diff --git a/src/main/java/org/myrobotlab/framework/Outbox.java b/src/main/java/org/myrobotlab/framework/Outbox.java
index 01921add9f..fba799613a 100644
--- a/src/main/java/org/myrobotlab/framework/Outbox.java
+++ b/src/main/java/org/myrobotlab/framework/Outbox.java
@@ -358,7 +358,7 @@ public void reset() {
   /**
    * Safe detach for single subscriber
    * 
-   * @param name
+   * @param service
    *          the name of the listener to detach
    * 
    */
diff --git a/src/main/java/org/myrobotlab/image/Util.java b/src/main/java/org/myrobotlab/image/Util.java
index ff79c78387..2af64df713 100644
--- a/src/main/java/org/myrobotlab/image/Util.java
+++ b/src/main/java/org/myrobotlab/image/Util.java
@@ -609,11 +609,7 @@ public static FloatPointer arrayListToFloatPointer(ArrayList<Float> confidences)
    * for display inline in html.
    * 
    * @param bytes
-   *          input bytes
-   * @return a string
-   * @throws IOException
-   *           boom
-   * 
+   * @return
    */
   public static String bytesToBase64Jpg(byte[] bytes) {
     //
diff --git a/src/main/java/org/myrobotlab/math/MapperSimple.java b/src/main/java/org/myrobotlab/math/MapperSimple.java
index 3d5ff80960..a25d983c08 100644
--- a/src/main/java/org/myrobotlab/math/MapperSimple.java
+++ b/src/main/java/org/myrobotlab/math/MapperSimple.java
@@ -15,7 +15,7 @@
  * The original Arduino map() method this was inspired from has no such values.
  * This was an attempt to "clean up" exposing the map to config. Otherwise,
  * users setting config would be asking the same questions regarding the useless
- * fields Inverted & Clip
+ * fields Inverted and Clip
  * 
  * 
  * @author GroG
diff --git a/src/main/java/org/myrobotlab/net/Mail.java b/src/main/java/org/myrobotlab/net/Mail.java
index 74be1a3955..fa1384fe2a 100644
--- a/src/main/java/org/myrobotlab/net/Mail.java
+++ b/src/main/java/org/myrobotlab/net/Mail.java
@@ -164,7 +164,7 @@ public void setEmailServer(String host, Integer port) {
    * This will work with gmail but an "app password" will need to be set up on
    * the sending account.
    * 
-   * "Create & use App Passwords"
+   * "Create and use App Passwords"
    * https://support.google.com/mail/answer/185833?hl=en
    * 
    * @param host
diff --git a/src/main/java/org/myrobotlab/net/SslUtil.java b/src/main/java/org/myrobotlab/net/SslUtil.java
index d0c3cf6bd2..368fe77c49 100644
--- a/src/main/java/org/myrobotlab/net/SslUtil.java
+++ b/src/main/java/org/myrobotlab/net/SslUtil.java
@@ -19,18 +19,14 @@ public class SslUtil {
    * Returns a SSLSocketFactory if provided with a x509 cert, and key file. The
    * caCrtFile is the certificate authority root and inpassword is the protected
    * password of the cert "if suppied". If unprotected leave null or empty "".
+   * @param sslCaFilePath - ca root
+   * @param sslCertFilePath - certificate file (pem)
+   * @param sslKeyFilePath - private key
+   * @param sslPassword - password if key/cert are protected by a password
    * 
-   * @param caCrtFile
-   *          - ca root
-   * @param crtFile
-   *          - certificate file (pem)
-   * @param keyFile
-   *          - private key
-   * @param inpassword
-   *          - password if key/cert are protected by a password
    * @return the ssl socket factory
    * @throws Exception
-   *           boom
+   * 
    */
 
   public static SSLSocketFactory getSocketFactory(String sslCaFilePath, String sslCertFilePath, String sslKeyFilePath, String sslPassword) throws Exception {
diff --git a/src/main/java/org/myrobotlab/programab/PredicateEvent.java b/src/main/java/org/myrobotlab/programab/PredicateEvent.java
index bf256fa143..ef4a36d8ef 100644
--- a/src/main/java/org/myrobotlab/programab/PredicateEvent.java
+++ b/src/main/java/org/myrobotlab/programab/PredicateEvent.java
@@ -7,7 +7,7 @@
  */
 public class PredicateEvent {
   /**
-   * unique identifier for the session user & bot
+   * unique identifier for the session user and bot
    */
   public String id;
   /**
diff --git a/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java b/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java
index e47e8dce3e..cf804f607c 100644
--- a/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java
+++ b/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java
@@ -360,7 +360,11 @@ public void setPWM(String pinLabel, Integer pulseWidthOn, Integer pulseWidthOff)
     byte[] buffer = { (byte) (PCA9685_LED0_ON_L + (pin * 4)), (byte) (pulseWidthOn & 0xff), (byte) (pulseWidthOn >> 8), (byte) (pulseWidthOff & 0xff),
         (byte) (pulseWidthOff >> 8) };
     log.debug("Writing pin {}, pulesWidthOn {}, pulseWidthOff {}", pin, pulseWidthOn, pulseWidthOff);
-    controller.i2cWrite(this, Integer.parseInt(deviceBus), Integer.decode(deviceAddress), buffer, buffer.length);
+    if (controller != null) {
+      controller.i2cWrite(this, Integer.parseInt(deviceBus), Integer.decode(deviceAddress), buffer, buffer.length);
+    } else {
+      error("controller not set!");
+    }
   }
 
   /**
diff --git a/src/main/java/org/myrobotlab/service/ImageDisplay.java b/src/main/java/org/myrobotlab/service/ImageDisplay.java
index d115227158..d921e2f270 100644
--- a/src/main/java/org/myrobotlab/service/ImageDisplay.java
+++ b/src/main/java/org/myrobotlab/service/ImageDisplay.java
@@ -669,7 +669,7 @@ public void run() {
   public void startService() {
     super.startService();
     if (GraphicsEnvironment.isHeadless()) {
-      log.warn("in headless mode - %s will not display images", getName());
+      log.info("in headless mode - {} will not display images", getName());
       return;
     }
   }
diff --git a/src/main/java/org/myrobotlab/service/Intro.java b/src/main/java/org/myrobotlab/service/Intro.java
index ad64524e3c..012a6882a8 100644
--- a/src/main/java/org/myrobotlab/service/Intro.java
+++ b/src/main/java/org/myrobotlab/service/Intro.java
@@ -62,7 +62,7 @@ public Object get(String key) {
 
   /**
    * @param introScriptName
-   *          execute an Intro resource script
+   *                        execute an Intro resource script
    */
   public void execScript(String introScriptName) {
     try {
@@ -78,7 +78,7 @@ public void execScript(String introScriptName) {
    * This method will load a python file into the python interpreter.
    * 
    * @param file
-   *          the python file to load
+   *             the python file to load
    * @return true/false
    */
   @Deprecated
@@ -127,7 +127,6 @@ public static void main(String[] args) {
       // Runtime.start("intro", "Intro");
 
       // Runtime.release("python");
-      // Runtime.releaseAll();
       Runtime.start("python", "Python");
       // Runtime.start("mega", "Arduino");
       // Runtime.start("ada", "Adafruit16CServoDriver");
diff --git a/src/main/java/org/myrobotlab/service/LocalSpeech.java b/src/main/java/org/myrobotlab/service/LocalSpeech.java
index 292198f3f6..3d2194c896 100644
--- a/src/main/java/org/myrobotlab/service/LocalSpeech.java
+++ b/src/main/java/org/myrobotlab/service/LocalSpeech.java
@@ -359,9 +359,8 @@ public boolean setPico2Wav() {
    * Typically double quotes should be filtered out of the command as creating
    * the text to speech process command can be broken by double quotes
    * 
-   * @param filter
-   *          chars to filter.
-   * 
+   * @param target
+   * @param replace
    */
   public void addFilter(String target, String replace) {
     LocalSpeechConfig c = (LocalSpeechConfig) config;
diff --git a/src/main/java/org/myrobotlab/service/Log.java b/src/main/java/org/myrobotlab/service/Log.java
index bdef4384cb..b550cbf651 100644
--- a/src/main/java/org/myrobotlab/service/Log.java
+++ b/src/main/java/org/myrobotlab/service/Log.java
@@ -105,6 +105,8 @@ public String toString() {
    */
   long minIntervalMs = 1000;
 
+  private String previousLogLevel;
+
   public Log(String n, String id) {
     super(n, id);
     getLogLevel();
@@ -265,6 +267,7 @@ public void setRootLogLevel(String level) {
   
   public LogConfig apply(LogConfig c) {
     super.apply(c);
+    previousLogLevel = getLogLevel();
     if (c.level != null) {
       setRootLogLevel(c.level);
     }
@@ -317,6 +320,9 @@ public void stopLogging() {
   public void stopService() {
     super.stopService();
     stopLogging();
+    if (previousLogLevel != null) {
+      Runtime.setLogLevel(previousLogLevel);
+    }
   }
 
   public static void main(String[] args) {
diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java
index 61c15e1f64..21a05cbdc5 100644
--- a/src/main/java/org/myrobotlab/service/NeoPixel.java
+++ b/src/main/java/org/myrobotlab/service/NeoPixel.java
@@ -927,7 +927,6 @@ public void setPixel(int address, int red, int green, int blue, int white) {
    * @param green
    * @param blue
    * @param white
-   * @param delayMs
    */
   public void setPixel(String matrixName, Integer pixelSetIndex, int address, int red, int green, int blue, int white) {
     // get and update memory cache
diff --git a/src/main/java/org/myrobotlab/service/NovelAI.java b/src/main/java/org/myrobotlab/service/NovelAI.java
index e7581d980a..6ebddb9038 100644
--- a/src/main/java/org/myrobotlab/service/NovelAI.java
+++ b/src/main/java/org/myrobotlab/service/NovelAI.java
@@ -30,26 +30,6 @@ public NovelAI(String n, String id) {
     client = new OkHttpClient();
   }
 
-  /**
-   * The methods apply and getConfig can be used, if more complex configuration
-   * handling is needed. By default, the framework takes care of most of it,
-   * including subscription handling.
-   * 
-   * <pre>
-  &#64;Override
-  public ServiceConfig apply(ServiceConfig c) {
-    super.apply(c)
-    return c;
-  }
-  
-  @Override
-  public ServiceConfig getConfig() {
-    super.getConfig()
-    return config;
-  }
-   * </pre>
-   **/
-
   public static void main(String[] args) {
     try {
 
diff --git a/src/main/java/org/myrobotlab/service/Pir.java b/src/main/java/org/myrobotlab/service/Pir.java
index eea710f585..5cb6a80a95 100644
--- a/src/main/java/org/myrobotlab/service/Pir.java
+++ b/src/main/java/org/myrobotlab/service/Pir.java
@@ -312,9 +312,8 @@ public Long getLastChangeTs() {
    * "selecting" the controller's name, returns the possible list of pins to
    * attach.
    * 
+   * @param pinArrayControl
    * @return
-   * @throws InterruptedException
-   * @throws TimeoutException
    */
   @SuppressWarnings("unchecked")
   public List<PinDefinition> getPinList(String pinArrayControl) {
diff --git a/src/main/java/org/myrobotlab/service/Py4j.java b/src/main/java/org/myrobotlab/service/Py4j.java
index 909270e77c..e9cd8c4259 100644
--- a/src/main/java/org/myrobotlab/service/Py4j.java
+++ b/src/main/java/org/myrobotlab/service/Py4j.java
@@ -566,7 +566,6 @@ public void stopService() {
    * 
    * @param scriptName
    * @param code
-   * @return
    */
   public void updateScript(String scriptName, String code) {
     if (openedScripts.containsKey(scriptName)) {
diff --git a/src/main/java/org/myrobotlab/service/Python.java b/src/main/java/org/myrobotlab/service/Python.java
index e8c2fee02e..b1c1ed5d9c 100644
--- a/src/main/java/org/myrobotlab/service/Python.java
+++ b/src/main/java/org/myrobotlab/service/Python.java
@@ -334,7 +334,7 @@ public void closeScript(String file) {
   /**
    * append more Python to the current script
    * 
-   * @param data
+   * @param code
    *          the code to append
    * @return the resulting concatenation
    */
@@ -759,7 +759,6 @@ public void saveScript(String scriptName, String code) throws IOException {
    * upserts a script in memory
    * @param file
    * @param code
-   * @return
    */
   public void updateScript(String file, String code) {
       if (openedScripts.containsKey(file)) {
diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java
index ea6e33444f..7ce96ce599 100644
--- a/src/main/java/org/myrobotlab/service/RasPi.java
+++ b/src/main/java/org/myrobotlab/service/RasPi.java
@@ -709,14 +709,19 @@ public void startService() {
 
       log.info("Initiating i2c");
       I2CFactory.getInstance(Integer.parseInt(bus));
-      log.info("i2c initiated on bus {}", bus);
-      addTask(1000, "scan");
 
-      log.info("read task initialized");
-      addTask(1000, "read");
+      if (config.pollOnStart) {
+        log.info("i2c initiated on bus {}", bus);
+        addTask(1000, "scan");
+
+        log.info("read task initialized");
+        addTask(1000, "read");
+      }
 
     } catch (IOException e) {
       log.error("i2c initiation failed", e);
+    } catch (UnsupportedOperationException er) {
+      log.warn("invalid operation initializing i2c - is platform not raspberry pi?");
     } catch (Exception e) {
       // an error in the constructor won't get broadcast - so we need Runtime to
       // do it
diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java
index 5a86472a6b..6e3778a9fb 100644
--- a/src/main/java/org/myrobotlab/service/Runtime.java
+++ b/src/main/java/org/myrobotlab/service/Runtime.java
@@ -2579,7 +2579,6 @@ public void addRoute(String remoteId, String uuid, int metric) {
    *
    * @param configName
    *          The name of the config file
-   * @return The Runtime singleton
    */
   static public void startConfig(String configName) {
     setConfig(configName);
diff --git a/src/main/java/org/myrobotlab/service/ServoMixer.java b/src/main/java/org/myrobotlab/service/ServoMixer.java
index dc6c3f7127..40628d9d86 100755
--- a/src/main/java/org/myrobotlab/service/ServoMixer.java
+++ b/src/main/java/org/myrobotlab/service/ServoMixer.java
@@ -520,8 +520,8 @@ public void rest() {
    * 
    * @param filename
    *          the filename to save the gesture as
-   * @param json
-   *          the json to save
+   * @param gesture
+   *          the gesture to save
    */
   public void saveGesture(String filename, Gesture gesture) {
     try {
diff --git a/src/main/java/org/myrobotlab/service/Vertx.java b/src/main/java/org/myrobotlab/service/Vertx.java
index 09cd1132ad..bcd7f38637 100644
--- a/src/main/java/org/myrobotlab/service/Vertx.java
+++ b/src/main/java/org/myrobotlab/service/Vertx.java
@@ -22,12 +22,16 @@
 
 /**
  * Vertx gateway - used to support a http and websocket gateway for myrobotlab.
- * Write business logic in Verticles. Also, try not to write any logic besides initialization inside start() method.
+ * Write business logic in Verticles. Also, try not to write any logic besides
+ * initialization inside start() method.
  * 
- * It currently does not utilize the Vertx event bus - which is pretty much the most important part of Vertx.
- * TODO: take advantage of publishing on the event bus
+ * It currently does not utilize the Vertx event bus - which is pretty much the
+ * most important part of Vertx. TODO: take advantage of publishing on the event
+ * bus
  * 
- * @see https://medium.com/@pvub/https-medium-com-pvub-vert-x-workers-6a8df9b2b9ee
+ * {@link <a href=
+ * "https://medium.com/@pvub/https-medium-com-pvub-vert-x-workers-6a8df9b2b9ee">vertx
+ * worker</a>}
  * 
  * @author GroG
  *
@@ -45,7 +49,8 @@ public Vertx(String n, String id) {
   }
 
   /**
-   * deploys a http and websocket verticle on a secure TLS channel with self signed certificate
+   * deploys a http and websocket verticle on a secure TLS channel with self
+   * signed certificate
    */
   public void start() {
     log.info("starting driver");
@@ -73,13 +78,13 @@ public void start() {
     vertx.deployVerticle(new ApiVerticle(this));
 
   }
-  
+
   @Override
   public void startService() {
     super.startService();
     start();
   }
-  
+
   @Override
   public void stopService() {
     super.stopService();
@@ -111,16 +116,16 @@ public static void main(String[] args) {
       Vertx vertx = (Vertx) Runtime.start("vertx", "Vertx");
       vertx.start();
 
-       InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2");
-       // i01.startSimulator();
-       JMonkeyEngine jme = (JMonkeyEngine)i01.startPeer("simulator");
-//       Runtime.start("python", "Python");
-//      
-       WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
-       // webgui.setSsl(true);
-       webgui.autoStartBrowser(false);
-       webgui.setPort(8888);
-       webgui.startService();
+      InMoov2 i01 = (InMoov2) Runtime.start("i01", "InMoov2");
+      // i01.startSimulator();
+      JMonkeyEngine jme = (JMonkeyEngine) i01.startPeer("simulator");
+      // Runtime.start("python", "Python");
+      //
+      WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
+      // webgui.setSsl(true);
+      webgui.autoStartBrowser(false);
+      webgui.setPort(8888);
+      webgui.startService();
 
     } catch (Exception e) {
       log.error("main threw", e);
@@ -128,36 +133,47 @@ public static void main(String[] args) {
   }
 
   // FIXME - refactor for bare minimum
-  
-  @Override /* FIXME "Gateway" is server/service oriented not connecting thing - remove this */
+
+  @Override /*
+             * FIXME "Gateway" is server/service oriented not connecting thing -
+             * remove this
+             */
   public void connect(String uri) throws URISyntaxException {
     // TODO Auto-generated method stub
 
   }
-  
-  @Override /* FIXME not much point of these - as they are all consistently using Runtime's centralized connection info */
+
+  @Override /*
+             * FIXME not much point of these - as they are all consistently
+             * using Runtime's centralized connection info
+             */
   public List<String> getClientIds() {
     return Runtime.getInstance().getConnectionUuids(getName());
   }
 
-  @Override /* FIXME not much point of these - as they are all consistently using Runtime's centralized connection info */
+  @Override /*
+             * FIXME not much point of these - as they are all consistently
+             * using Runtime's centralized connection info
+             */
   public Map<String, Connection> getClients() {
     return Runtime.getInstance().getConnections(getName());
   }
 
-
-  @Override /* FIXME this is the one and probably "only" relevant method for Gateway - perhaps a handle(Connection c) */
+  @Override /*
+             * FIXME this is the one and probably "only" relevant method for
+             * Gateway - perhaps a handle(Connection c)
+             */
   public void sendRemote(Message msg) throws Exception {
     log.info("sendRemote {}", msg.toString());
     // FIXME MUST BE DIRECT THREAD FROM BROADCAST NOT OUTBOX !!!
     msg.addHop(getId());
     Map<String, Connection> clients = getClients();
-    for(Connection c: clients.values()) {
+    for (Connection c : clients.values()) {
       try {
-      ServerWebSocket socket = (ServerWebSocket)c.get("websocket");
-      String json = CodecUtils.toJsonMsg(msg);
-      socket.writeTextMessage(json);
-      } catch(Exception e) {
+        ServerWebSocket socket = (ServerWebSocket) c.get("websocket");
+        String json = CodecUtils.toJsonMsg(msg);
+        socket.writeTextMessage(json);
+      } catch (Exception e) {
         error(e);
       }
     }
@@ -166,8 +182,9 @@ public void sendRemote(Message msg) throws Exception {
 
   @Override
   public boolean isLocal(Message msg) {
-    return Runtime.getInstance().isLocal(msg);  }
-  
+    return Runtime.getInstance().isLocal(msg);
+  }
+
   public io.vertx.core.Vertx getVertx() {
     return vertx;
   }
diff --git a/src/main/java/org/myrobotlab/service/WebGui.java b/src/main/java/org/myrobotlab/service/WebGui.java
index d007befe6e..5c38492c3f 100644
--- a/src/main/java/org/myrobotlab/service/WebGui.java
+++ b/src/main/java/org/myrobotlab/service/WebGui.java
@@ -1072,7 +1072,7 @@ public void startService() {
 
   public void stop() {
     if (nettosphere != null) {
-      log.warn("==== nettosphere STOPPING ====");
+      log.info("==== nettosphere STOPPING ====");
       // done so a thread "from" webgui can stop itself :P
       // Must not be called from a I/O-Thread to prevent deadlocks!
       new Thread() {
@@ -1081,7 +1081,7 @@ public void run() {
           nettosphere.framework().removeAllAtmosphereHandler();
           nettosphere.stop();
           nettosphere = null;
-          log.warn("==== nettosphere STOPPED ====");
+          log.info("==== nettosphere STOPPED ====");
         }
       }.start();
     }
@@ -1177,15 +1177,16 @@ public static void main(String[] args) {
 
     try {
 
-      // Platform.setVirtual(true);
-      
-      Runtime.startConfig("dev");
+      Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" });
       
       boolean done = true;
       if (done) {
         return;
       }
-
+      
+      // Platform.setVirtual(true);
+      // Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python", "-c", "dev" });
+      // Runtime.startConfig("dev");      
 
       // Runtime.start("python", "Python");
       // Arduino arduino = (Arduino)Runtime.start("arduino", "Arduino");
@@ -1196,6 +1197,8 @@ public static void main(String[] args) {
       // webgui.setSsl(true);
       webgui.startService();
 
+
+      
       Runtime.start("python", "Python");
       // Runtime.start("intro", "Intro");
       // Runtime.start("i01", "InMoov2");
diff --git a/src/main/java/org/myrobotlab/service/_TemplateService.java b/src/main/java/org/myrobotlab/service/_TemplateService.java
index 61798b307e..fd9c5d5d5c 100644
--- a/src/main/java/org/myrobotlab/service/_TemplateService.java
+++ b/src/main/java/org/myrobotlab/service/_TemplateService.java
@@ -17,24 +17,6 @@ public _TemplateService(String n, String id) {
     super(n, id);
   }
 
-  /**
-   * The methods apply and getConfig can be used, if more complex configuration handling is needed.
-   * By default, the framework takes care of most of it, including subscription handling.
-   * <pre>
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    super.apply(c)
-    return c;
-  }
-
-  @Override
-  public ServiceConfig getConfig() {
-    super.getConfig()
-    return config;
-  }
-  </pre>
-  **/
-
   public static void main(String[] args) {
     try {
 
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java
index 5c57cef155..3378d5e56d 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java
@@ -6,7 +6,6 @@
 import java.util.Set;
 
 import org.myrobotlab.codec.CodecUtils;
-import org.myrobotlab.framework.Config;
 import org.myrobotlab.framework.Registration;
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.interfaces.Attachable;
@@ -861,7 +860,6 @@ public void setMinMax(double minXY, double maxXY) {
   }
 
   @Override
-  @Config // default - if pin is different - output servo.setPin()
   public void setPin(Integer pin) {
     if (pin == null) {
       log.info("{}.setPin(null) as pin is not a valid pin value", pin);
@@ -1160,7 +1158,7 @@ public C apply(C c) {
 
     if (c.synced != null) {
       syncedServos.clear();
-        Collections.addAll(syncedServos, c.synced);
+      Collections.addAll(syncedServos, c.synced);
     }
 
     // rest = c.rest;
diff --git a/src/main/java/org/myrobotlab/service/config/RasPiConfig.java b/src/main/java/org/myrobotlab/service/config/RasPiConfig.java
index f10c2a1fc3..e676dc474b 100644
--- a/src/main/java/org/myrobotlab/service/config/RasPiConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/RasPiConfig.java
@@ -8,6 +8,8 @@ public class RasPiConfig extends ServiceConfig {
      */
     public int pollRateHz = 1;
     
+    public boolean pollOnStart = false;
+    
     // TODO - config which starts pins in a mode (read/write) and if write a value 0/1
 
 }
diff --git a/src/main/java/org/myrobotlab/service/interfaces/MotorControl.java b/src/main/java/org/myrobotlab/service/interfaces/MotorControl.java
index d965d847a3..ddbae382f7 100644
--- a/src/main/java/org/myrobotlab/service/interfaces/MotorControl.java
+++ b/src/main/java/org/myrobotlab/service/interfaces/MotorControl.java
@@ -28,7 +28,6 @@
 import org.myrobotlab.framework.interfaces.Attachable;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.sensor.EncoderPublisher;
-import org.myrobotlab.service.abstracts.AbstractMotor;
 import org.slf4j.Logger;
 
 public interface MotorControl extends RelativePositionControl, AnalogListener, Attachable {
@@ -67,7 +66,6 @@ default void attachMotorController(MotorController controller) throws Exception
    * the need of typed references 
    * 
    * @param controller
-   * @throws Exception
    */
   default void detachMotorController(MotorController controller){
     if (controller == null) {
@@ -81,7 +79,6 @@ default void detachMotorController(MotorController controller){
   /**
    * Implementation of detachMotorController
    * @param controller
-   * @throws Exception
    */
   void detachMotorController(String controller);
 
diff --git a/src/main/java/org/myrobotlab/service/interfaces/ServoControl.java b/src/main/java/org/myrobotlab/service/interfaces/ServoControl.java
index 1a38dcaaf0..1e140ce167 100644
--- a/src/main/java/org/myrobotlab/service/interfaces/ServoControl.java
+++ b/src/main/java/org/myrobotlab/service/interfaces/ServoControl.java
@@ -25,7 +25,6 @@
 
 package org.myrobotlab.service.interfaces;
 
-import org.myrobotlab.framework.Config;
 import org.myrobotlab.framework.interfaces.Attachable;
 import org.myrobotlab.framework.interfaces.StateSaver;
 import org.myrobotlab.math.interfaces.Mapper;
@@ -55,7 +54,6 @@ public interface ServoControl extends AbsolutePositionControl, EncoderListener,
   /**
    * enable the PWM pulses/power to the servo
    */
-  @Config
   void enable();
 
   /**
@@ -351,7 +349,7 @@ public interface ServoControl extends AbsolutePositionControl, EncoderListener,
   /**
    * synchronizing servos together e.g. leftEye.sync("rightEye")
    * 
-   * @param servo
+   * @param name
    *          name that's being synched e.g. master.synch("slave")
    */
   void sync(String name);
diff --git a/src/main/java/org/myrobotlab/service/interfaces/StateChangeListener.java b/src/main/java/org/myrobotlab/service/interfaces/StateChangeListener.java
new file mode 100644
index 0000000000..9003350343
--- /dev/null
+++ b/src/main/java/org/myrobotlab/service/interfaces/StateChangeListener.java
@@ -0,0 +1,9 @@
+package org.myrobotlab.service.interfaces;
+
+import org.myrobotlab.service.FiniteStateMachine.StateChange;
+
+public interface StateChangeListener {
+
+  public void onStateChange(StateChange event);
+  
+}
diff --git a/src/main/java/org/myrobotlab/service/meta/JoystickMeta.java b/src/main/java/org/myrobotlab/service/meta/JoystickMeta.java
index 9a8d6107a8..ca544c8523 100644
--- a/src/main/java/org/myrobotlab/service/meta/JoystickMeta.java
+++ b/src/main/java/org/myrobotlab/service/meta/JoystickMeta.java
@@ -28,11 +28,6 @@ public JoystickMeta() {
       log.info("adding jinput native dependencies");
       addDependency("jinput-natives", "jinput-natives", "2.0.7", "zip");
     }
-    // addDependency("net.java.jinput", "jinput-platform", "2.0.7");
-    // addArtifact("net.java.jinput", "natives-windows");
-    // addArtifact("net.java.jinput", "natives-linux");
-    // addArtifact("")
-
   }
 
 }
diff --git a/src/test/java/org/myrobotlab/service/ArduinoTest.java b/src/test/java/org/myrobotlab/service/ArduinoTest.java
index 5dff17f399..7a6422d29d 100644
--- a/src/test/java/org/myrobotlab/service/ArduinoTest.java
+++ b/src/test/java/org/myrobotlab/service/ArduinoTest.java
@@ -20,7 +20,6 @@
 import org.myrobotlab.service.data.DeviceMapping;
 import org.myrobotlab.service.interfaces.PinArrayListener;
 import org.myrobotlab.service.interfaces.PinDefinition;
-import org.myrobotlab.service.interfaces.PinListener;
 import org.myrobotlab.service.interfaces.SerialDevice;
 import org.myrobotlab.test.AbstractTest;
 import org.slf4j.Logger;
@@ -218,7 +217,7 @@ public final void pinArrayTest() {
     sleep(200);
     arduino01.reset();
     // Wait for reset to complete
-    sleep(100);
+    sleep(200);
 
     assertTrue("did not get pin array data D10", catcher.containsPinArrayFromPin(arduino01.getPin(10).getPinName()));
     assertTrue("did not get pin array data D12", catcher.containsPinArrayFromPin(arduino01.getPin(12).getPinName()));
@@ -471,8 +470,10 @@ public void testPin() throws Exception {
     arduino01.attachPinListener(catcher);
 
     arduino01.enablePin(pin.getAddress());
-    sleep(100);
+    sleep(200);
     arduino01.disablePin(pin.getAddress());
+    assertNotNull("should not be null", catcher.pinData);
+    assertNotNull("should not be null2", catcher.pinData.pin);
     assertTrue("did not receive pin data int", catcher.pinData.pin.equals(analogPin));
 
     catcher.pinData = null;
diff --git a/src/test/java/org/myrobotlab/service/ClockTest.java b/src/test/java/org/myrobotlab/service/ClockTest.java
index 83de45d7fa..5a229ef89f 100644
--- a/src/test/java/org/myrobotlab/service/ClockTest.java
+++ b/src/test/java/org/myrobotlab/service/ClockTest.java
@@ -91,7 +91,7 @@ public void testService() throws Exception {
     clock.restartClock();
     
     // wait now for the event
-    Service.sleep(1100);
+    Service.sleep(1500);
     assertNotNull("should have event now", gateway.getMsg("mocker", "onEpoch"));
     clock.restartClock();
     Service.sleep(500);
diff --git a/src/test/java/org/myrobotlab/service/ServiceInterfaceTest.java b/src/test/java/org/myrobotlab/service/ServiceInterfaceTest.java
index 440ebeb59e..806985daa6 100644
--- a/src/test/java/org/myrobotlab/service/ServiceInterfaceTest.java
+++ b/src/test/java/org/myrobotlab/service/ServiceInterfaceTest.java
@@ -122,7 +122,7 @@ public final void testAllServices() throws ClassNotFoundException, IOException {
     blacklist.add("Solr");
     blacklist.add("Proxy"); // interesting idea - but no worky
     blacklist.add("Sphinx");
-    blacklist.add("SwingGui");
+
     // This one just takes so darn long.
     blacklist.add("Deeplearning4j");
     blacklist.add("OculusDiy");
diff --git a/src/test/java/org/myrobotlab/service/ServiceSmokeTest.java b/src/test/java/org/myrobotlab/service/ServiceSmokeTest.java
index 13d1529570..55089cb620 100755
--- a/src/test/java/org/myrobotlab/service/ServiceSmokeTest.java
+++ b/src/test/java/org/myrobotlab/service/ServiceSmokeTest.java
@@ -95,7 +95,12 @@ public void testAllServiceSerialization() {
 
       }
 
-      Runtime.releaseAll();
+      // releases all service including runtime
+      Runtime.releaseAll(true, true);
+
+      // starts new service
+      Runtime.start("clock", "Clock");
+      Runtime.setAllVirtual(true);
 
       log.info("Done with tests..");
 
diff --git a/src/test/java/org/myrobotlab/service/UltrasonicSensorTest.java b/src/test/java/org/myrobotlab/service/UltrasonicSensorTest.java
index 9dfe3b0dce..dbe063d5fa 100644
--- a/src/test/java/org/myrobotlab/service/UltrasonicSensorTest.java
+++ b/src/test/java/org/myrobotlab/service/UltrasonicSensorTest.java
@@ -56,7 +56,7 @@ public void testUltrasonicSensor() throws TimeoutException {
     // 1 hz
     ultra.setRate(1);
     ultra.startRanging();
-    Message msg = gateway.waitForMsg("mocker@mockId", "onRange", 1000);
+    Message msg = gateway.waitForMsg("mocker@mockId", "onRange", 1500);
     Double r = (Double)msg.data[0];
     assertNotNull(r);
     ultra.stopRanging();