with IDs "A" & "B"
-new five.Boards([ "A", "B" ]).on("ready", function() {
+new five.Boards(["A", "B"]).on("ready", function() {
 
   // Both "A" and "B" are initialized
   // (connected and available for communication)
@@ -21,7 +21,10 @@ new five.Boards([ "A", "B" ]).on("ready", function() {
 
     // Initialize an Led instance on pin 13 of
     // each initialized board and strobe it.
-    new five.Led({ pin: 13, board: board }).strobe();
+    new five.Led({
+      pin: 13,
+      board: board
+    }).strobe();
   });
 });
 
diff --git a/docs/board-with-port.md b/docs/board-with-port.md
index efbac98e7..dd0e22836 100644
--- a/docs/board-with-port.md
+++ b/docs/board-with-port.md
@@ -8,12 +8,14 @@ node eg/board-with-port.js
 
 ```javascript
 var five = require("johnny-five"),
-    board;
+  board;
 
 // Johnny-Five will try its hardest to detect the port for you,
 // however you may also explicitly specify the port by passing
 // it as an optional property to the Board constructor:
-board = new five.Board({ port: "/dev/cu.usbmodem411" });
+board = new five.Board({
+  port: "/dev/cu.usbmodem411"
+});
 
 // The board's pins will not be accessible until
 // the board has reported that it is ready
@@ -21,7 +23,7 @@ board.on("ready", function() {
   var val = 0;
 
   // Set pin 13 to OUTPUT mode
-  this.pinMode( 13, 1 );
+  this.pinMode(13, 1);
 
   // Mode Table
   // INPUT:   0
@@ -31,8 +33,8 @@ board.on("ready", function() {
   // SERVO:   4
 
   // Create a loop to "flash/blink/strobe" an led
-  this.loop( 50, function() {
-    this.digitalWrite( 13, (val = val ? 0 : 1) );
+  this.loop(50, function() {
+    this.digitalWrite(13, (val = val ? 0 : 1));
   });
 });
 
diff --git a/docs/board.md b/docs/board.md
index d83998814..1c1bc7423 100644
--- a/docs/board.md
+++ b/docs/board.md
@@ -15,11 +15,11 @@ five.Board().on("ready", function() {
   var val = 0;
 
   // Set pin 13 to OUTPUT mode
-  this.pinMode( 13, 1 );
+  this.pinMode(13, 1);
 
   // Create a loop to "flash/blink/strobe" an led
-  this.loop( 100, function() {
-    this.digitalWrite( 13, (val = val ? 0 : 1) );
+  this.loop(100, function() {
+    this.digitalWrite(13, (val = val ? 0 : 1));
   });
 });
 
diff --git a/docs/bug.md b/docs/bug.md
index 8a6f70fe2..92c2cfcfd 100644
--- a/docs/bug.md
+++ b/docs/bug.md
@@ -9,13 +9,13 @@ node eg/bug.js
 ```javascript
 var five = require("johnny-five");
 
-function Bug( servos ) {
+function Bug(servos) {
   var part, k;
 
   this.isMoving = false;
 
   // Initialize list of body parts
-  this.parts = [ "front", "left", "right", "rear" ];
+  this.parts = ["front", "left", "right", "rear"];
 
   // Servo positions
   this.history = [];
@@ -28,10 +28,10 @@ function Bug( servos ) {
 
   k = -1;
   // Initialize Servo properties from "servos" argument
-  while ( ++k < this.parts.length ) {
-    part = this.parts[ k ];
+  while (++k < this.parts.length) {
+    part = this.parts[k];
 
-    this[ part ] = servos[ part ] || null;
+    this[part] = servos[part] || null;
   }
 
   // Unwind and wait ~10ms, center servos
@@ -43,12 +43,12 @@ function Bug( servos ) {
 Bug.STEP_MAP = {
   // steps
   fwd: [
-    [ 10, -30 ],
-    [ -15, 30 ]
+    [10, -30],
+    [-15, 30]
   ],
   rev: [
-    [ -15, 30 ],
-    [ 15, -30 ]
+    [-15, 30],
+    [15, -30]
   ]
 };
 
@@ -60,13 +60,13 @@ Bug.prototype.idle = function() {
 
   // If the bug is actually in motion,
   // stop the servo intervals
-  if ( this.isMoving ) {
+  if (this.isMoving) {
     this.stop();
   }
 
   // set to center position°
-  this.front.move( 90 );
-  this.rear.move( 90 );
+  this.front.move(90);
+  this.rear.move(90);
 
   //return this;
 };
@@ -79,7 +79,7 @@ Bug.prototype.idle = function() {
  *                     dir {String}
  * @return {Bug}
  */
-Bug.prototype.step = function( opts ) {
+Bug.prototype.step = function(opts) {
   var dir, move, last, front, rear, step;
 
   opts = opts || {};
@@ -87,14 +87,15 @@ Bug.prototype.step = function( opts ) {
   // Get last move from history if any history exists
   // Provide a "fake" history if needed (first call)
   last = this.history.length ?
-          this.history[ this.history.length - 1 ] :
-          { step: 1 };
+    this.history[this.history.length - 1] : {
+      step: 1
+  };
 
   // increment the last step
   step = last.step + 1;
 
   // If step is too high, step back to 0
-  if ( step > 1 ) {
+  if (step > 1) {
     step = 0;
   }
 
@@ -103,20 +104,20 @@ Bug.prototype.step = function( opts ) {
   dir = opts.dir || "fwd";
 
   // Derive position° for next move
-  move = Bug.STEP_MAP[ dir ][ step ];
+  move = Bug.STEP_MAP[dir][step];
 
   // Assign position° from center
   front = 90 + move[0];
   rear = 90 + move[1];
 
   // Write position° to servos
-  this.front.move( front );
-  this.rear.move( rear );
+  this.front.move(front);
+  this.rear.move(rear);
 
   // Allow half step or full if provided,
   // defaults to full
   // enum(false|null|undefined)
-  if ( !opts.half ) {
+  if (!opts.half) {
     // Wait one second and move servos back to
     // center idling position, 90°
     setTimeout(function() {
@@ -129,7 +130,12 @@ Bug.prototype.step = function( opts ) {
   this.history.push(
     // NOTE: this is a great use case example for
     //        ES.next concise object initializers
-    { dir: dir, step: step, front: front, rear: rear }
+    {
+      dir: dir,
+      step: step,
+      front: front,
+      rear: rear
+    }
   );
 };
 
@@ -138,9 +144,9 @@ Bug.prototype.step = function( opts ) {
  * @return {Bug}
  */
 Bug.prototype.stop = function() {
-  Object.keys( this.intervals ).forEach(function( key ) {
-    if ( this.intervals[ key ] ) {
-      clearInterval( this.intervals[ key ] );
+  Object.keys(this.intervals).forEach(function(key) {
+    if (this.intervals[key]) {
+      clearInterval(this.intervals[key]);
     }
   }, this);
   //return this;
@@ -159,15 +165,18 @@ Bug.prototype.stop = function() {
    */
   "rev"
 
-].forEach(function( dir, k ) {
+].forEach(function(dir, k) {
 
-  Bug.prototype[ dir ] = function() {
+  Bug.prototype[dir] = function() {
 
     this.isMoving = true;
 
-    this.intervals[ dir ] = setInterval(function() {
-      this.step({ dir: dir, half: true });
-    }.bind(this), 750 );
+    this.intervals[dir] = setInterval(function() {
+      this.step({
+        dir: dir,
+        half: true
+      });
+    }.bind(this), 750);
 
     // //return this;
   };
diff --git a/docs/button-bumper.md b/docs/button-bumper.md
index a56f2a40c..aa4b1127e 100644
--- a/docs/button-bumper.md
+++ b/docs/button-bumper.md
@@ -8,7 +8,7 @@ node eg/button-bumper.js
 
 ```javascript
 var five = require("johnny-five"),
-    bumper, led;
+  bumper, led;
 
 five.Board().on("ready", function() {
 
diff --git a/docs/button-options.md b/docs/button-options.md
index 0c726cc69..91c6d2925 100644
--- a/docs/button-options.md
+++ b/docs/button-options.md
@@ -8,7 +8,7 @@ node eg/button-options.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, button;
+  board, button;
 
 board = new five.Board();
 
diff --git a/docs/button-pullup.md b/docs/button-pullup.md
index b67c48483..444292390 100644
--- a/docs/button-pullup.md
+++ b/docs/button-pullup.md
@@ -20,7 +20,7 @@ node eg/button-pullup.js
 // https://learn.sparkfun.com/tutorials/pull-up-resistors
 
 var five = require("../lib/johnny-five"),
-    button, led;
+  button, led;
 
 five.Board().on("ready", function() {
 
@@ -31,11 +31,11 @@ five.Board().on("ready", function() {
 
   led = new five.Led(13);
 
-  button.on("down", function(value){
+  button.on("down", function(value) {
     led.on();
   });
 
-  button.on("up", function(){
+  button.on("up", function() {
     led.off();
   });
 
diff --git a/docs/button.md b/docs/button.md
index 71793875e..c8eb034da 100644
--- a/docs/button.md
+++ b/docs/button.md
@@ -8,7 +8,7 @@ node eg/button.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, button;
+  board, button;
 
 board = new five.Board();
 
diff --git a/docs/classic-controller.md b/docs/classic-controller.md
index 2602d6e26..0ffcfd42e 100644
--- a/docs/classic-controller.md
+++ b/docs/classic-controller.md
@@ -8,7 +8,7 @@ node eg/classic-controller.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, nunchuk;
+  board, nunchuk;
 
 board = new five.Board();
 
@@ -47,18 +47,18 @@ board.on("ready", function() {
   // Fired when the joystick detects a change in
   // axis position.
   //
-  nunchuk.joystick.left.on( "change", function( err, event ) {
+  nunchuk.joystick.left.on("change", function(err, event) {
     console.log(
       "Left joystick " + event.axis,
-      event.target[ event.axis ],
+      event.target[event.axis],
       event.axis, event.direction
     );
   });
 
-  nunchuk.joystick.right.on( "change", function( err, event ) {
+  nunchuk.joystick.right.on("change", function(err, event) {
     console.log(
       "Right joystick " + event.axis,
-      event.target[ event.axis ],
+      event.target[event.axis],
       event.axis, event.direction
     );
   });
@@ -85,13 +85,14 @@ board.on("ready", function() {
   //
 
 
-  [ "down", "up", "hold" ].forEach(function( type ) {
+  ["down", "up", "hold"].forEach(function(type) {
 
-    nunchuk.on( type, function( err, event ) {
+    nunchuk.on(type, function(err, event) {
       console.log(
         event.target.which + " is " + type,
 
-        { isUp: event.target.isUp,
+        {
+          isUp: event.target.isUp,
           isDown: event.target.isDown
         }
       );
@@ -100,9 +101,9 @@ board.on("ready", function() {
   });
 
 
-// Further reading
-// http://media.pragprog.com/titles/msard/tinker.pdf
-// http://lizarum.com/assignments/physical_computing/2008/wii_nunchuck.html
+  // Further reading
+  // http://media.pragprog.com/titles/msard/tinker.pdf
+  // http://lizarum.com/assignments/physical_computing/2008/wii_nunchuck.html
 });
 
 ```
diff --git a/docs/claw.md b/docs/claw.md
index 899a9cd36..66acc8d70 100644
--- a/docs/claw.md
+++ b/docs/claw.md
@@ -8,36 +8,40 @@ node eg/claw.js
 
 ```javascript
 var five = require("johnny-five"),
-    board;
+  board;
 
 board = new five.Board();
 
 board.on("ready", function() {
 
-  var claw = new five.Servo({ pin: 9 }),
-      arm =  five.Servo({ pin: 10 }),
-      degrees = 10,
-      incrementer = 10,
-      last;
+  var claw = new five.Servo({
+    pin: 9
+  }),
+    arm = five.Servo({
+      pin: 10
+    }),
+    degrees = 10,
+    incrementer = 10,
+    last;
 
-  this.loop( 25, function() {
+  this.loop(25, function() {
 
-    if ( degrees >= 180 || degrees === 0 ) {
+    if (degrees >= 180 || degrees === 0) {
       incrementer *= -1;
     }
 
     degrees += incrementer;
 
-    if ( degrees === 180 ) {
-      if ( !last || last === 90 ) {
+    if (degrees === 180) {
+      if (!last || last === 90) {
         last = 180;
       } else {
         last = 90;
       }
-      arm.move( last );
+      arm.move(last);
     }
 
-    claw.move( degrees );
+    claw.move(degrees);
   });
 });
 
diff --git a/docs/continuous-clock.md b/docs/continuous-clock.md
index 274451f10..97ffc050e 100644
--- a/docs/continuous-clock.md
+++ b/docs/continuous-clock.md
@@ -8,19 +8,19 @@ node eg/continuous-clock.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, servo;
+  board, servo;
 
 board = new five.Board();
 
 board.on("ready", function() {
 
   [
-    [ 91, "ccw" ],
-    [ 89, "cw" ]
+    [91, "ccw"],
+    [89, "cw"]
 
-  ].forEach(function( def ) {
-    five.Servo.prototype[ def[1] ] = function() {
-      this.move( def[0] );
+  ].forEach(function(def) {
+    five.Servo.prototype[def[1]] = function() {
+      this.move(def[0]);
     };
   });
 
@@ -46,7 +46,7 @@ board.on("ready", function() {
   // move( speed )
   // Set the speed at which the continuous rotation
   // servo will rotate at.
-  servo.move( 90 );
+  servo.move(90);
 
 });
 
diff --git a/docs/continuous.md b/docs/continuous.md
index f79977bd1..71d3771c3 100644
--- a/docs/continuous.md
+++ b/docs/continuous.md
@@ -8,7 +8,7 @@ node eg/continuous.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, servo;
+  board, servo;
 
 board = new five.Board();
 
@@ -35,7 +35,7 @@ board.on("ready", function() {
   // move( speed )
   // Set the speed at which the continuous rotation
   // servo will rotate at.
-  servo.move( 90 );
+  servo.move(90);
 
 });
 
diff --git a/docs/ed.md b/docs/ed.md
index cdca069fe..71e0a7458 100644
--- a/docs/ed.md
+++ b/docs/ed.md
@@ -8,10 +8,10 @@ node eg/ed.js
 
 ```javascript
 var five = require("johnny-five"),
-    compulsive = require("compulsive");
+  compulsive = require("compulsive");
 
 var ED,
-    priv = new WeakMap();
+  priv = new WeakMap();
 
 
 /**
@@ -33,7 +33,8 @@ var ED,
  *
  * @param {Object} opts Optional properties object
  */
-function ED( opts ) {
+
+function ED(opts) {
 
   opts = opts || {};
 
@@ -64,12 +65,12 @@ function ED( opts ) {
   // TODO: Support pre-initialized servo instances
   this.servos = {
     right: {
-      hip: opts.right.hip && new five.Servo( opts.right.hip ),
-      foot: opts.right.foot && new five.Servo( opts.right.foot )
+      hip: opts.right.hip && new five.Servo(opts.right.hip),
+      foot: opts.right.foot && new five.Servo(opts.right.foot)
     },
     left: {
-      hip: opts.left.hip && new five.Servo( opts.left.hip ),
-      foot: opts.left.foot && new five.Servo( opts.left.foot )
+      hip: opts.left.hip && new five.Servo(opts.left.hip),
+      foot: opts.left.foot && new five.Servo(opts.left.foot)
     }
   };
 
@@ -82,37 +83,37 @@ function ED( opts ) {
   //  .left { .foot, .hip }
   //  .right { .foot, .hip }
   //
-  [ "right", "left" ].forEach(function( key ) {
+  ["right", "left"].forEach(function(key) {
 
     var descriptor = {};
 
-    [ "foot", "hip" ].forEach(function( part ) {
-      descriptor[ part ] = {
+    ["foot", "hip"].forEach(function(part) {
+      descriptor[part] = {
         get: function() {
-          var history = this.servos[ key ][ part ].history,
-              last = history[ history.length - 1 ];
+          var history = this.servos[key][part].history,
+            last = history[history.length - 1];
 
           return last && last.degrees || 90;
         }.bind(this)
       };
     }, this);
 
-    this.degrees[ key ] = {};
+    this.degrees[key] = {};
 
     // And finally, create properties with the generated descriptor
-    Object.defineProperties( this.degrees[ key ], descriptor );
-  }, this );
+    Object.defineProperties(this.degrees[key], descriptor);
+  }, this);
 
 
-  Object.defineProperty( this, "isCentered", {
+  Object.defineProperty(this, "isCentered", {
     get: function() {
       var right, left;
 
       right = this.degrees.right;
       left = this.degrees.left;
 
-      if ( (right.foot === 90 && right.hip === 90) &&
-              (left.foot === 90 && left.foot === 90) ) {
+      if ((right.foot === 90 && right.hip === 90) &&
+        (left.foot === 90 && left.foot === 90)) {
         return true;
       }
       return false;
@@ -124,12 +125,18 @@ function ED( opts ) {
   this.history = [{
     timestamp: Date.now(),
     side: "right",
-    right: { hip: 0, foot: 0 },
-    left: { hip: 0, foot: 0 }
+    right: {
+      hip: 0,
+      foot: 0
+    },
+    left: {
+      hip: 0,
+      foot: 0
+    }
   }];
 
   // Create an entry in the private data store.
-  priv.set( this, {
+  priv.set(this, {
     // `isWalking` is used in:
     //    ED.prototype.(attn|stop)
     //    ED.prototype.(forward|fwd;reverse|rev)
@@ -145,17 +152,17 @@ function ED( opts ) {
  * @return {Object} this
  */
 //ED.prototype.attn = ED.prototype.stop = function() {
-ED.prototype.attn = function( options ) {
+ED.prototype.attn = function(options) {
   options = options || {};
 
-  if ( !options.isWalking ) {
+  if (!options.isWalking) {
 
-    if ( this.sequence ) {
+    if (this.sequence) {
       this.sequence.stop();
       this.sequence = null;
     }
 
-    priv.set( this, {
+    priv.set(this, {
       isWalking: false
     });
   }
@@ -180,21 +187,20 @@ ED.prototype.attn = function( options ) {
  *                          one of: (fwd, rev, left, right)
  *
  */
-ED.prototype.step = function( direct ) {
+ED.prototype.step = function(direct) {
   var isLeft, isFwd, opposing, direction, state;
 
   state = priv.get(this);
 
-  if ( /fwd|rev/.test(direct) ) {
+  if (/fwd|rev/.test(direct)) {
     direction = direct;
     direct = undefined;
-  }
-  else {
+  } else {
     direction = "fwd";
   }
 
   // Derive which side to step on; based on last step or explicit step
-  this.side = direct || ( this.side !== "right" ? "right" : "left" );
+  this.side = direct || (this.side !== "right" ? "right" : "left");
 
   // Update the value of the current direction
   this.direction = direction;
@@ -227,15 +233,15 @@ ED.prototype.step = function( direct ) {
 
         // Lift the currently stepping foot, while
         // leaning on the currently opposing foot.
-        instruct[ stepping ] = {
+        instruct[stepping] = {
           foot: isLeft ? 40 : 140
         };
-        instruct[ opposing ] = {
+        instruct[opposing] = {
           foot: isLeft ? 70 : 110
         };
 
         // Swing currently stepping hips
-        this.move( instruct );
+        this.move(instruct);
       }.bind(this)
     },
 
@@ -244,8 +250,8 @@ ED.prototype.step = function( direct ) {
       wait: 500,
       task: function() {
         var degrees = isLeft ?
-            ( isFwd ? 120 : 60 ) :
-            ( isFwd ? 60 : 120 );
+          (isFwd ? 120 : 60) :
+          (isFwd ? 60 : 120);
 
         // Swing currently stepping hips
         this.move({
@@ -298,9 +304,9 @@ ED.prototype.step = function( direct ) {
     abbr: "rev"
   }
 
-].forEach(function( dir ) {
+].forEach(function(dir) {
 
-  ED.prototype[ dir.name ] = ED.prototype[ dir.abbr ] = function() {
+  ED.prototype[dir.name] = ED.prototype[dir.abbr] = function() {
     var startAt, stepper, state;
 
     startAt = 10;
@@ -308,13 +314,13 @@ ED.prototype.step = function( direct ) {
 
     // If ED is already walking in this direction, return immediately;
     // This prevents multiple movement loops from being scheduled.
-    if ( this.direction === dir.abbr && state.isWalking ) {
+    if (this.direction === dir.abbr && state.isWalking) {
       return;
     }
 
     // If a sequence reference exists, kill it. This will
     // clear all pending queue repeaters.
-    if ( this.sequence ) {
+    if (this.sequence) {
       this.sequence.stop();
       this.sequence = null;
     }
@@ -334,39 +340,38 @@ ED.prototype.step = function( direct ) {
       isWalking: true
     });
 
-    stepper = function( loop ) {
+    stepper = function(loop) {
       // Capture of sequence queue reference
-      if ( this.sequence === null ) {
+      if (this.sequence === null) {
         this.sequence = loop;
       }
 
-      this.step( dir.abbr );
+      this.step(dir.abbr);
 
-      if ( !priv.get(this).isWalking ) {
+      if (!priv.get(this).isWalking) {
         loop.stop();
       }
     }.bind(this);
 
     // If the bot is not centered, ie. all servos at 90degrees,
     // bring the bot to attention before proceeding.
-    if ( !this.isCentered ) {
-      this.attn({ isWalking: true });
+    if (!this.isCentered) {
+      this.attn({
+        isWalking: true
+      });
       // Offset the amount ms required for attn() to complete
       startAt = 750;
     }
 
-    this.queue([
-      {
-        wait: startAt,
-        task: function() {
-          this.step( dir.abbr );
-        }.bind(this)
-      },
-      {
-        loop: 1500,
-        task: stepper
-      }
-    ]);
+    this.queue([{
+      wait: startAt,
+      task: function() {
+        this.step(dir.abbr);
+      }.bind(this)
+    }, {
+      loop: 1500,
+      task: stepper
+    }]);
   };
 });
 
@@ -382,7 +387,7 @@ ED.prototype.dance = function() {
 
   this.attn();
 
-  if ( typeof this.moves === "undefined" ) {
+  if (typeof this.moves === "undefined") {
     this.moves = 0;
   }
 
@@ -393,7 +398,7 @@ ED.prototype.dance = function() {
       task: function() {
         var degrees = isLeft ? 120 : 60;
 
-        if ( this.moves % 2 === 0 ) {
+        if (this.moves % 2 === 0) {
           this.move({
             type: "attn",
             right: {
@@ -491,77 +496,79 @@ ED.prototype.dance = function() {
  * @param  {Object} positions left/right hip/foot positions
  *
  */
-ED.prototype.move = function( positions ) {
+ED.prototype.move = function(positions) {
   var start, type;
 
-  if ( this.history.length ) {
-    start = this.history[ this.history.length - 1 ];
+  if (this.history.length) {
+    start = this.history[this.history.length - 1];
   }
 
   type = positions.type || "step";
 
-  [ "foot", "hip" ].forEach(function( section ) {
-    [ "right", "left" ].forEach(function( side ) {
+  ["foot", "hip"].forEach(function(section) {
+    ["right", "left"].forEach(function(side) {
       var interval, endAt, startAt, servo, step, s;
 
-      if ( typeof positions[ side ] === "undefined" ) {
+      if (typeof positions[side] === "undefined") {
         return;
       }
 
-      endAt = positions[ side ][ section ];
-      servo = this.servos[ side ][ section ];
-      startAt = this.degrees[ side ][ section ];
+      endAt = positions[side][section];
+      servo = this.servos[side][section];
+      startAt = this.degrees[side][section];
 
       // Degrees per step
       step = 2;
 
       s = Date.now();
 
-      if ( !endAt || endAt === startAt ) {
+      if (!endAt || endAt === startAt) {
         return;
       }
 
-      if ( start ) {
+      if (start) {
         // Determine degree step direction
-        if ( endAt < startAt ) {
+        if (endAt < startAt) {
           step *= -1;
         }
 
         // Repeat each step for required number of steps to move
         // servo into new position. Each step is ~20ms duration
-        this.repeat( Math.abs( endAt - startAt ) / 2, 10, function() {
+        this.repeat(Math.abs(endAt - startAt) / 2, 10, function() {
           // console.log( startAt );
-          servo.move( startAt += step );
+          servo.move(startAt += step);
 
-          if ( startAt === endAt ) {
-            this.times[ type ] = (this.times[ type ] + (Date.now() - s)) / 2;
+          if (startAt === endAt) {
+            this.times[type] = (this.times[type] + (Date.now() - s)) / 2;
           }
         }.bind(this));
 
       } else {
         // TODO: Stop doing this
-        servo.move( endAt );
+        servo.move(endAt);
         five.Fn.sleep(500);
       }
-    }, this );
-  }, this );
+    }, this);
+  }, this);
 
   // Push a record object into the stepping history
   this.history.push({
     timestamp: Date.now(),
     side: this.side,
-    right: five.Fn.extend(
-      { hip: 0, foot: 0 }, this.degrees.right, positions.right
-    ),
-    left: five.Fn.extend(
-      { hip: 0, foot: 0 }, this.degrees.left, positions.left
-    )
+    right: five.Fn.extend({
+      hip: 0,
+      foot: 0
+    }, this.degrees.right, positions.right),
+    left: five.Fn.extend({
+      hip: 0,
+      foot: 0
+    }, this.degrees.left, positions.left)
   });
 };
 
 // Borrow API from Compulsive
-[ "wait", "loop", "queue", "repeat" ].forEach(function( api ) {
-  ED.prototype[ api ] = compulsive[ api ];
+["wait", "loop", "queue", "repeat"].forEach(function(api) {
+  ED.prototype[api] = compulsive[api];
 });
 
 // Begin program when the board, serial and
@@ -573,10 +580,12 @@ ED.prototype.move = function( positions ) {
   // assign servos
   biped = new ED({
     right: {
-      hip: 9, foot: 11
+      hip: 9,
+      foot: 11
     },
     left: {
-      hip: 10, foot: 12
+      hip: 10,
+      foot: 12
     }
   });
 
diff --git a/docs/gripper.md b/docs/gripper.md
index 698044cae..d39d874f5 100644
--- a/docs/gripper.md
+++ b/docs/gripper.md
@@ -8,74 +8,75 @@ node eg/gripper.js
 
 ```javascript
 var five = require("johnny-five"),
-    compulsive = require("compulsive"),
-    wrist, gripper, motion, repeater;
+  compulsive = require("compulsive"),
+  wrist, gripper, motion, repeater;
 
 (new five.Board()).on("ready", function() {
 
-  // Create a new `gripper` hardware instance.
-  // This example allows the gripper module to
-  // create a completely default instance
+    // Create a new `gripper` hardware instance.
+    // This example allows the gripper module to
+    // create a completely default instance
 
-  wrist = new five.Servo(9);
-  gripper = new five.Gripper(10);
+    wrist = new five.Servo(9);
+    gripper = new five.Gripper(10);
 
 
-  function slice() {
-    wrist.move(100);
+    function slice() {
+      wrist.move(100);
 
-    compulsive.wait(100, function() {
-      wrist.move(120);
-    });
-  }
-  function chop() {
-    compulsive.loop(200, function( loop ) {
-      if ( !repeater ) {
-        repeater = loop;
-      }
-      slice();
+      compulsive.wait(100, function() {
+        wrist.move(120);
+      });
+    }
+
+    function chop() {
+      compulsive.loop(200, function(loop) {
+        if (!repeater) {
+          repeater = loop;
+        }
+        slice();
+      });
+    }
+
+    // Inject the `gripper` hardware into
+    // the Repl instance's context;
+    // allows direct command line access
+    this.repl.inject({
+      w: wrist,
+      g: gripper,
+      chop: chop,
+      slice: slice
     });
-  }
-
-  // Inject the `gripper` hardware into
-  // the Repl instance's context;
-  // allows direct command line access
-  this.repl.inject({
-    w: wrist,
-    g: gripper,
-    chop: chop,
-    slice: slice
-  });
 
 
-  motion = new five.IR.Motion(7);
-
-  // gripper.open()
-  //
-  // gripper.close()
-  //
-  // gripper.set([0-10])
-  //
-  //
-  // g.*() from REPL
-  //
-  //
-  motion.on("motionstart", function( err, ts ) {
-    chop();
-  });
+    motion = new five.IR.Motion(7);
+
+    // gripper.open()
+    //
+    // gripper.close()
+    //
+    // gripper.set([0-10])
+    //
+    //
+    // g.*() from REPL
+    //
+    //
+    motion.on("motionstart", function(err, ts) {
+      chop();
+    });
 
-  // "motionstart" events are fired following a "motionstart event
-  // when no movement has occurred in X ms
-  motion.on("motionend", function( err, ts ) {
-    if ( repeater ) {
-      repeater.stop();
-      repeater = null;
-    }
-  });
+    // "motionstart" events are fired following a "motionstart event
+    // when no movement has occurred in X ms
+    motion.on("motionend", function(err, ts) {
+      if (repeater) {
+        repeater.stop();
+        repeater = null;
+      }
+    });
 
 
 
-});
+  });
 
 
 ```
diff --git a/docs/ir-motion.md b/docs/ir-motion.md
index afb7d8d6b..bbbc4b30e 100644
--- a/docs/ir-motion.md
+++ b/docs/ir-motion.md
@@ -8,7 +8,7 @@ node eg/ir-motion.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, motion;
+  board, motion;
 
 board = new five.Board();
 
@@ -27,20 +27,20 @@ board.on("ready", function() {
   // Pir Event API
 
   // "calibrated" occurs once, at the beginning of a session,
-  motion.on("calibrated", function( err, ts ) {
-    console.log( "calibrated", ts );
+  motion.on("calibrated", function(err, ts) {
+    console.log("calibrated", ts);
   });
 
   // "motionstart" events are fired when the "calibrated"
   // proximal area is disrupted, generally by some form of movement
-  motion.on("motionstart", function( err, ts ) {
-    console.log( "motionstart", ts );
+  motion.on("motionstart", function(err, ts) {
+    console.log("motionstart", ts);
   });
 
   // "motionstart" events are fired following a "motionstart event
   // when no movement has occurred in X ms
-  motion.on("motionend", function( err, ts ) {
-    console.log( "motionend", ts );
+  motion.on("motionend", function(err, ts) {
+    console.log("motionend", ts);
   });
 });
 
diff --git a/docs/ir-proximity.md b/docs/ir-proximity.md
index d4de4f94e..ed34096b4 100644
--- a/docs/ir-proximity.md
+++ b/docs/ir-proximity.md
@@ -34,7 +34,7 @@ five.Board().on("ready", function() {
 
   ir.on("motionstart", function() {
 
-    console.log( "motionstart" );
+    console.log("motionstart");
 
   });
 
@@ -45,7 +45,7 @@ five.Board().on("ready", function() {
 
   ir.on("motionend", function() {
 
-    console.log( "motionend" );
+    console.log("motionend");
 
   });
 
@@ -53,7 +53,7 @@ five.Board().on("ready", function() {
   //
   // Fires continuously, every 66ms.
   //
-  ir.on("data", function( err, timestamp ) {
+  ir.on("data", function(err, timestamp) {
     // console.log( "data" );
   });
 });
diff --git a/docs/ir-reflect.md b/docs/ir-reflect.md
index 007cbb347..8e85a47b7 100644
--- a/docs/ir-reflect.md
+++ b/docs/ir-reflect.md
@@ -28,8 +28,8 @@ five.Board().on("ready", function() {
   //
   // Fires continuously, every 66ms.
   //
-  ir.on("data", function( err, timestamp ) {
-    console.log( "data" );
+  ir.on("data", function(err, timestamp) {
+    console.log("data");
   });
 });
 
diff --git a/docs/joystick-claw.md b/docs/joystick-claw.md
index 4bd39726a..f30342315 100644
--- a/docs/joystick-claw.md
+++ b/docs/joystick-claw.md
@@ -8,30 +8,30 @@ node eg/joystick-claw.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, claw, joystick;
+  board, claw, joystick;
 
 board = new five.Board();
 
 board.on("ready", function() {
 
   var claw = new five.Servo({
-        pin: 9,
-        range: [ 0, 170 ]
-      }),
-      joystick = new five.Joystick({
-        pins: [ "A0", "A1" ],
-        freq: 250
-      });
+    pin: 9,
+    range: [0, 170]
+  }),
+    joystick = new five.Joystick({
+      pins: ["A0", "A1"],
+      freq: 250
+    });
 
   // Set the claw degrees to half way
   // (the joystick deadzone)
-  claw.move( 90 );
+  claw.move(90);
 
   joystick.on("axismove", function() {
     // Open/close the claw by setting degrees according
     // to Y position of joystick.
     // limit to 170 on medium servos (ei. the servo used on the claw)
-    claw.move( Math.ceil(170 * this.fixed.y) );
+    claw.move(Math.ceil(170 * this.fixed.y));
   });
 });
 
diff --git a/docs/joystick-laser.md b/docs/joystick-laser.md
index 3d9578427..2e8cd1189 100644
--- a/docs/joystick-laser.md
+++ b/docs/joystick-laser.md
@@ -8,14 +8,14 @@ node eg/joystick-laser.js
 
 ```javascript
 var five = require("johnny-five"),
-    board = new five.Board({
-      debug: true
-    });
+  board = new five.Board({
+    debug: true
+  });
 
 board.on("ready", function() {
   var range, pan, tilt, joystick;
 
-  range = [ 0, 170 ];
+  range = [0, 170];
 
   // Servo to control panning
   pan = new five.Servo({
@@ -33,7 +33,7 @@ board.on("ready", function() {
   // Read Analog 0, 1
   // Limit events to every 50ms
   joystick = new five.Joystick({
-    pins: [ "A0", "A1" ],
+    pins: ["A0", "A1"],
     freq: 100
   });
 
@@ -42,8 +42,8 @@ board.on("ready", function() {
 
   joystick.on("axismove", function() {
 
-    tilt.move( Math.ceil(170 * this.fixed.y) );
-    pan.move( Math.ceil(170 * this.fixed.x) );
+    tilt.move(Math.ceil(170 * this.fixed.y));
+    pan.move(Math.ceil(170 * this.fixed.x));
 
   });
 });
diff --git a/docs/joystick-motor-led.md b/docs/joystick-motor-led.md
index 519417dc8..a173e6dad 100644
--- a/docs/joystick-motor-led.md
+++ b/docs/joystick-motor-led.md
@@ -8,7 +8,7 @@ node eg/joystick-motor-led.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, joystick, motor, led;
+  board, joystick, motor, led;
 
 board = new five.Board();
 
@@ -20,7 +20,7 @@ board.on("ready", function() {
     // Pin orders:
     //   [ up, down, left, right ]
     //   [ ud, lr ]
-    pins: [ "A0", "A1" ],
+    pins: ["A0", "A1"],
     freq: 25
   });
 
@@ -46,13 +46,13 @@ board.on("ready", function() {
 
   // Pushing the joystick to up position should start the motor,
   // releasing it will turn the motor off.
-  joystick.on("axismove", function( err, timestamp ) {
+  joystick.on("axismove", function(err, timestamp) {
 
-    if ( !motor.isOn && this.axis.y > 0.51 ) {
+    if (!motor.isOn && this.axis.y > 0.51) {
       motor.start();
     }
 
-    if ( motor.isOn && this.axis.y < 0.51 ) {
+    if (motor.isOn && this.axis.y < 0.51) {
       motor.stop();
     }
   });
@@ -60,7 +60,7 @@ board.on("ready", function() {
   // While the motor is on, blink the led
   motor.on("start", function() {
     // 250ms
-    led.strobe( 250 );
+    led.strobe(250);
   });
 
   motor.on("stop", function() {
diff --git a/docs/joystick.md b/docs/joystick.md
index bdb915683..6e711eaf8 100644
--- a/docs/joystick.md
+++ b/docs/joystick.md
@@ -8,7 +8,7 @@ node eg/joystick.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, joystick;
+  board, joystick;
 
 board = new five.Board();
 
@@ -20,7 +20,7 @@ board.on("ready", function() {
     // Pin orders:
     //   [ up, down, left, right ]
     //   [ ud, lr ]
-    pins: [ "A0", "A1" ],
+    pins: ["A0", "A1"],
     freq: 500
   });
 
@@ -33,7 +33,7 @@ board.on("ready", function() {
 
   // Joystick Event API
 
-  joystick.on("axismove", function( err, timestamp ) {
+  joystick.on("axismove", function(err, timestamp) {
 
     // Axis data is available on:
     // this.axis
@@ -49,9 +49,9 @@ board.on("ready", function() {
     // console.log( "UD:", this.axis.y, this.normalized.y );
     // console.log( "MAG:", this.magnitude );
 
-    console.log( "LR:", this.fixed.x );
-    console.log( "UD:", this.fixed.y );
-    console.log( "MAG:", this.magnitude );
+    console.log("LR:", this.fixed.x);
+    console.log("UD:", this.fixed.y);
+    console.log("MAG:", this.magnitude);
 
   });
 });
diff --git a/docs/laser.md b/docs/laser.md
index 308e08a96..0f0b24058 100644
--- a/docs/laser.md
+++ b/docs/laser.md
@@ -8,7 +8,7 @@ node eg/laser.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, laser;
+  board, laser;
 
 board = new five.Board();
 
diff --git a/docs/lcd-enumeratechars.md b/docs/lcd-enumeratechars.md
index 3fc8b1533..7c0a56895 100644
--- a/docs/lcd-enumeratechars.md
+++ b/docs/lcd-enumeratechars.md
@@ -8,7 +8,7 @@ node eg/lcd-enumeratechars.js
 
 ```javascript
 var five = require("../lib/johnny-five"),
-    board, lcd;
+  board, lcd;
 
 board = new five.Board();
 
@@ -17,7 +17,7 @@ board.on("ready", function() {
   lcd = new five.LCD({
     // LCD pin name  RS  EN  DB4 DB5 DB6 DB7
     // Arduino pin # 7    8   9   10  11  12
-    pins: [ 7, 8, 9, 10, 11, 12 ],
+    pins: [7, 8, 9, 10, 11, 12],
     rows: 4,
     cols: 20
   });
@@ -32,27 +32,27 @@ board.on("ready", function() {
     length = keys.length;
     eights = [];
 
-    while ( i < length ) {
-      eights.push( keys.slice(i, i + 8) );
+    while (i < length) {
+      eights.push(keys.slice(i, i + 8));
       i += 8;
     }
 
-    console.log( "Wait 5 seconds..." );
+    console.log("Wait 5 seconds...");
 
-    board.loop( 2000, function() {
-      var charset = eights[ k ],
-          display = "";
+    board.loop(2000, function() {
+      var charset = eights[k],
+        display = "";
 
       lcd.clear();
 
-      if ( k < eights.length ) {
+      if (k < eights.length) {
 
-        charset.forEach(function( char, index ) {
+        charset.forEach(function(char, index) {
           lcd.useChar(char);
           display += ":" + char + ":";
         });
 
-        lcd.clear().cursor(0, 0).print( display );
+        lcd.clear().cursor(0, 0).print(display);
 
         k++;
       }
diff --git a/docs/lcd-runner-20x4.md b/docs/lcd-runner-20x4.md
index eb3f1dce4..8b74cfbd3 100644
--- a/docs/lcd-runner-20x4.md
+++ b/docs/lcd-runner-20x4.md
@@ -8,7 +8,7 @@ node eg/lcd-runner-20x4.js
 
 ```javascript
 var five = require("../lib/johnny-five"),
-    board, lcd;
+  board, lcd;
 
 board = new five.Board();
 
@@ -17,28 +17,30 @@ board.on("ready", function() {
   lcd = new five.LCD({
     // LCD pin name  RS  EN  DB4 DB5 DB6 DB7
     // Arduino pin # 7    8   9   10  11  12
-    pins: [ 7, 8, 9, 10, 11, 12 ],
+    pins: [7, 8, 9, 10, 11, 12],
     rows: 4,
     cols: 20
   });
 
   lcd.on("ready", function() {
 
-    var frame = 1, col = 0, row = 0;
+    var frame = 1,
+      col = 0,
+      row = 0;
 
     lcd.useChar("runninga");
     lcd.useChar("runningb");
 
-    board.loop( 300, function() {
+    board.loop(300, function() {
 
-      lcd.clear().cursor( row, col ).print(
+      lcd.clear().cursor(row, col).print(
         ":running" + (++frame % 2 === 0 ? "a" : "b") + ":"
       );
 
-      if ( ++col === lcd.cols ) {
+      if (++col === lcd.cols) {
         col = 0;
 
-        if ( ++row === lcd.rows ) {
+        if (++row === lcd.rows) {
           row = 0;
         }
       }
diff --git a/docs/lcd-runner.md b/docs/lcd-runner.md
index 6ccf03670..86afef3ba 100644
--- a/docs/lcd-runner.md
+++ b/docs/lcd-runner.md
@@ -8,7 +8,7 @@ node eg/lcd-runner.js
 
 ```javascript
 var five = require("../lib/johnny-five"),
-    board, lcd;
+  board, lcd;
 
 board = new five.Board();
 
@@ -17,28 +17,30 @@ board.on("ready", function() {
   lcd = new five.LCD({
     // LCD pin name  RS  EN  DB4 DB5 DB6 DB7
     // Arduino pin # 7    8   9   10  11  12
-    pins: [ 7, 8, 9, 10, 11, 12 ],
+    pins: [7, 8, 9, 10, 11, 12],
     rows: 2,
     cols: 16
   });
 
   lcd.on("ready", function() {
 
-    var frame = 1, col = 0, row = 0;
+    var frame = 1,
+      col = 0,
+      row = 0;
 
     lcd.useChar("runninga");
     lcd.useChar("runningb");
 
-    board.loop( 300, function() {
+    board.loop(300, function() {
 
-      lcd.clear().cursor( row, col ).print(
+      lcd.clear().cursor(row, col).print(
         ":running" + (++frame % 2 === 0 ? "a" : "b") + ":"
       );
 
-      if ( ++col === lcd.cols ) {
+      if (++col === lcd.cols) {
         col = 0;
 
-        if ( ++row === lcd.rows ) {
+        if (++row === lcd.rows) {
           row = 0;
         }
       }
diff --git a/docs/lcd.md b/docs/lcd.md
index 5cf76dcb0..2cdf4033c 100644
--- a/docs/lcd.md
+++ b/docs/lcd.md
@@ -8,7 +8,7 @@ node eg/lcd.js
 
 ```javascript
 var five = require("../lib/johnny-five"),
-    board, lcd;
+  board, lcd;
 
 board = new five.Board();
 
@@ -17,7 +17,7 @@ board.on("ready", function() {
   lcd = new five.LCD({
     // LCD pin name  RS  EN  DB4 DB5 DB6 DB7
     // Arduino pin # 7    8   9   10  11  12
-    pins: [ 7, 8, 9, 10, 11, 12 ],
+    pins: [7, 8, 9, 10, 11, 12],
 
     // Options:
     // bitMode: 4 or 8, defaults to 4
diff --git a/docs/led-fade.md b/docs/led-fade.md
index 24f63c613..b485092c1 100644
--- a/docs/led-fade.md
+++ b/docs/led-fade.md
@@ -8,7 +8,7 @@ node eg/led-fade.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, led;
+  board, led;
 
 board = new five.Board();
 
@@ -37,7 +37,7 @@ board.on("ready", function() {
 
 
   // Toggle the led after 10 seconds (shown in ms)
-  this.wait( 5000, function() {
+  this.wait(5000, function() {
 
     led.fadeOut();
 
diff --git a/docs/led-matrix.md b/docs/led-matrix.md
index a671fa613..84d1f8d3a 100644
--- a/docs/led-matrix.md
+++ b/docs/led-matrix.md
@@ -8,7 +8,7 @@ node eg/led-matrix.js
 
 ```javascript
 var five = require("../lib/johnny-five"),
-    board, lc;
+  board, lc;
 
 board = new five.Board();
 
@@ -38,26 +38,30 @@ board.on("ready", function() {
   });
 
   function queue(fn) {
-    process.nextTick( fn );
+    process.nextTick(fn);
   }
 
   lc.heart = function() {
     heart.forEach(function(row, rowIndex) {
-      queue( function() { lc.row( 0, rowIndex, parseInt( row, 2 ) ); } );
+      queue(function() {
+        lc.row(0, rowIndex, parseInt(row, 2));
+      });
     });
   };
 
-  lc.on( 0 );
+  lc.on(0);
 
   var msg = "johnny-five";
   var idx = 0;
 
   function next() {
-    var c = msg[ idx ];
-    lc.char( 0, c );
+    var c = msg[idx];
+    lc.char(0, c);
     idx++;
-    if ( idx === msg.length ) { return; }
-    setTimeout( next, 800 );
+    if (idx === msg.length) {
+      return;
+    }
+    setTimeout(next, 800);
   }
 
   next();
diff --git a/docs/led-on-off.md b/docs/led-on-off.md
index 338906488..35e9081c7 100644
--- a/docs/led-on-off.md
+++ b/docs/led-on-off.md
@@ -8,7 +8,7 @@ node eg/led-on-off.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, led;
+  board, led;
 
 board = new five.Board();
 
@@ -26,7 +26,7 @@ board.on("ready", function() {
   led.off();
 
   // Turn the led back on after 3 seconds (shown in ms)
-  this.wait( 3000, function() {
+  this.wait(3000, function() {
 
     led.on();
 
diff --git a/docs/led-pulse.md b/docs/led-pulse.md
index e8ca967f8..914f98d5c 100644
--- a/docs/led-pulse.md
+++ b/docs/led-pulse.md
@@ -8,7 +8,7 @@ node eg/led-pulse.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, led;
+  board, led;
 
 board = new five.Board();
 
@@ -36,7 +36,7 @@ board.on("ready", function() {
 
 
   // Turn off the led pulse loop after 10 seconds (shown in ms)
-  this.wait( 10000, function() {
+  this.wait(10000, function() {
 
     led.stop().off();
 
diff --git a/docs/led-rainbow.md b/docs/led-rainbow.md
index 77b8c712a..7eafc1455 100644
--- a/docs/led-rainbow.md
+++ b/docs/led-rainbow.md
@@ -12,15 +12,15 @@ var five = require("johnny-five");
 five.Board().on("ready", function() {
   var rgb, rainbow, index;
 
-  rgb = new five.Led.RGB([ 3, 5, 6 ]);
-  rainbow = [ "FF000", "FF7F00", "00FF00", "FFFF00", "0000FF", "4B0082", "8F00FF" ];
+  rgb = new five.Led.RGB([3, 5, 6]);
+  rainbow = ["FF000", "FF7F00", "00FF00", "FFFF00", "0000FF", "4B0082", "8F00FF"];
   index = 0;
 
   setInterval(function() {
-    if ( index + 1 === rainbow.length ) {
+    if (index + 1 === rainbow.length) {
       index = 0;
     }
-    rgb.color( rainbow[ index++ ] );
+    rgb.color(rainbow[index++]);
   }, 500);
 });
 
diff --git a/docs/led-rgb.md b/docs/led-rgb.md
index 266cd9921..8b3769d05 100644
--- a/docs/led-rgb.md
+++ b/docs/led-rgb.md
@@ -10,7 +10,7 @@ node eg/led-rgb.js
 var five = require("johnny-five");
 
 five.Board().on("ready", function() {
-  var a = new five.Led.RGB([ 9, 10, 11 ]);
+  var a = new five.Led.RGB([9, 10, 11]);
 
   var b = new five.Led.RGB({
     pins: {
diff --git a/docs/led-strobe.md b/docs/led-strobe.md
index 8e3a162ce..bbdd29363 100644
--- a/docs/led-strobe.md
+++ b/docs/led-strobe.md
@@ -8,7 +8,7 @@ node eg/led-strobe.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, led;
+  board, led;
 
 board = new five.Board();
 
@@ -18,7 +18,7 @@ board.on("ready", function() {
   led = new five.Led(13);
 
   // "strobe" the led in 100ms on-off phases
-  led.strobe( 100 );
+  led.strobe(100);
 });
 
 ```
diff --git a/docs/magnetometer-log.md b/docs/magnetometer-log.md
index c51c764de..ca5926dbc 100644
--- a/docs/magnetometer-log.md
+++ b/docs/magnetometer-log.md
@@ -8,84 +8,84 @@ node eg/magnetometer-log.js
 
 ```javascript
 var color = require("colors"),
-    five = require("johnny-five"),
-    board, colors, servo, mag, count, dirs, lock;
+  five = require("johnny-five"),
+  board, colors, servo, mag, count, dirs, lock;
 
 (board = new five.Board()).on("ready", function() {
 
-  count = -1;
-  dirs = [ "cw", "ccw" ];
-  lock = false;
+    count = -1;
+    dirs = ["cw", "ccw"];
+    lock = false;
 
-  [
-    // Medium Speed Counter Clock Wise
-    [ 92, "ccw" ],
-    // Medium Speed Clock Wise
-    [ 88, "cw" ]
+    [
+      // Medium Speed Counter Clock Wise
+      [92, "ccw"],
+      // Medium Speed Clock Wise
+      [88, "cw"]
 
-  ].forEach(function( def ) {
+    ].forEach(function(def) {
 
-    // Define a directional method and default speed
-    five.Servo.prototype[ def[1] ] = function( speed ) {
-      speed = speed || def[0];
+      // Define a directional method and default speed
+      five.Servo.prototype[def[1]] = function(speed) {
+        speed = speed || def[0];
 
-      this.move( speed );
-    };
-  });
+        this.move(speed);
+      };
+    });
 
 
-  // Create a new `servo` hardware instance.
-  servo = new five.Servo({
-    pin: 9,
-    // `type` defaults to standard servo.
-    // For continuous rotation servos, override the default
-    // by setting the `type` here
-    type: "continuous"
-  });
+    // Create a new `servo` hardware instance.
+    servo = new five.Servo({
+      pin: 9,
+      // `type` defaults to standard servo.
+      // For continuous rotation servos, override the default
+      // by setting the `type` here
+      type: "continuous"
+    });
 
 
-  // Create an I2C `Magnetometer` instance
-  mag = new five.Magnetometer();
+    // Create an I2C `Magnetometer` instance
+    mag = new five.Magnetometer();
 
-  // Inject the servo and magnometer into the REPL
-  this.repl.inject({
-    servo: servo,
-    mag: mag
-  });
+    // Inject the servo and magnometer into the REPL
+    this.repl.inject({
+      servo: servo,
+      mag: mag
+    });
 
-  // set the continuous servo to stopped
-  servo.move( 90 );
+    // set the continuous servo to stopped
+    servo.move(90);
 
-  // As the heading changes, log heading value
-  mag.on("headingchange", function() {
-    var log;
+    // As the heading changes, log heading value
+    mag.on("headingchange", function() {
+      var log;
 
-    log = ( this.bearing.name + " " + Math.floor(this.heading) + "°" );
+      log = (this.bearing.name + " " + Math.floor(this.heading) + "°");
 
-    console.log(
-      log[ colors[ this.bearing.abbr ] ]
-    );
+      console.log(
+        log[colors[this.bearing.abbr]]
+      );
 
 
 
-    if ( !lock && this.bearing.name === "North" ) {
-      // Set redirection lock
-      lock = true;
+      if (!lock && this.bearing.name === "North") {
+        // Set redirection lock
+        lock = true;
 
-      // Redirect
-      servo[ dirs[ ++count % 2 ] ]();
+        // Redirect
+        servo[dirs[++count % 2]]();
 
-      // Release redirection lock
-      board.wait( 2000, function() {
-        lock = false;
-      });
-    }
-  });
+        // Release redirection lock
+        board.wait(2000, function() {
+          lock = false;
+        });
+      }
+    });
 
-  this.wait( 2000, function() {
-    servo[ dirs[ ++count % 2 ] ]();
+    this.wait(2000, function() {
+      servo[dirs[++count % 2]]();
+    });
   });
-});
 
 colors = {
   N: "red",
diff --git a/docs/magnetometer-north.md b/docs/magnetometer-north.md
index 639761238..151a75989 100644
--- a/docs/magnetometer-north.md
+++ b/docs/magnetometer-north.md
@@ -8,25 +8,25 @@ node eg/magnetometer-north.js
 
 ```javascript
 var color = require("colors"),
-    five = require("johnny-five"),
-    board, colors, servo, mag, count, dirs, isNorth, isSeeking, last;
+  five = require("johnny-five"),
+  board, colors, servo, mag, count, dirs, isNorth, isSeeking, last;
 
 board = new five.Board();
 
 board.on("ready", function() {
 
   count = -1;
-  dirs = [ "cw", "ccw" ];
+  dirs = ["cw", "ccw"];
   isNorth = false;
   isSeeking = false;
 
   [
-    [ 95, "ccw" ],
-    [ 85, "cw" ]
+    [95, "ccw"],
+    [85, "cw"]
 
-  ].forEach(function( def ) {
-    five.Servo.prototype[ def[1] ] = function() {
-      this.move( def[0] );
+  ].forEach(function(def) {
+    five.Servo.prototype[def[1]] = function() {
+      this.move(def[0]);
     };
   });
 
@@ -50,16 +50,16 @@ board.on("ready", function() {
   });
 
   // set the continuous servo to stopped
-  servo.move( 90 );
+  servo.move(90);
 
   // As the heading changes, log heading value
   mag.on("data", function() {
-    var heading = Math.floor( this.heading );
+    var heading = Math.floor(this.heading);
 
-    if ( heading > 345 || heading < 15 ) {
+    if (heading > 345 || heading < 15) {
 
-      if ( !isNorth ) {
-        console.log( "FOUND north!".yellow );
+      if (!isNorth) {
+        console.log("FOUND north!".yellow);
         isSeeking = false;
       }
 
@@ -69,13 +69,13 @@ board.on("ready", function() {
     } else {
       isNorth = false;
 
-      if ( !isSeeking ) {
-        console.log( "find north!".red, heading );
+      if (!isSeeking) {
+        console.log("find north!".red, heading);
         isSeeking = true;
       }
 
 
-      if ( heading < 270 ) {
+      if (heading < 270) {
         servo.ccw();
       } else {
         servo.cw();
diff --git a/docs/magnetometer.md b/docs/magnetometer.md
index 9e5e8fb9c..1d56514d1 100644
--- a/docs/magnetometer.md
+++ b/docs/magnetometer.md
@@ -8,7 +8,7 @@ node eg/magnetometer.js
 
 ```javascript
 var five = require("johnny-five"),
-    mag;
+  mag;
 
 five.Board().on("ready", function() {
 
@@ -61,8 +61,8 @@ five.Board().on("ready", function() {
   //
   mag.on("headingchange", function() {
 
-    console.log( "heading", Math.floor(this.heading) );
-    console.log( "bearing", this.bearing );
+    console.log("heading", Math.floor(this.heading));
+    console.log("bearing", this.bearing);
 
   });
 
@@ -70,7 +70,7 @@ five.Board().on("ready", function() {
   //
   // Fires continuously, every 66ms.
   //
-  mag.on("read", function( err, timestamp ) {
+  mag.on("read", function(err, timestamp) {
     // console.log( "read", this.axis );
   });
 });
diff --git a/docs/motobot.md b/docs/motobot.md
index 8dbf78074..13e7e315b 100644
--- a/docs/motobot.md
+++ b/docs/motobot.md
@@ -8,8 +8,8 @@ node eg/motobot.js
 
 ```javascript
 var five = require("johnny-five"),
-    keypress = require("keypress"),
-    board = new five.Board();
+  keypress = require("keypress"),
+  board = new five.Board();
 
 
 board.on("ready", function() {
@@ -18,41 +18,41 @@ board.on("ready", function() {
   speed = 100;
   commands = null;
   motors = {
-    a: new five.Motor([ 3, 12 ]),
-    b: new five.Motor([ 11, 13 ])
+    a: new five.Motor([3, 12]),
+    b: new five.Motor([11, 13])
   };
 
   this.repl.inject({
     motors: motors
   });
 
-  function controller( ch, key ) {
-    if ( key ) {
-      if ( key.name === "space" ) {
+  function controller(ch, key) {
+    if (key) {
+      if (key.name === "space") {
         motors.a.stop();
         motors.b.stop();
       }
-      if ( key.name === "up" ) {
+      if (key.name === "up") {
         motors.a.rev(speed);
         motors.b.fwd(speed);
       }
-      if ( key.name === "down" ) {
+      if (key.name === "down") {
         motors.a.fwd(speed);
         motors.b.rev(speed);
       }
-      if ( key.name === "right" ) {
+      if (key.name === "right") {
         motors.a.fwd(speed * 0.75);
         motors.b.fwd(speed * 0.75);
       }
-      if ( key.name === "left" ) {
+      if (key.name === "left") {
         motors.a.rev(speed * 0.75);
         motors.b.rev(speed * 0.75);
       }
 
       commands = [].slice.call(arguments);
     } else {
-      if ( ch >= 1 && ch <= 9 ) {
-        speed = five.Fn.scale( ch, 1, 9, 0, 255 );
+      if (ch >= 1 && ch <= 9) {
+        speed = five.Fn.scale(ch, 1, 9, 0, 255);
         controller.apply(null, commands);
       }
     }
diff --git a/docs/motor-directional.md b/docs/motor-directional.md
index 4ed4fc56e..a17accb0b 100644
--- a/docs/motor-directional.md
+++ b/docs/motor-directional.md
@@ -8,7 +8,7 @@ node eg/motor-directional.js
 
 ```javascript
 var five = require("johnny-five"),
-    board = new five.Board();
+  board = new five.Board();
 
 board.on("ready", function() {
   var motor;
diff --git a/docs/motor.md b/docs/motor.md
index e4b006b4e..6da828b97 100644
--- a/docs/motor.md
+++ b/docs/motor.md
@@ -8,7 +8,7 @@ node eg/motor.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, motor, led;
+  board, motor, led;
 
 board = new five.Board();
 
@@ -28,18 +28,18 @@ board.on("ready", function() {
   // Motor Event API
 
   // "start" events fire when the motor is started.
-  motor.on("start", function( err, timestamp ) {
-    console.log( "start", timestamp );
+  motor.on("start", function(err, timestamp) {
+    console.log("start", timestamp);
 
     // Demonstrate motor stop in 2 seconds
-    board.wait( 2000, function() {
+    board.wait(2000, function() {
       motor.stop();
     });
   });
 
   // "stop" events fire when the motor is started.
-  motor.on("stop", function( err, timestamp ) {
-    console.log( "stop", timestamp );
+  motor.on("stop", function(err, timestamp) {
+    console.log("stop", timestamp);
   });
 
   // Motor API
diff --git a/docs/navigator.md b/docs/navigator.md
index 2a8c10c19..5ee1304cf 100644
--- a/docs/navigator.md
+++ b/docs/navigator.md
@@ -8,9 +8,9 @@ node eg/navigator.js
 
 ```javascript
 var five = require("johnny-five"),
-    __ = require("../lib/fn.js"),
-    board, Navigator, navigator, servos,
-    pivotExpansion, directionMap, scale;
+  __ = require("../lib/fn.js"),
+  board, Navigator, navigator, servos,
+  pivotExpansion, directionMap, scale;
 
 
 directionMap = {
@@ -20,22 +20,19 @@ directionMap = {
     fwd: "rev",
     rev: "fwd"
   },
-  translations: [
-    {
-      f: "forward",
-      r: "reverse",
-      fwd: "forward",
-      rev: "reverse"
-    },
-    {
-      r: "right",
-      l: "left"
-    }
-  ]
+  translations: [{
+    f: "forward",
+    r: "reverse",
+    fwd: "forward",
+    rev: "reverse"
+  }, {
+    r: "right",
+    l: "left"
+  }]
 };
 
-scale = function( speed, low, high ) {
-  return Math.floor( five.Fn.map( speed, 0, 5, low, high ) );
+scale = function(speed, low, high) {
+  return Math.floor(five.Fn.map(speed, 0, 5, low, high));
 };
 
 
@@ -43,15 +40,22 @@ scale = function( speed, low, high ) {
  * Navigator
  * @param {Object} opts Optional properties object
  */
-function Navigator( opts ) {
+
+function Navigator(opts) {
 
   // Boe Navigator continuous are calibrated to stop at 90°
   this.center = opts.center || 90;
 
   // Initialize the right and left cooperative servos
   this.servos = {
-    right: new five.Servo({ pin: opts.right, type: "continuous" }),
-    left: new five.Servo({ pin: opts.left, type: "continuous" })
+    right: new five.Servo({
+      pin: opts.right,
+      type: "continuous"
+    }),
+    left: new five.Servo({
+      pin: opts.left,
+      type: "continuous"
+    })
   };
 
   // Set the initial servo cooperative direction
@@ -92,11 +96,11 @@ Navigator.DIR_MAP = directionMap;
  * @param  {Number} left  Speed/Direction of left servo
  * @return {Object} this
  */
-Navigator.prototype.move = function( right, left ) {
+Navigator.prototype.move = function(right, left) {
 
   // Quietly ignore duplicate instructions
-  if ( this.direction.right === right &&
-        this.direction.left === left ) {
+  if (this.direction.right === right &&
+    this.direction.left === left) {
     return this;
   }
 
@@ -104,8 +108,8 @@ Navigator.prototype.move = function( right, left ) {
   // Servos are mounted opposite of each other,
   // the values for left and right will be in
   // opposing directions.
-  this.servos.right.move( right );
-  this.servos.left.move( left );
+  this.servos.right.move(right);
+  this.servos.left.move(left);
 
   // Push a record object into the history
   this.history.push({
@@ -133,8 +137,8 @@ Navigator.prototype.move = function( right, left ) {
   {
     name: "forward",
     abbr: "fwd",
-    args: function( center, val ) {
-      return [ center - (val - center), val ];
+    args: function(center, val) {
+      return [center - (val - center), val];
     }
   },
 
@@ -148,26 +152,26 @@ Navigator.prototype.move = function( right, left ) {
   {
     name: "reverse",
     abbr: "rev",
-    args: function( center, val ) {
-      return [ val, center - (val - center) ];
+    args: function(center, val) {
+      return [val, center - (val - center)];
     }
   }
 
-].forEach(function( dir ) {
+].forEach(function(dir) {
 
-  var method = function( speed ) {
+  var method = function(speed) {
     // Set default direction method
     speed = speed === undefined ? 1 : speed;
 
     this.speed = speed;
     this.which = dir.name;
 
-    return this.move.apply( this,
-      dir.args( this.center, scale( speed, this.center, 110 ) )
+    return this.move.apply(this,
+      dir.args(this.center, scale(speed, this.center, 110))
     );
   };
 
-  Navigator.prototype[ dir.name ] = Navigator.prototype[ dir.abbr ] = method;
+  Navigator.prototype[dir.name] = Navigator.prototype[dir.abbr] = method;
 });
 
 /**
@@ -178,7 +182,7 @@ Navigator.prototype.stop = function() {
   this.speed = this.center;
   this.which = "stop";
 
-  return this.move( this.center, this.center );
+  return this.move(this.center, this.center);
 };
 
 
@@ -195,53 +199,53 @@ Navigator.prototype.stop = function() {
    */
   "left"
 
-].forEach(function( dir ) {
-  Navigator.prototype[ dir ] = function( time ) {
+].forEach(function(dir) {
+  Navigator.prototype[dir] = function(time) {
 
     // Use direction value and reverse direction map to
     // derive the direction values for moving the
     // cooperative servos
-    var actual = this.direction[ directionMap.reverse[ dir ] ];
+    var actual = this.direction[directionMap.reverse[dir]];
 
     time = time || 500;
 
-    if ( !this.isTurning ) {
+    if (!this.isTurning) {
       // Set turning lock
       this.isTurning = true;
 
       // Send turning command
-      this.move( actual, actual );
+      this.move(actual, actual);
 
       // Cap turning time
       setTimeout(function() {
 
         // Restore direction after turn
-        this[ this.which ]( this.speed || 2 );
+        this[this.which](this.speed || 2);
 
         // Release turning lock
         this.isTurning = false;
 
-      }.bind(this), time );
+      }.bind(this), time);
     }
 
     return this;
   };
 });
 
-pivotExpansion = function( which ) {
+pivotExpansion = function(which) {
   var parts;
 
-  if ( which.length === 2 ) {
-    parts = [ which[0], which[1] ];
+  if (which.length === 2) {
+    parts = [which[0], which[1]];
   }
 
-  if ( /\-/.test(which) ) {
+  if (/\-/.test(which)) {
     parts = which.split("-");
   }
 
-  return parts.map(function( val, i ) {
-    console.log( val );
-    return directionMap.translations[ i ][ val ];
+  return parts.map(function(val, i) {
+    console.log(val);
+    return directionMap.translations[i][val];
   }).join("-");
 };
 
@@ -257,35 +261,35 @@ pivotExpansion = function( which ) {
  *
  * @return {Object} this
  */
-Navigator.prototype.pivot = function( which, time ) {
+Navigator.prototype.pivot = function(which, time) {
   var actual, directions, scaled;
 
-  scaled = scale( this.speed, this.center, 110 );
+  scaled = scale(this.speed, this.center, 110);
 
   directions = {
     "forward-right": function() {
-      this.move( this.center, scaled );
+      this.move(this.center, scaled);
     },
     "forward-left": function() {
-      this.move( this.center - (scaled - this.center), this.center );
+      this.move(this.center - (scaled - this.center), this.center);
     },
     "reverse-right": function() {
-      this.move( scaled, this.center );
+      this.move(scaled, this.center);
     },
     "reverse-left": function() {
-      this.move( this.center, this.center - (scaled - this.center) );
+      this.move(this.center, this.center - (scaled - this.center));
     }
   };
 
-  which = directions[ which ] || directions[ pivotExpansion( which ) ];
+  which = directions[which] || directions[pivotExpansion(which)];
 
-  which.call( this, this.speed );
+  which.call(this, this.speed);
 
   setTimeout(function() {
 
-    this[ this.which ]( this.speed );
+    this[this.which](this.speed);
 
-  }.bind(this), time || 1000 );
+  }.bind(this), time || 1000);
 
   return this;
 };
@@ -301,7 +305,7 @@ Navigator.prototype.pivot = function( which, time ) {
   // TODO: Refactor into modular program code
 
   var center, collideAt, degrees, step, facing,
-  range, laser, look, isScanning, scanner, gripper, isGripping, sonar, gripAt, ping, mag, bearing;
+    range, laser, look, isScanning, scanner, gripper, isGripping, sonar, gripAt, ping, mag, bearing;
 
   // Collision distance (inches)
   collideAt = 6;
@@ -315,10 +319,10 @@ Navigator.prototype.pivot = function( which, time ) {
   facing = "";
 
   // Scanning range (degrees)
-  range = [ 10, 170 ];
+  range = [10, 170];
 
   // Servo center point (degrees)
-  center = ( (range[1] - range[0]) / 2 ) + range[0];
+  center = ((range[1] - range[0]) / 2) + range[0];
 
   // Starting scanner scanning position (degrees)
   degrees = center;
@@ -343,9 +347,9 @@ Navigator.prototype.pivot = function( which, time ) {
   gripper = new five.Gripper({
     servo: {
       pin: 13,
-      range: [ 20, 160 ]
+      range: [20, 160]
     },
-    scale: [ 0, 10 ]
+    scale: [0, 10]
   });
 
   // New base navigator
@@ -387,13 +391,13 @@ Navigator.prototype.pivot = function( which, time ) {
   scanner.center();
 
   // Wait 1000ms, then initialize forward movement
-  this.wait( 1000, function() {
+  this.wait(1000, function() {
     // navigator.fwd(3);
   });
 
 
   // Scanner/Panning loop
-  this.loop( 50, function() {
+  this.loop(50, function() {
     var bounds;
 
     bounds = {
@@ -403,9 +407,9 @@ Navigator.prototype.pivot = function( which, time ) {
 
     // During course change, scanning is paused to avoid
     // overeager redirect instructions[1]
-    if ( isScanning ) {
+    if (isScanning) {
       // Calculate the next step position
-      if ( degrees >= scanner.range[1] || degrees <= scanner.range[0] ) {
+      if (degrees >= scanner.range[1] || degrees <= scanner.range[0]) {
         step *= -1;
       }
 
@@ -415,21 +419,21 @@ Navigator.prototype.pivot = function( which, time ) {
       // The following three conditions will help determine
       // which way the navigator should turn if a potential collideAt
       // may occur in the ping "change" event handler[2]
-      if ( degrees > bounds.left ) {
+      if (degrees > bounds.left) {
         facing = "left";
       }
 
-      if ( degrees < bounds.right ) {
+      if (degrees < bounds.right) {
         facing = "right";
       }
 
       // if ( degrees > bounds.right && degrees < bounds.left ) {
-      if ( __.range( bounds.right, bounds.left ).indexOf( degrees ) > -1 ) {
+      if (__.range(bounds.right, bounds.left).indexOf(degrees) > -1) {
         facing = "fwd";
       }
 
 
-      scanner.move( degrees );
+      scanner.move(degrees);
     }
   });
 
@@ -463,18 +467,18 @@ Navigator.prototype.pivot = function( which, time ) {
   // distance reading has changed since the previous reading
   //
   // TODO: Avoid false positives?
-  ping.on("data", function( err ) {
+  ping.on("data", function(err) {
     var release = 750,
-        distance = Math.abs(this.inches),
-        isReverse = false,
-        turnTo;
+      distance = Math.abs(this.inches),
+      isReverse = false,
+      turnTo;
 
-    if ( navigator.isTurning ) {
+    if (navigator.isTurning) {
       return;
     }
 
     // If distance value is null or NaN
-    if ( distance === null || isNaN(distance) ) {
+    if (distance === null || isNaN(distance)) {
       return;
     }
 
@@ -482,7 +486,7 @@ Navigator.prototype.pivot = function( which, time ) {
 
     // Detect collideAt
     // && isScanning
-    if ( distance <= collideAt && isScanning ) {
+    if (distance <= collideAt && isScanning) {
 
       laser.strobe();
 
@@ -491,37 +495,37 @@ Navigator.prototype.pivot = function( which, time ) {
       isScanning = false;
 
       // Determine direction to turn
-      turnTo = Navigator.DIR_MAP.reverse[ facing ];
+      turnTo = Navigator.DIR_MAP.reverse[facing];
 
       // Set reversal flag.
       isReverse = turnTo === "rev";
 
       // Log collideAt detection to REPL
       console.log(
-        [ Date.now(),
+        [Date.now(),
           "\tCollision detected " + this.inches + " inches away.",
           "\tTurning " + turnTo.toUpperCase() + " to avoid"
         ].join("\n")
       );
 
       // Turn the navigator
-      navigator[ turnTo ]( navigator.speed );
+      navigator[turnTo](navigator.speed);
 
 
-      if ( isReverse ) {
+      if (isReverse) {
         release = 1500;
       }
 
       // [1] Allow Nms to pass and release the scanning lock
       // by setting isScanning state to true.
-      board.wait( release, function() {
-        console.log( "Release Scanner Lock" );
+      board.wait(release, function() {
+        console.log("Release Scanner Lock");
 
         degrees = 89;
 
         scanner.center();
 
-        if ( isReverse ) {
+        if (isReverse) {
           // navigator.fwd( navigator.speed );
           navigator.pivot("reverse-right");
           navigator.which = "fwd";
diff --git a/docs/nodeconf-compass.md b/docs/nodeconf-compass.md
index ea99c14a6..e458cd070 100644
--- a/docs/nodeconf-compass.md
+++ b/docs/nodeconf-compass.md
@@ -8,8 +8,8 @@ node eg/nodeconf-compass.js
 
 ```javascript
 var color = require("colors"),
-    five = require("johnny-five"),
-    colors, mag;
+  five = require("johnny-five"),
+  colors, mag;
 
 five.Board().on("ready", function() {
 
@@ -20,10 +20,10 @@ five.Board().on("ready", function() {
   mag.on("headingchange", function() {
     var log;
 
-    log = ( this.bearing.name + " " + Math.floor(this.heading) + "°" );
+    log = (this.bearing.name + " " + Math.floor(this.heading) + "°");
 
     console.log(
-      log[ colors[ this.bearing.abbr ] ]
+      log[colors[this.bearing.abbr]]
     );
   });
 });
diff --git a/docs/nodeconf-navigator.md b/docs/nodeconf-navigator.md
index f79f809ea..5108210d8 100644
--- a/docs/nodeconf-navigator.md
+++ b/docs/nodeconf-navigator.md
@@ -8,9 +8,9 @@ node eg/nodeconf-navigator.js
 
 ```javascript
 var five = require("johnny-five"),
-    __ = require("../lib/fn.js"),
-    board, Navigator, navigator, servos,
-    expandedWhich, directionMap, scale;
+  __ = require("../lib/fn.js"),
+  board, Navigator, navigator, servos,
+  expandedWhich, directionMap, scale;
 
 
 directionMap = {
@@ -20,22 +20,19 @@ directionMap = {
     fwd: "rev",
     rev: "fwd"
   },
-  translations: [
-    {
-      f: "forward",
-      r: "reverse",
-      fwd: "forward",
-      rev: "reverse"
-    },
-    {
-      r: "right",
-      l: "left"
-    }
-  ]
+  translations: [{
+    f: "forward",
+    r: "reverse",
+    fwd: "forward",
+    rev: "reverse"
+  }, {
+    r: "right",
+    l: "left"
+  }]
 };
 
-scale = function( speed, low, high ) {
-  return Math.floor( five.Fn.map( speed, 0, 5, low, high ) );
+scale = function(speed, low, high) {
+  return Math.floor(five.Fn.map(speed, 0, 5, low, high));
 };
 
 
@@ -43,15 +40,22 @@ scale = function( speed, low, high ) {
  * Navigator
  * @param {Object} opts Optional properties object
  */
-function Navigator( opts ) {
+
+function Navigator(opts) {
 
   // Boe Navigator continuous are calibrated to stop at 90°
   this.center = opts.center || 90;
 
   // Initialize the right and left cooperative servos
   this.servos = {
-    right: new five.Servo({ pin: opts.right, type: "continuous" }),
-    left: new five.Servo({ pin: opts.left, type: "continuous" })
+    right: new five.Servo({
+      pin: opts.right,
+      type: "continuous"
+    }),
+    left: new five.Servo({
+      pin: opts.left,
+      type: "continuous"
+    })
   };
 
   // Set the initial servo cooperative direction
@@ -89,11 +93,11 @@ Navigator.DIR_MAP = directionMap;
  * @param  {Number} left  Speed/Direction of left servo
  * @return {Object} this
  */
-Navigator.prototype.move = function( right, left ) {
+Navigator.prototype.move = function(right, left) {
 
   // Quietly ignore duplicate instructions
-  if ( this.direction.right === right &&
-        this.direction.left === left ) {
+  if (this.direction.right === right &&
+    this.direction.left === left) {
     return this;
   }
 
@@ -101,8 +105,8 @@ Navigator.prototype.move = function( right, left ) {
   // Servos are mounted opposite of each other,
   // the values for left and right will be in
   // opposing directions.
-  this.servos.right.move( right );
-  this.servos.left.move( left );
+  this.servos.right.move(right);
+  this.servos.left.move(left);
 
   // Push a record object into the history
   this.history.push({
@@ -130,8 +134,8 @@ Navigator.prototype.move = function( right, left ) {
   {
     name: "forward",
     abbr: "fwd",
-    args: function( center, val ) {
-      return [ center - (val - center), val ];
+    args: function(center, val) {
+      return [center - (val - center), val];
     }
   },
 
@@ -145,26 +149,26 @@ Navigator.prototype.move = function( right, left ) {
   {
     name: "reverse",
     abbr: "rev",
-    args: function( center, val ) {
-      return [ val, center - (val - center) ];
+    args: function(center, val) {
+      return [val, center - (val - center)];
     }
   }
 
-].forEach(function( dir ) {
+].forEach(function(dir) {
 
-  var method = function( speed ) {
+  var method = function(speed) {
     // Set default direction method
     speed = speed === undefined ? 1 : speed;
 
     this.speed = speed;
     this.which = dir.name;
 
-    return this.move.apply( this,
-      dir.args( this.center, scale( speed, this.center, 110 ) )
+    return this.move.apply(this,
+      dir.args(this.center, scale(speed, this.center, 110))
     );
   };
 
-  Navigator.prototype[ dir.name ] = Navigator.prototype[ dir.abbr ] = method;
+  Navigator.prototype[dir.name] = Navigator.prototype[dir.abbr] = method;
 });
 
 /**
@@ -175,68 +179,68 @@ Navigator.prototype.stop = function() {
   this.speed = this.center;
   this.which = "stop";
 
-  return this.move( this.center, this.center );
+  return this.move(this.center, this.center);
 };
 
 
 [
-/**
- * left Turn the bot left
- * @return {Object} this
- */
-"left",
+  /**
+   * left Turn the bot left
+   * @return {Object} this
+   */
+  "left",
 
-/**
- * right Turn the bot right
- * @return {Object} this
- */
-"right"
+  /**
+   * right Turn the bot right
+   * @return {Object} this
+   */
+  "right"
 
-].forEach(function( dir ) {
-  Navigator.prototype[ dir ] = function() {
+].forEach(function(dir) {
+  Navigator.prototype[dir] = function() {
 
     // Use direction value and reverse direction map to
     // derive the direction values for moving the
     // cooperative servos
-    var actual = this.direction[ directionMap.reverse[ dir ] ];
+    var actual = this.direction[directionMap.reverse[dir]];
 
-    if ( !this.isTurning ) {
+    if (!this.isTurning) {
       // Set turning lock
       this.isTurning = true;
 
       // Send turning command
-      this.move( actual, actual );
+      this.move(actual, actual);
 
       // Cap turning time
       setTimeout(function() {
 
         // Restore direction after turn
-        this[ this.which ]( this.speed );
+        this[this.which](this.speed);
 
         // Release turning lock
         this.isTurning = false;
 
-      }.bind(this), 500 );
+      }.bind(this), 500);
     }
 
     return this;
   };
 });
 
-expandedWhich = function( which ) {
+expandedWhich = function(which) {
   var parts;
 
-  if ( which.length === 2 ) {
-    parts = [ which[0], which[1] ];
+  if (which.length === 2) {
+    parts = [which[0], which[1]];
   }
 
-  if ( /\-/.test(which) ) {
+  if (/\-/.test(which)) {
     parts = which.split("-");
   }
 
-  return parts.map(function( val, i ) {
-    console.log( val );
-    return directionMap.translations[ i ][ val ];
+  return parts.map(function(val, i) {
+    console.log(val);
+    return directionMap.translations[i][val];
   }).join("-");
 };
 
@@ -252,35 +256,35 @@ expandedWhich = function( which ) {
  *
  * @return {Object} this
  */
-Navigator.prototype.pivot = function( which, time ) {
+Navigator.prototype.pivot = function(which, time) {
   var actual, directions, scaled;
 
-  scaled = scale( this.speed, this.center, 110 );
+  scaled = scale(this.speed, this.center, 110);
 
   directions = {
     "forward-right": function() {
-      this.move( this.center, scaled );
+      this.move(this.center, scaled);
     },
     "forward-left": function() {
-      this.move( this.center - (scaled - this.center), this.center );
+      this.move(this.center - (scaled - this.center), this.center);
     },
     "reverse-right": function() {
-      this.move( scaled, this.center );
+      this.move(scaled, this.center);
     },
     "reverse-left": function() {
-      this.move( this.center, this.center - (scaled - this.center) );
+      this.move(this.center, this.center - (scaled - this.center));
     }
   };
 
-  which = directions[ which ] || directions[ expandedWhich( which ) ];
+  which = directions[which] || directions[expandedWhich(which)];
 
-  which.call( this, this.speed );
+  which.call(this, this.speed);
 
   setTimeout(function() {
 
-    this[ this.which ]( this.speed );
+    this[this.which](this.speed);
 
-  }.bind(this), time || 1000 );
+  }.bind(this), time || 1000);
 
   return this;
 };
@@ -297,7 +301,7 @@ board.on("ready", function() {
   // TODO: Refactor into modular program code
 
   var center, collideAt, degrees, step, facing,
-  range, laser, look, isScanning, scanner, ping, mag, bearing;
+    range, laser, look, isScanning, scanner, ping, mag, bearing;
 
   // Collision distance (inches)
   collideAt = 6;
@@ -309,10 +313,10 @@ board.on("ready", function() {
   facing = "";
 
   // Scanning range (degrees)
-  range = [ 10, 170 ];
+  range = [10, 170];
 
   // Servo center point (degrees)
-  center = ( (range[1] - range[0]) / 2 ) + range[0];
+  center = ((range[1] - range[0]) / 2) + range[0];
 
   // Starting scanner scanning position (degrees)
   degrees = center;
@@ -360,13 +364,13 @@ board.on("ready", function() {
   scanner.center();
 
   // Wait 1000ms, then initialize forward movement
-  this.wait( 1000, function() {
+  this.wait(1000, function() {
     navigator.fwd(3);
   });
 
 
   // Scanner/Panning loop
-  this.loop( 50, function() {
+  this.loop(50, function() {
     var bounds;
 
     bounds = {
@@ -376,9 +380,9 @@ board.on("ready", function() {
 
     // During course change, scanning is paused to avoid
     // overeager redirect instructions[1]
-    if ( isScanning ) {
+    if (isScanning) {
       // Calculate the next step position
-      if ( degrees >= scanner.range[1] || degrees <= scanner.range[0] ) {
+      if (degrees >= scanner.range[1] || degrees <= scanner.range[0]) {
         step *= -1;
       }
 
@@ -388,21 +392,21 @@ board.on("ready", function() {
       // The following three conditions will help determine
       // which way the navigator should turn if a potential collideAt
       // may occur in the ping "change" event handler[2]
-      if ( degrees > bounds.left ) {
+      if (degrees > bounds.left) {
         facing = "left";
       }
 
-      if ( degrees < bounds.right ) {
+      if (degrees < bounds.right) {
         facing = "right";
       }
 
       // if ( degrees > bounds.right && degrees < bounds.left ) {
-      if ( __.range( bounds.right, bounds.left ).indexOf( degrees ) > -1 ) {
+      if (__.range(bounds.right, bounds.left).indexOf(degrees) > -1) {
         facing = "fwd";
       }
 
 
-      scanner.move( degrees );
+      scanner.move(degrees);
     }
   });
 
@@ -421,24 +425,24 @@ board.on("ready", function() {
   // distance reading has changed since the previous reading
   //
   // TODO: Avoid false positives?
-  ping.on("data", function( err ) {
+  ping.on("data", function(err) {
     var release = 750,
-        distance = Math.abs(this.inches),
-        isReverse = false,
-        turnTo;
+      distance = Math.abs(this.inches),
+      isReverse = false,
+      turnTo;
 
-    if ( navigator.isTurning ) {
+    if (navigator.isTurning) {
       return;
     }
 
     // If distance value is null or NaN
-    if ( !distance ) {
+    if (!distance) {
       return;
     }
 
     // Detect collideAt
     // && isScanning
-    if ( distance <= collideAt && isScanning ) {
+    if (distance <= collideAt && isScanning) {
 
       laser.strobe();
 
@@ -447,37 +451,37 @@ board.on("ready", function() {
       isScanning = false;
 
       // Determine direction to turn
-      turnTo = Navigator.DIR_MAP.reverse[ facing ];
+      turnTo = Navigator.DIR_MAP.reverse[facing];
 
       // Set reversal flag.
       isReverse = turnTo === "rev";
 
       // Log collideAt detection to REPL
       console.log(
-        [ Date.now(),
+        [Date.now(),
           "\tCollision detected " + this.inches + " inches away.",
           "\tTurning " + turnTo.toUpperCase() + " to avoid"
         ].join("\n")
       );
 
       // Turn the navigator
-      navigator[ turnTo ]( navigator.speed );
+      navigator[turnTo](navigator.speed);
 
 
-      if ( isReverse ) {
+      if (isReverse) {
         release = 1500;
       }
 
       // [1] Allow Nms to pass and release the scanning lock
       // by setting isScanning state to true.
-      board.wait( release, function() {
-        console.log( "Release Scanner Lock" );
+      board.wait(release, function() {
+        console.log("Release Scanner Lock");
 
         degrees = 89;
 
         scanner.center();
 
-        if ( isReverse ) {
+        if (isReverse) {
           // navigator.fwd( navigator.speed );
           navigator.pivot("reverse-right");
           navigator.which = "fwd";
diff --git a/docs/nodeconf-radar.md b/docs/nodeconf-radar.md
index af8ce9103..666a52374 100644
--- a/docs/nodeconf-radar.md
+++ b/docs/nodeconf-radar.md
@@ -8,37 +8,37 @@ node eg/nodeconf-radar.js
 
 ```javascript
 var five = require("johnny-five"),
-    child = require("child_process"),
-    http = require("http"),
-    socket = require("socket.io"),
-    fs = require("fs"),
-    app, board, io;
+  child = require("child_process"),
+  http = require("http"),
+  socket = require("socket.io"),
+  fs = require("fs"),
+  app, board, io;
 
-function handler( req, res ) {
+function handler(req, res) {
   var path = __dirname;
 
-  if ( req.url === "/" ) {
+  if (req.url === "/") {
     path += "/radar.html";
   } else {
     path += req.url;
   }
 
-  fs.readFile( path, function( err, data ) {
-    if ( err ) {
-      res.writeHead( 500 );
-      return res.end( "Error loading " + path );
+  fs.readFile(path, function(err, data) {
+    if (err) {
+      res.writeHead(500);
+      return res.end("Error loading " + path);
     }
 
-    res.writeHead( 200 );
-    res.end( data );
+    res.writeHead(200);
+    res.end(data);
   });
 }
 
-app = http.createServer( handler );
-app.listen( 8080 );
+app = http.createServer(handler);
+app.listen(8080);
 
-io = socket.listen( app );
-io.set( "log level", 1 );
+io = socket.listen(app);
+io.set("log level", 1);
 
 board = new five.Board();
 
@@ -47,7 +47,7 @@ board.on("ready", function() {
 
 
   // Open Radar view
-  child.exec( "open http://localhost:8080/" );
+  child.exec("open http://localhost:8080/");
 
   // Starting scanner scanning position (degrees)
   degrees = 1;
@@ -61,10 +61,10 @@ board.on("ready", function() {
   last = 0;
 
   // Scanning range (degrees)
-  range = [ 0, 170 ];
+  range = [0, 170];
 
   // Servo center point (degrees)
-  center = range[ 1 ] / 2;
+  center = range[1] / 2;
 
   // ping instance (distance detection)
   ping = new five.Ping(7);
@@ -83,7 +83,7 @@ board.on("ready", function() {
   scanner.min();
 
   // Scanner/Panning loop
-  this.loop( 100, function() {
+  this.loop(100, function() {
     var bounds, isOver, isUnder;
 
     bounds = {
@@ -95,8 +95,8 @@ board.on("ready", function() {
     isUnder = degrees <= scanner.range[0];
 
     // Calculate the next step position
-    if ( isOver || isUnder ) {
-      if ( isOver ) {
+    if (isOver || isUnder) {
+      if (isOver) {
         io.sockets.emit("reset");
         degrees = 0;
         step = 1;
@@ -110,18 +110,18 @@ board.on("ready", function() {
     degrees += step;
 
     // Update servo position
-    scanner.move( degrees );
+    scanner.move(degrees);
   });
 
-  io.sockets.on( "connection", function( socket ) {
-    console.log( "Socket Connected" );
+  io.sockets.on("connection", function(socket) {
+    console.log("Socket Connected");
 
     soi = socket;
 
     ping.on("read", function() {
 
-      if ( last !== degrees ) {
-        io.sockets.emit( "ping", {
+      if (last !== degrees) {
+        io.sockets.emit("ping", {
           degrees: degrees,
           distance: this.cm
         });
diff --git a/docs/nodeconf-slider.md b/docs/nodeconf-slider.md
index a4265506e..f96222997 100644
--- a/docs/nodeconf-slider.md
+++ b/docs/nodeconf-slider.md
@@ -8,7 +8,7 @@ node eg/nodeconf-slider.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, slider, servo, scalingRange;
+  board, slider, servo, scalingRange;
 
 board = new five.Board();
 
@@ -20,11 +20,11 @@ board.on("ready", function() {
   });
 
   // log out the slider values to the console.
-  slider.on("slide", function( err, value ) {
-    if ( err ) {
-      console.log( "error: ", err );
+  slider.on("slide", function(err, value) {
+    if (err) {
+      console.log("error: ", err);
     } else {
-      console.log( Math.floor(this.value) );
+      console.log(Math.floor(this.value));
     }
   });
 });
diff --git a/docs/nunchuk.md b/docs/nunchuk.md
index 54765e06b..19f0ed158 100644
--- a/docs/nunchuk.md
+++ b/docs/nunchuk.md
@@ -8,7 +8,7 @@ node eg/nunchuk.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, nunchuk;
+  board, nunchuk;
 
 board = new five.Board();
 
@@ -40,10 +40,10 @@ board.on("ready", function() {
   // Fired when the joystick detects a change in
   // axis position.
   //
-  nunchuk.joystick.on( "change", function( err, event ) {
+  nunchuk.joystick.on("change", function(err, event) {
     console.log(
       "joystick " + event.axis,
-      event.target[ event.axis ],
+      event.target[event.axis],
       event.axis, event.direction
     );
   });
@@ -53,10 +53,10 @@ board.on("ready", function() {
   // Fired when the accelerometer detects a change in
   // axis position.
   //
-  nunchuk.accelerometer.on( "change", function( err, event ) {
+  nunchuk.accelerometer.on("change", function(err, event) {
     console.log(
       "accelerometer " + event.axis,
-      event.target[ event.axis ],
+      event.target[event.axis],
       event.axis, event.direction
     );
   });
@@ -83,13 +83,14 @@ board.on("ready", function() {
   //
 
 
-  [ "down", "up", "hold" ].forEach(function( type ) {
+  ["down", "up", "hold"].forEach(function(type) {
 
-    nunchuk.on( type, function( err, event ) {
+    nunchuk.on(type, function(err, event) {
       console.log(
         event.target.which + " is " + type,
 
-        { isUp: event.target.isUp,
+        {
+          isUp: event.target.isUp,
           isDown: event.target.isDown
         }
       );
@@ -98,9 +99,9 @@ board.on("ready", function() {
   });
 
 
-// Further reading
-// http://media.pragprog.com/titles/msard/tinker.pdf
-// http://lizarum.com/assignments/physical_computing/2008/wii_nunchuck.html
+  // Further reading
+  // http://media.pragprog.com/titles/msard/tinker.pdf
+  // http://lizarum.com/assignments/physical_computing/2008/wii_nunchuck.html
 });
 
 ```
diff --git a/docs/photoresistor-servo.md b/docs/photoresistor-servo.md
index 84d2f8eb6..09e551f03 100644
--- a/docs/photoresistor-servo.md
+++ b/docs/photoresistor-servo.md
@@ -8,7 +8,7 @@ node eg/photoresistor-servo.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, photoresistor, servo, range;
+  board, photoresistor, servo, range;
 
 board = new five.Board();
 
@@ -17,7 +17,7 @@ board.on("ready", function() {
   //range for the servo (degrees)
   //CAUTION: don't set the numbers past what you servo can handle
   //         it could potentially damage the servo
-  range = [ 0, 159 ];
+  range = [0, 159];
 
   // Create a new `photoresistor` hardware instance.
   photoresistor = new five.Sensor({
@@ -46,12 +46,12 @@ board.on("ready", function() {
 
   //equate the photoresistor values to the servo scale
   //do something when the a value is read from the photoresistor
-  photoresistor.scale( range ).on("data", function() {
+  photoresistor.scale(range).on("data", function() {
     //outputs to screen the values being used from the photoresistor
     //console.log( "Normalized value: " + this.normalized + "  Scaled Value: " + this.scaled );
 
     //tell the servo arm to move the scaled value.
-    servo.move( Math.floor(this.scaled));
+    servo.move(Math.floor(this.scaled));
   });
 
 });
diff --git a/docs/photoresistor.md b/docs/photoresistor.md
index ca7998a6b..062969b17 100644
--- a/docs/photoresistor.md
+++ b/docs/photoresistor.md
@@ -8,7 +8,7 @@ node eg/photoresistor.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, photoresistor;
+  board, photoresistor;
 
 board = new five.Board();
 
@@ -29,7 +29,7 @@ board.on("ready", function() {
 
   // "data" get the current reading from the photoresistor
   photoresistor.on("data", function() {
-    console.log( this.value );
+    console.log(this.value);
   });
 });
 
diff --git a/docs/pin-circuit-event.md b/docs/pin-circuit-event.md
index 38a172136..020ebefea 100644
--- a/docs/pin-circuit-event.md
+++ b/docs/pin-circuit-event.md
@@ -13,9 +13,9 @@ new five.Board().on("ready", function() {
   var pin = new five.Pin(5);
 
   // Event tests
-  [ "high", "low" ].forEach(function( type ) {
-    pin.on( type, function() {
-      console.log( "Circuit Event: ", type );
+  ["high", "low"].forEach(function(type) {
+    pin.on(type, function() {
+      console.log("Circuit Event: ", type);
     });
   });
 });
diff --git a/docs/pin.md b/docs/pin.md
index 095781e26..c8471a1ea 100644
--- a/docs/pin.md
+++ b/docs/pin.md
@@ -8,31 +8,31 @@ node eg/pin.js
 
 ```javascript
 var five = require("johnny-five"),
-    temporal = require("temporal");
+  temporal = require("temporal");
 
 (new five.Board()).on("ready", function() {
-  var events, strobe;
+    var events, strobe;
 
-  events = [];
-  strobe = new five.Pin({
-    addr: 13
-  });
+    events = [];
+    strobe = new five.Pin({
+      addr: 13
+    });
 
-  temporal.loop(500, function( loop ) {
-    strobe[ loop.called % 2 === 0 ? "high" : "low" ]();
-  });
+    temporal.loop(500, function(loop) {
+      strobe[loop.called % 2 === 0 ? "high" : "low"]();
+    });
 
 
-  // Event tests
-  [ "high", "low" ].forEach(function( state ) {
-    strobe.on( state, function() {
-      if ( events.indexOf(state) === -1 ) {
-        console.log( "Event emitted for:", state, "on", this.addr );
-        events.push( state );
-      }
+    // Event tests
+    ["high", "low"].forEach(function(state) {
+      strobe.on(state, function() {
+        if (events.indexOf(state) === -1) {
+          console.log("Event emitted for:", state, "on", this.addr);
+          events.push(state);
+        }
+      });
     });
   });
-});
 
 ```
 
diff --git a/docs/ping.md b/docs/ping.md
index ead24fd6c..7284f0940 100644
--- a/docs/ping.md
+++ b/docs/ping.md
@@ -8,7 +8,7 @@ node eg/ping.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, ping;
+  board, ping;
 
 board = new five.Board();
 
@@ -38,14 +38,14 @@ board.on("ready", function() {
   // Ping Event API
 
   // "data" get the current reading from the ping
-  ping.on("data", function( err, value ) {
-    console.log( "data", value );
+  ping.on("data", function(err, value) {
+    console.log("data", value);
   });
 
-  ping.on("change", function( err, value ) {
+  ping.on("change", function(err, value) {
 
-    console.log( typeof this.inches );
-    console.log( "Object is " + this.inches + "inches away" );
+    console.log(typeof this.inches);
+    console.log("Object is " + this.inches + "inches away");
   });
 });
 
diff --git a/docs/potentiometer.md b/docs/potentiometer.md
index 31ba0feaa..288ee0654 100644
--- a/docs/potentiometer.md
+++ b/docs/potentiometer.md
@@ -8,7 +8,7 @@ node eg/potentiometer.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, potentiometer;
+  board, potentiometer;
 
 board = new five.Board();
 
@@ -29,7 +29,7 @@ board.on("ready", function() {
 
   // "data" get the current reading from the potentiometer
   potentiometer.on("data", function() {
-    console.log( this.value, this.raw );
+    console.log(this.value, this.raw);
   });
 });
 
diff --git a/docs/radar.md b/docs/radar.md
index c29f7dc8a..c4022eb6b 100644
--- a/docs/radar.md
+++ b/docs/radar.md
@@ -8,37 +8,37 @@ node eg/radar.js
 
 ```javascript
 var five = require("johnny-five"),
-    child = require("child_process"),
-    http = require("http"),
-    socket = require("socket.io"),
-    fs = require("fs"),
-    app, board, io;
+  child = require("child_process"),
+  http = require("http"),
+  socket = require("socket.io"),
+  fs = require("fs"),
+  app, board, io;
 
-function handler( req, res ) {
+function handler(req, res) {
   var path = __dirname;
 
-  if ( req.url === "/" ) {
+  if (req.url === "/") {
     path += "/radar.html";
   } else {
     path += req.url;
   }
 
-  fs.readFile( path, function( err, data ) {
-    if ( err ) {
-      res.writeHead( 500 );
-      return res.end( "Error loading " + path );
+  fs.readFile(path, function(err, data) {
+    if (err) {
+      res.writeHead(500);
+      return res.end("Error loading " + path);
     }
 
-    res.writeHead( 200 );
-    res.end( data );
+    res.writeHead(200);
+    res.end(data);
   });
 }
 
-app = http.createServer( handler );
-app.listen( 8080 );
+app = http.createServer(handler);
+app.listen(8080);
 
-io = socket.listen( app );
-io.set( "log level", 1 );
+io = socket.listen(app);
+io.set("log level", 1);
 
 board = new five.Board();
 
@@ -47,7 +47,7 @@ board.on("ready", function() {
 
 
   // Open Radar view
-  child.exec( "open http://localhost:8080/" );
+  child.exec("open http://localhost:8080/");
 
   // Starting scanner scanning position (degrees)
   degrees = 1;
@@ -61,10 +61,10 @@ board.on("ready", function() {
   last = 0;
 
   // Scanning range (degrees)
-  range = [ 0, 170 ];
+  range = [0, 170];
 
   // Servo center point (degrees)
-  center = range[ 1 ] / 2;
+  center = range[1] / 2;
 
   // ping instance (distance detection)
   ping = new five.Ping(7);
@@ -83,7 +83,7 @@ board.on("ready", function() {
   scanner.min();
 
   // Scanner/Panning loop
-  this.loop( 100, function() {
+  this.loop(100, function() {
     var bounds, isOver, isUnder;
 
     bounds = {
@@ -95,8 +95,8 @@ board.on("ready", function() {
     isUnder = degrees <= scanner.range[0];
 
     // Calculate the next step position
-    if ( isOver || isUnder ) {
-      if ( isOver ) {
+    if (isOver || isUnder) {
+      if (isOver) {
         io.sockets.emit("reset");
         degrees = 0;
         step = 1;
@@ -110,18 +110,18 @@ board.on("ready", function() {
     degrees += step;
 
     // Update servo position
-    scanner.move( degrees );
+    scanner.move(degrees);
   });
 
-  io.sockets.on( "connection", function( socket ) {
-    console.log( "Socket Connected" );
+  io.sockets.on("connection", function(socket) {
+    console.log("Socket Connected");
 
     soi = socket;
 
     ping.on("data", function() {
 
-      if ( last !== degrees ) {
-        io.sockets.emit( "ping", {
+      if (last !== degrees) {
+        io.sockets.emit("ping", {
           degrees: degrees,
           distance: this.cm
         });
diff --git a/docs/repl.md b/docs/repl.md
index fd5d579df..39b1661ea 100644
--- a/docs/repl.md
+++ b/docs/repl.md
@@ -8,12 +8,12 @@ node eg/repl.js
 
 ```javascript
 var five = require("johnny-five"),
-    board;
+  board;
 
 board = new five.Board();
 
 board.on("ready", function() {
-  console.log( "Ready event. Repl instance auto-initialized" );
+  console.log("Ready event. Repl instance auto-initialized");
 
   this.repl.inject({
     test: "foo"
diff --git a/docs/sensor-fsr-servo.md b/docs/sensor-fsr-servo.md
index b433c7e54..705f5b44b 100644
--- a/docs/sensor-fsr-servo.md
+++ b/docs/sensor-fsr-servo.md
@@ -8,7 +8,7 @@ node eg/sensor-fsr-servo.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, fsr, servo;
+  board, fsr, servo;
 
 board = new five.Board();
 
@@ -22,9 +22,9 @@ board.on("ready", function() {
 
   servo = new five.Servo(10);
 
-  fsr.scale([ 0, 180 ]).on("data", function() {
+  fsr.scale([0, 180]).on("data", function() {
 
-    servo.move( this.value );
+    servo.move(this.value);
 
   });
 });
diff --git a/docs/sensor-fsr.md b/docs/sensor-fsr.md
index cc25b4731..9ff90bf94 100644
--- a/docs/sensor-fsr.md
+++ b/docs/sensor-fsr.md
@@ -8,27 +8,27 @@ node eg/sensor-fsr.js
 
 ```javascript
 var five = require("johnny-five"),
-    fsr, led;
+  fsr, led;
 
 (new five.Board()).on("ready", function() {
 
-  // Create a new `fsr` hardware instance.
-  fsr = new five.Sensor({
-    pin: "A0",
-    freq: 25
-  });
+    // Create a new `fsr` hardware instance.
+    fsr = new five.Sensor({
+      pin: "A0",
+      freq: 25
+    });
 
-  led = new five.Led(9);
+    led = new five.Led(9);
 
-  // Scale the sensor's value to the LED's brightness range
-  fsr.scale([ 0, 255 ]).on("data", function() {
+    // Scale the sensor's value to the LED's brightness range
+    fsr.scale([0, 255]).on("data", function() {
 
-    // set the led's brightness based on force
-    // applied to force sensitive resistor
+      // set the led's brightness based on force
+      // applied to force sensitive resistor
 
-    led.brightness( this.value );
+      led.brightness(this.value);
+    });
   });
-});
 
 ```
 
diff --git a/docs/sensor-ir-led-receiver.md b/docs/sensor-ir-led-receiver.md
index 9329e89b0..3f59e0a78 100644
--- a/docs/sensor-ir-led-receiver.md
+++ b/docs/sensor-ir-led-receiver.md
@@ -8,7 +8,7 @@ node eg/sensor-ir-led-receiver.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, ir;
+  board, ir;
 
 board = new five.Board();
 board.on("ready", function() {
@@ -22,7 +22,7 @@ board.on("ready", function() {
     })
   };
 
-  ir.receive.scale([ 0, 100 ]).on("data", function() {
+  ir.receive.scale([0, 100]).on("data", function() {
 
     // console.log( this.value );
 
diff --git a/docs/sensor-slider.md b/docs/sensor-slider.md
index 0944931ef..032dcfc4f 100644
--- a/docs/sensor-slider.md
+++ b/docs/sensor-slider.md
@@ -8,7 +8,7 @@ node eg/sensor-slider.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, slider;
+  board, slider;
 
 board = new five.Board();
 
@@ -29,9 +29,9 @@ board.on("ready", function() {
   //
   // Fires when value of sensor changes
   //
-  slider.scale([ 0, 100 ]).on("slide", function() {
+  slider.scale([0, 100]).on("slide", function() {
 
-    console.log( "slide", this.value );
+    console.log("slide", this.value);
 
   });
 });
diff --git a/docs/sensor-temperature.md b/docs/sensor-temperature.md
index e0a66753c..cf92b8d09 100644
--- a/docs/sensor-temperature.md
+++ b/docs/sensor-temperature.md
@@ -9,13 +9,13 @@ node eg/sensor-temperature.js
 ```javascript
 var five = require("johnny-five");
 
-five.Board().on("ready", function(){
+five.Board().on("ready", function() {
   var sensor = new five.Sensor("A0");
 
-  sensor.on("data", function(){
+  sensor.on("data", function() {
     var voltage = this.value * 0.004882814;
     var celsius = (voltage - 0.5) * 100;
-    var fahrenheit = celsius * (9/5) + 32;
+    var fahrenheit = celsius * (9 / 5) + 32;
 
     console.log(celsius + "°C", fahrenheit + "°F");
   });
diff --git a/docs/sensor.md b/docs/sensor.md
index 65048cbf7..4328a5d64 100644
--- a/docs/sensor.md
+++ b/docs/sensor.md
@@ -8,7 +8,7 @@ node eg/sensor.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, sensor;
+  board, sensor;
 
 board = new five.Board();
 
@@ -45,8 +45,8 @@ board.on("ready", function() {
   //
   // Fires when the pin is read for a value
   //
-  sensor.scale([ 0, 100 ]).on("data", function() {
-    console.log( this.value, this.raw );
+  sensor.scale([0, 100]).on("data", function() {
+    console.log(this.value, this.raw);
   });
 
   // "change"
diff --git a/docs/servo-array.md b/docs/servo-array.md
index c4a1462a4..f5c4cfe3d 100644
--- a/docs/servo-array.md
+++ b/docs/servo-array.md
@@ -8,7 +8,7 @@ node eg/servo-array.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, array;
+  board, array;
 
 board = new five.Board();
 
@@ -17,7 +17,7 @@ board.on("ready", function() {
   five.Servo({
     pin: 9,
     // Limit this servo to 170°
-    range: [ 0, 170 ]
+    range: [0, 170]
   });
 
   five.Servo(10);
diff --git a/docs/servo-digital.md b/docs/servo-digital.md
index c56d68791..74abb54b1 100644
--- a/docs/servo-digital.md
+++ b/docs/servo-digital.md
@@ -8,7 +8,7 @@ node eg/servo-digital.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, slider, servo, range;
+  board, slider, servo, range;
 
 board = new five.Board();
 
@@ -17,7 +17,7 @@ board.on("ready", function() {
   // The Servo class defaults to the standard 180°,
   // This example program is intended to run with a
   // 90° digital servo.
-  range = [ 0, 90 ];
+  range = [0, 90];
 
   // Create a new servo instance on PWM 10, w/ a 0-90° range
   servo = new five.Servo({
@@ -35,9 +35,9 @@ board.on("ready", function() {
   // Scale the slider's value to fit in the servo's
   // movement range. When the slider position changes
   // update the servo's position
-  slider.scale( range ).on( "slide", function() {
+  slider.scale(range).on("slide", function() {
 
-    servo.move( Math.floor(this.value) );
+    servo.move(Math.floor(this.value));
 
   });
 });
diff --git a/docs/servo-dual.md b/docs/servo-dual.md
index b84eb810a..0eb286dcc 100644
--- a/docs/servo-dual.md
+++ b/docs/servo-dual.md
@@ -8,7 +8,7 @@ node eg/servo-dual.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, servos;
+  board, servos;
 
 board = new five.Board();
 
@@ -17,7 +17,7 @@ board.on("ready", function() {
   servos = {
     claw: five.Servo({
       pin: 9,
-      range: [ 0, 170 ]
+      range: [0, 170]
     }),
     arm: five.Servo(10)
   };
@@ -31,7 +31,7 @@ board.on("ready", function() {
 
   servos.claw.min();
 
-  this.wait( 1000, function() {
+  this.wait(1000, function() {
     servos.claw.sweep();
   });
 });
diff --git a/docs/servo-options.md b/docs/servo-options.md
index 91df4ce97..7600baf10 100644
--- a/docs/servo-options.md
+++ b/docs/servo-options.md
@@ -8,14 +8,14 @@ node eg/servo-options.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, servo;
+  board, servo;
 
 board = new five.Board();
 
 board.on("ready", function() {
   servo = new five.Servo({
     pin: 10,
-    range: [ 0, 180 ], // Default: 0-180
+    range: [0, 180], // Default: 0-180
     type: "standard", // Default: "standard". Use "continuous" for continuous rotation servos
     startAt: 90, // if you would like the servo to immediately move to a degree
     center: false // overrides startAt if true and moves the servo to the center of the range
diff --git a/docs/servo-tutorial.md b/docs/servo-tutorial.md
index 34f03ad30..660715e32 100644
--- a/docs/servo-tutorial.md
+++ b/docs/servo-tutorial.md
@@ -8,7 +8,7 @@ node eg/servo-tutorial.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, servo;
+  board, servo;
 
 board = new five.Board();
 
@@ -17,7 +17,7 @@ board.on("ready", function() {
   five.Servo({
     pin: 9,
     // Limit this servo to 170°
-    range: [ 45, 135 ]
+    range: [45, 135]
   });
 
   five.Servo(10);
diff --git a/docs/servo.md b/docs/servo.md
index 98fba79e2..2bc5df673 100644
--- a/docs/servo.md
+++ b/docs/servo.md
@@ -8,7 +8,7 @@ node eg/servo.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, servo;
+  board, servo;
 
 board = new five.Board();
 
diff --git a/docs/seven-segment.md b/docs/seven-segment.md
index a04b1ff86..95c234564 100644
--- a/docs/seven-segment.md
+++ b/docs/seven-segment.md
@@ -12,7 +12,7 @@ node eg/seven-segment.js
  * 74HC595 shift register. See docs/breadboard/seven-segment.png for wiring.
  */
 var five = require("johnny-five"),
-    board;
+  board;
 
 board = new five.Board();
 
@@ -37,27 +37,27 @@ board.on("ready", function() {
   digits = [];
 
   //                    .GFEDCBA
-  digits[0] = parseInt( "00111111", 2 );  // 0
-  digits[1] = parseInt( "00000110", 2 );  // 1
-  digits[2] = parseInt( "01011011", 2 );  // 2
-  digits[3] = parseInt( "01001111", 2 );  // 3
-  digits[4] = parseInt( "01100110", 2 );  // 4
-  digits[5] = parseInt( "01101101", 2 );  // 5
-  digits[6] = parseInt( "01111101", 2 );  // 6
-  digits[7] = parseInt( "00000111", 2 );  // 7
-  digits[8] = parseInt( "01111111", 2 );  // 8
-  digits[9] = parseInt( "01101111", 2 );  // 9
+  digits[0] = parseInt("00111111", 2); // 0
+  digits[1] = parseInt("00000110", 2); // 1
+  digits[2] = parseInt("01011011", 2); // 2
+  digits[3] = parseInt("01001111", 2); // 3
+  digits[4] = parseInt("01100110", 2); // 4
+  digits[5] = parseInt("01101101", 2); // 5
+  digits[6] = parseInt("01111101", 2); // 6
+  digits[7] = parseInt("00000111", 2); // 7
+  digits[8] = parseInt("01111111", 2); // 8
+  digits[9] = parseInt("01101111", 2); // 9
 
   segments = {
     //              .GFEDCBA
-    a   : parseInt( "00000001", 2 ),
-    b   : parseInt( "00000010", 2 ),
-    c   : parseInt( "00000100", 2 ),
-    d   : parseInt( "00001000", 2 ),
-    e   : parseInt( "00010000", 2 ),
-    f   : parseInt( "00100000", 2 ),
-    g   : parseInt( "01000000", 2 ),
-    dp  : parseInt( "10000000", 2 )
+    a: parseInt("00000001", 2),
+    b: parseInt("00000010", 2),
+    c: parseInt("00000100", 2),
+    d: parseInt("00001000", 2),
+    e: parseInt("00010000", 2),
+    f: parseInt("00100000", 2),
+    g: parseInt("01000000", 2),
+    dp: parseInt("10000000", 2)
   };
 
   sr = new five.ShiftRegister({
@@ -70,11 +70,11 @@ board.on("ready", function() {
 
   led = new five.Led(5);
 
-  function invert( num ) {
+  function invert(num) {
     return ((~num << 24) >> 24) & 255;
   }
 
-  sr.digit = function( num ) {
+  sr.digit = function(num) {
     sr.clear();
 
     sr.send(
@@ -82,7 +82,7 @@ board.on("ready", function() {
     );
   };
 
-  sr.segment = function( s ) {
+  sr.segment = function(s) {
     sr.clear();
 
     sr.send(
@@ -100,14 +100,14 @@ board.on("ready", function() {
 
   function next() {
     led.stop();
-    sr.digit( i-- );
+    sr.digit(i--);
 
-    if ( i < 0 ) {
+    if (i < 0) {
       i = 9;
       led.strobe(50);
-      setTimeout( next, 2000 );
+      setTimeout(next, 2000);
     } else {
-      setTimeout( next, 1000 );
+      setTimeout(next, 1000);
     }
   }
 
diff --git a/docs/shiftregister.md b/docs/shiftregister.md
index 6403f5173..8faefc141 100644
--- a/docs/shiftregister.md
+++ b/docs/shiftregister.md
@@ -8,7 +8,7 @@ node eg/shiftregister.js
 
 ```javascript
 var five = require("../lib/johnny-five"),
-    board, shiftRegister;
+  board, shiftRegister;
 
 board = new five.Board();
 
@@ -29,7 +29,7 @@ board.on("ready", function() {
 
   function next() {
     value = value > 0x11 ? value >> 1 : 0x88;
-    shiftRegister.send( value );
+    shiftRegister.send(value);
     setTimeout(next, 200);
   }
 
diff --git a/docs/slider-log.md b/docs/slider-log.md
index 47bc9bb51..8a0931eca 100644
--- a/docs/slider-log.md
+++ b/docs/slider-log.md
@@ -8,7 +8,7 @@ node eg/slider-log.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, slider, servo, scalingRange;
+  board, slider, servo, scalingRange;
 
 board = new five.Board();
 
@@ -20,11 +20,11 @@ board.on("ready", function() {
   });
 
   // log out the slider values to the console.
-  slider.scale( 0, 100 ).on("slide", function( err, value ) {
-    if ( err ) {
-      console.log( "error: ", err );
+  slider.scale(0, 100).on("slide", function(err, value) {
+    if (err) {
+      console.log("error: ", err);
     } else {
-      console.log( Math.floor(this.value) );
+      console.log(Math.floor(this.value));
     }
   });
 });
diff --git a/docs/slider-pan.md b/docs/slider-pan.md
index 8e3a6dc75..e05ee793b 100644
--- a/docs/slider-pan.md
+++ b/docs/slider-pan.md
@@ -8,13 +8,13 @@ node eg/slider-pan.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, slider, tilt, scalingRange;
+  board, slider, tilt, scalingRange;
 
 board = new five.Board();
 
 board.on("ready", function() {
 
-  scalingRange = [ 0, 170 ];
+  scalingRange = [0, 170];
 
   slider = new five.Sensor({
     pin: "A0",
@@ -26,11 +26,11 @@ board.on("ready", function() {
     range: scalingRange
   });
 
-  slider.scale( scalingRange ).on("slide", function( err, value ) {
+  slider.scale(scalingRange).on("slide", function(err, value) {
 
     // The slider's value will be scaled to match the tilt servo range
 
-    tilt.move( Math.floor(this.value) );
+    tilt.move(Math.floor(this.value));
 
   });
 });
diff --git a/docs/slider-servo-control.md b/docs/slider-servo-control.md
index 3bd34990c..31c8e7ae6 100644
--- a/docs/slider-servo-control.md
+++ b/docs/slider-servo-control.md
@@ -8,13 +8,13 @@ node eg/slider-servo-control.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, slider, servo, scalingRange;
+  board, slider, servo, scalingRange;
 
 board = new five.Board();
 
 board.on("ready", function() {
 
-  scalingRange = [ 0, 170 ];
+  scalingRange = [0, 170];
 
   slider = new five.Sensor({
     pin: "A0",
@@ -29,9 +29,9 @@ board.on("ready", function() {
 
   // The slider's value will be scaled to match the servo's movement range
 
-  slider.scale( scalingRange ).on("slide", function( err, value ) {
+  slider.scale(scalingRange).on("slide", function(err, value) {
 
-    servo.move( Math.floor(this.value) );
+    servo.move(Math.floor(this.value));
 
   });
 });
diff --git a/docs/sonar-scan.md b/docs/sonar-scan.md
index 11fad4ba0..f2b72c563 100644
--- a/docs/sonar-scan.md
+++ b/docs/sonar-scan.md
@@ -8,13 +8,13 @@ node eg/sonar-scan.js
 
 ```javascript
 var five = require("johnny-five"),
-    board;
+  board;
 
 board = new five.Board();
 
 board.on("ready", function() {
   var center, collision, degrees, step, facing,
-  range, redirect, look, isScanning, scanner, sonar, servos;
+    range, redirect, look, isScanning, scanner, sonar, servos;
 
   // Collision distance (inches)
   collision = 6;
@@ -29,10 +29,10 @@ board.on("ready", function() {
   facing = "";
 
   // Scanning range (degrees)
-  range = [ 0, 170 ];
+  range = [0, 170];
 
   // Servo center point (degrees)
-  center = range[ 1 ] / 2;
+  center = range[1] / 2;
 
   // Redirection map
   redirect = {
@@ -59,8 +59,14 @@ board.on("ready", function() {
   });
 
   servos = {
-    right: new five.Servo({ pin: 10, type: "continuous" }),
-    left: new five.Servo({ pin: 11, type: "continuous" })
+    right: new five.Servo({
+      pin: 10,
+      type: "continuous"
+    }),
+    left: new five.Servo({
+      pin: 11,
+      type: "continuous"
+    })
   };
 
   // Initialize the scanner at it's center point
@@ -72,7 +78,7 @@ board.on("ready", function() {
   servos.left.move(90);
 
   // Scanner/Panning loop
-  this.loop( 100, function() {
+  this.loop(100, function() {
     var bounds;
 
     bounds = {
@@ -82,9 +88,9 @@ board.on("ready", function() {
 
     // During course change, scanning is paused to avoid
     // overeager redirect instructions[1]
-    if ( isScanning ) {
+    if (isScanning) {
       // Calculate the next step position
-      if ( degrees >= scanner.range[1] || degrees === scanner.range[0] ){
+      if (degrees >= scanner.range[1] || degrees === scanner.range[0]) {
         step *= -1;
       }
 
@@ -94,38 +100,38 @@ board.on("ready", function() {
       // The following three conditions will help determine
       // which way the bot should turn if a potential collision
       // may occur in the sonar "change" event handler[2]
-      if ( degrees > bounds.left ) {
+      if (degrees > bounds.left) {
         facing = "left";
       }
 
-      if ( degrees < bounds.right ) {
+      if (degrees < bounds.right) {
         facing = "right";
       }
 
-      if ( degrees > bounds.right && degrees < bounds.left ) {
+      if (degrees > bounds.right && degrees < bounds.left) {
         facing = "forward";
       }
 
-      scanner.move( degrees );
+      scanner.move(degrees);
     }
   });
 
   // [2] Sonar "change" events are emitted when the value of a
   // distance reading has changed since the previous reading
   //
-  sonar.on("change", function( err ) {
+  sonar.on("change", function(err) {
     var turnTo;
 
     // Detect collision
-    if ( Math.abs(this.inches) < collision && isScanning ) {
+    if (Math.abs(this.inches) < collision && isScanning) {
       // Scanning lock will prevent multiple collision detections
       // of the same obstacle
       isScanning = false;
-      turnTo = redirect[ facing ] || Object.keys( redirect )[ Date.now() % 2 ];
+      turnTo = redirect[facing] || Object.keys(redirect)[Date.now() % 2];
 
       // Log collision detection to REPL
       console.log(
-        [ Date.now(),
+        [Date.now(),
           "Collision detected " + this.inches + " inches away.",
           "Turning " + turnTo.toUpperCase() + " to avoid"
         ].join("\n")
@@ -136,8 +142,8 @@ board.on("ready", function() {
 
       // [1] Allow 1000ms to pass and release the scanning lock
       // by setting isScanning state to true.
-      board.wait( 1500, function() {
-        console.log( "Release Scanner Lock" );
+      board.wait(1500, function() {
+        console.log("Release Scanner Lock");
         isScanning = true;
       });
     }
diff --git a/docs/sonar.md b/docs/sonar.md
index 96ba0e3bb..40ce0524d 100644
--- a/docs/sonar.md
+++ b/docs/sonar.md
@@ -8,7 +8,7 @@ node eg/sonar.js
 
 ```javascript
 var five = require("johnny-five"),
-    board, sonar;
+  board, sonar;
 
 board = new five.Board();
 
@@ -47,14 +47,14 @@ board.on("ready", function() {
       this.cm  - calculated distance, centimeters
 
     */
-    console.log( "data", "Object is " + this.inches + "inches away" );
+    console.log("data", "Object is " + this.inches + "inches away");
   });
 
   //
   // "change" fired when distance reading changes
   //
   sonar.on("change", function() {
-    console.log( "change", "Object is " + this.inches + "inches away" );
+    console.log("change", "Object is " + this.inches + "inches away");
   });
 });
 
diff --git a/docs/stepper-driver.md b/docs/stepper-driver.md
index 25e62e0d2..af32745af 100644
--- a/docs/stepper-driver.md
+++ b/docs/stepper-driver.md
@@ -22,12 +22,12 @@ board.on("ready", function() {
    *     dir: 12
    *   }
    * });
-  */
+   */
 
   var stepper = new five.Stepper({
     type: five.Stepper.TYPE.DRIVER,
     stepsPerRev: 200,
-    pins: [ 11, 12 ]
+    pins: [11, 12]
   });
 
   // Make 10 full revolutions counter-clockwise at 180 rpm with acceleration and deceleration
@@ -37,7 +37,10 @@ board.on("ready", function() {
 
     // once first movement is done, make 10 revolutions clockwise at previously
     //      defined speed, accel, and decel by passing an object into stepper.step
-    stepper.step({ steps: 2000, direction: five.Stepper.DIRECTION.CW }, function() {
+    stepper.step({
+      steps: 2000,
+      direction: five.Stepper.DIRECTION.CW
+    }, function() {
       console.log("Done moving CW");
     });
   });
diff --git a/docs/stepper-sweep.md b/docs/stepper-sweep.md
index a3844a2ea..43347e9b4 100644
--- a/docs/stepper-sweep.md
+++ b/docs/stepper-sweep.md
@@ -15,12 +15,12 @@ five.Board().on("ready", function() {
   stepper = new five.Stepper({
     type: five.Stepper.TYPE.DRIVER,
     stepsPerRev: 200,
-    pins: [ 11, 12 ]
+    pins: [11, 12]
   });
 
   function sweep() {
     // 200 stepsPerRev / 2 = 100 (180degree sweeps)
-    stepper[ ++k % 2 === 0 ? "ccw" : "cw" ]().step(100, function() {
+    stepper[++k % 2 === 0 ? "ccw" : "cw"]().step(100, function() {
       sweep();
     });
   }
diff --git a/docs/tinkerkit-button.md b/docs/tinkerkit-button.md
index 5cb4ced35..96e7421d3 100644
--- a/docs/tinkerkit-button.md
+++ b/docs/tinkerkit-button.md
@@ -15,9 +15,9 @@ new five.Board().on("ready", function() {
   // the button to an I* pin.
   var button = new five.Button("O5");
 
-  [ "down", "up", "hold" ].forEach(function( type ) {
-    button.on( type, function() {
-      console.log( type );
+  ["down", "up", "hold"].forEach(function(type) {
+    button.on(type, function() {
+      console.log(type);
     });
   });
 });
diff --git a/docs/tinkerkit-combo.md b/docs/tinkerkit-combo.md
index 7cc978a4c..d10c9d759 100644
--- a/docs/tinkerkit-combo.md
+++ b/docs/tinkerkit-combo.md
@@ -14,7 +14,7 @@ new five.Board().on("ready", function() {
 
   accel = new five.Accelerometer({
     id: "accelerometer",
-    pins: [ "I0", "I1" ]
+    pins: ["I0", "I1"]
   });
 
   slider = new five.Sensor({
@@ -35,8 +35,8 @@ new five.Board().on("ready", function() {
 
   servos = new five.Servo.Array();
 
-  slider.scale( 0, 180 ).on("change", function() {
-    servos.move( this.value );
+  slider.scale(0, 180).on("change", function() {
+    servos.move(this.value);
   });
 
   accel.on("acceleration", function() {
diff --git a/docs/tinkerkit-continuous-servo.md b/docs/tinkerkit-continuous-servo.md
index fb651c4c0..66749dc85 100644
--- a/docs/tinkerkit-continuous-servo.md
+++ b/docs/tinkerkit-continuous-servo.md
@@ -16,7 +16,7 @@ new five.Board().on("ready", function() {
   });
 
   new five.Sensor("I0").scale(0, 1).on("change", function() {
-    servo.cw( this.value );
+    servo.cw(this.value);
   });
 });
 
diff --git a/docs/tinkerkit-gyroscope.md b/docs/tinkerkit-gyroscope.md
index 053b779cb..4c4592af5 100644
--- a/docs/tinkerkit-gyroscope.md
+++ b/docs/tinkerkit-gyroscope.md
@@ -17,15 +17,16 @@ board.on("ready", function() {
   // Create a new `Gyroscope` hardware instance.
 
   gyro = new five.Gyroscope({
-    pins: [ "I0", "I1" ],
+    pins: ["I0", "I1"],
     freq: 200,
     extent: 4
   });
 
-  gyro.on("acceleration", function( err, data ) {
+  gyro.on("acceleration", function(err, data) {
     console.log(data.position);
   });
 });
+
 ```
 
 
diff --git a/docs/tinkerkit-joystick.md b/docs/tinkerkit-joystick.md
index df0e4e610..567e8d6b8 100644
--- a/docs/tinkerkit-joystick.md
+++ b/docs/tinkerkit-joystick.md
@@ -8,7 +8,7 @@ node eg/tinkerkit-joystick.js
 
 ```javascript
 var five = require("johnny-five"),
-    Change = require("../eg/change.js");
+  Change = require("../eg/change.js");
 
 new five.Board().on("ready", function() {
   // var servo = new five.Servo("O0");
@@ -39,16 +39,16 @@ new five.Board().on("ready", function() {
   };
 
 
-  [ "x", "y" ].forEach(function( axis ) {
-    joystick[ axis ].scale(1, 3).on("change", function() {
-      var round = Math.round( this.value );
+  ["x", "y"].forEach(function(axis) {
+    joystick[axis].scale(1, 3).on("change", function() {
+      var round = Math.round(this.value);
 
-      if ( round !== 2 && changes[ axis ].isNoticeable( round ) ) {
+      if (round !== 2 && changes[axis].isNoticeable(round)) {
         console.log(
-          "%s changed noticeably (%d): %s", axis,  round, dirs[ axis ][ round ]
+          "%s changed noticeably (%d): %s", axis, round, dirs[axis][round]
         );
       } else {
-        changes[ axis ].last = round;
+        changes[axis].last = round;
       }
     });
   });
diff --git a/docs/tinkerkit-linear-pot.md b/docs/tinkerkit-linear-pot.md
index 18d967a34..89ff17eb3 100644
--- a/docs/tinkerkit-linear-pot.md
+++ b/docs/tinkerkit-linear-pot.md
@@ -11,7 +11,7 @@ var five = require("johnny-five");
 
 new five.Board().on("ready", function() {
   new five.Sensor("I0").scale(0, 255).on("data", function() {
-    console.log( Math.round(this.value) );
+    console.log(Math.round(this.value));
   });
 });
 
diff --git a/docs/tinkerkit-rotary.md b/docs/tinkerkit-rotary.md
index 2e5f22167..8ba9901c9 100644
--- a/docs/tinkerkit-rotary.md
+++ b/docs/tinkerkit-rotary.md
@@ -13,7 +13,7 @@ new five.Board().on("ready", function() {
   var servo = new five.Servo("O0");
 
   new five.Sensor("I1").scale(0, 180).on("change", function() {
-    servo.to( this.value );
+    servo.to(this.value);
   });
 });
 
diff --git a/docs/tinkerkit-thermistor.md b/docs/tinkerkit-thermistor.md
index ee9a4e91b..b464cc200 100644
--- a/docs/tinkerkit-thermistor.md
+++ b/docs/tinkerkit-thermistor.md
@@ -7,7 +7,8 @@ node eg/tinkerkit-thermistor.js
 
 
 ```javascript
-var five = require("johnny-five"), Thermistor;
+var five = require("johnny-five"),
+  Thermistor;
 
 (function() {
   var adcres, beta, kelvin, rb, ginf;
@@ -23,24 +24,24 @@ var five = require("johnny-five"), Thermistor;
   ginf = 120.6685;
 
   Thermistor = {
-    c: function( raw ) {
+    c: function(raw) {
       var rthermistor, tempc;
 
       rthermistor = rb * (adcres / raw - 1);
-      tempc = beta / ( Math.log( rthermistor * ginf ) );
+      tempc = beta / (Math.log(rthermistor * ginf));
 
       return tempc - kelvin;
     },
-    f: function( raw ) {
-      return ( this.c(raw) * 9 ) / 5 + 32;
+    f: function(raw) {
+      return (this.c(raw) * 9) / 5 + 32;
     }
   };
 }());
 
 new five.Board().on("ready", function() {
   new five.Sensor("I0").on("change", function() {
-    console.log( "F: ", Thermistor.f(this.value) );
-    console.log( "C: ", Thermistor.c(this.value) );
+    console.log("F: ", Thermistor.f(this.value));
+    console.log("C: ", Thermistor.c(this.value));
   });
 });
 
diff --git a/docs/tinkerkit-tilt.md b/docs/tinkerkit-tilt.md
index acfd316dc..f110a988c 100644
--- a/docs/tinkerkit-tilt.md
+++ b/docs/tinkerkit-tilt.md
@@ -13,7 +13,7 @@ new five.Board().on("ready", function() {
   // var servo = new five.Servo("O0");
 
   new five.Sensor("I2").on("change", function() {
-    console.log( this.boolean );
+    console.log(this.boolean);
   });
 });
 
diff --git a/docs/tinkerkit-touch.md b/docs/tinkerkit-touch.md
index ff2e4fb9e..0a60c9548 100644
--- a/docs/tinkerkit-touch.md
+++ b/docs/tinkerkit-touch.md
@@ -18,9 +18,9 @@ new five.Board().on("ready", function() {
   // instance, like this:
   var touch = new five.Button("O5");
 
-  [ "down", "up", "hold" ].forEach(function( type ) {
-    touch.on( type, function() {
-      console.log( type );
+  ["down", "up", "hold"].forEach(function(type) {
+    touch.on(type, function() {
+      console.log(type);
     });
   });
 });
diff --git a/docs/whisker.md b/docs/whisker.md
index 97ad9a9e0..23c9fcbee 100644
--- a/docs/whisker.md
+++ b/docs/whisker.md
@@ -12,7 +12,7 @@ var Change, five;
 Change = require("../eg/change.js");
 five = require("johnny-five");
 
-new five.Boards([ "control", "nodebot" ]).on("ready", function(boards) {
+new five.Boards(["control", "nodebot"]).on("ready", function(boards) {
   var controllers, changes, nodebot, whiskers, opposing, directions, speed;
 
   controllers = {
@@ -69,9 +69,9 @@ new five.Boards([ "control", "nodebot" ]).on("ready", function(boards) {
     }
   };
 
-  [ "left", "right" ].forEach(function( impact ) {
-    whiskers[ impact ].on("high", function() {
-      var turn = opposing[ impact ];
+  ["left", "right"].forEach(function(impact) {
+    whiskers[impact].on("high", function() {
+      var turn = opposing[impact];
 
       console.log(
         "%s impact, turning %s",
@@ -79,39 +79,39 @@ new five.Boards([ "control", "nodebot" ]).on("ready", function(boards) {
         turn.toUpperCase()
       );
 
-      nodebot.stop()[ turn ]( 500 );
+      nodebot.stop()[turn](500);
     });
   });
 
 
 
-  [ "x", "y" ].forEach(function( axis ) {
-    controllers[ axis ].scale(1, 3).on("change", function() {
-      var round = Math.round( this.value );
+  ["x", "y"].forEach(function(axis) {
+    controllers[axis].scale(1, 3).on("change", function() {
+      var round = Math.round(this.value);
 
-      if ( changes[ axis ].isNoticeable( round ) ) {
-        if ( round === 2 ) {
+      if (changes[axis].isNoticeable(round)) {
+        if (round === 2) {
           nodebot.stop();
         } else {
           // console.log( axis, round, directions[ axis ][ round ] );
-          nodebot[ directions[ axis ][ round ] ]();
+          nodebot[directions[axis][round]]();
         }
       } else {
-        changes[ axis ].last = round;
+        changes[axis].last = round;
       }
     });
   });
 
   controllers.speed.scale(0, 6).on("change", function() {
-    var value = Math.round( this.value );
+    var value = Math.round(this.value);
 
-    if ( changes.speed.isNoticeable( value ) ) {
+    if (changes.speed.isNoticeable(value)) {
       // console.log( "update nodebot.speed: %d", value );
       // console.log( nodebot.motion );
       nodebot.speed = value;
 
-      if ( nodebot.motion !== "stop" ) {
-        nodebot[ nodebot.motion ]();
+      if (nodebot.motion !== "stop") {
+        nodebot[nodebot.motion]();
       }
     }
   });