diff --git a/src/main/java/org/myrobotlab/service/AudioFile.java b/src/main/java/org/myrobotlab/service/AudioFile.java
index 6a4dc76221..104db4dce0 100644
--- a/src/main/java/org/myrobotlab/service/AudioFile.java
+++ b/src/main/java/org/myrobotlab/service/AudioFile.java
@@ -223,10 +223,10 @@ public AudioData play(String filename, boolean blocking, Integer repeat, String
     data.track = track;
     data.repeat = repeat;
 
-    return play(data);
+    return playAudioData(data);
   }
 
-  public AudioData play(AudioData data) {
+  public AudioData playAudioData(AudioData data) {
     // use File interface such that filename is preserved
     // but regardless of location (e.g. url, local, resource)
     // or type (mp3 wav) a stream is opened and the
@@ -382,7 +382,7 @@ public AudioData repeat(String filename, Integer count) {
     // TODO Auto-generated method stub
     AudioData data = new AudioData(filename);
     data.repeat = count;
-    return play(data);
+    return playAudioData(data);
   }
 
   @Deprecated /* use setTrack() */
diff --git a/src/main/java/org/myrobotlab/service/I2cMux.java b/src/main/java/org/myrobotlab/service/I2cMux.java
index ced3b15a46..62fdebb2fa 100644
--- a/src/main/java/org/myrobotlab/service/I2cMux.java
+++ b/src/main/java/org/myrobotlab/service/I2cMux.java
@@ -237,11 +237,13 @@ public void attach(Attachable service) throws Exception {
     }
   }
 
+  @Deprecated /* use attach(String) */
   public void attach(String controllerName, String deviceBus, String deviceAddress) {
     attach((I2CController) Runtime.getService(controllerName), deviceBus, deviceAddress);
   }
 
   @Override
+  @Deprecated /*use attach(String) */
   public void attach(I2CController controller, String deviceBus, String deviceAddress) {
 
     if (isAttached && this.controller != controller) {
diff --git a/src/main/java/org/myrobotlab/service/Motor.java b/src/main/java/org/myrobotlab/service/Motor.java
index 6b410e1f7d..e9e7a00004 100644
--- a/src/main/java/org/myrobotlab/service/Motor.java
+++ b/src/main/java/org/myrobotlab/service/Motor.java
@@ -196,4 +196,16 @@ public static void main(String[] args) {
 
   }
 
+  @Override
+  public void attachMotorController(String controller) throws Exception {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public void detachMotorController(String controller) {
+    // TODO Auto-generated method stub
+    
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/MotorDualPwm.java b/src/main/java/org/myrobotlab/service/MotorDualPwm.java
index fe4764ae6d..e1746ca071 100644
--- a/src/main/java/org/myrobotlab/service/MotorDualPwm.java
+++ b/src/main/java/org/myrobotlab/service/MotorDualPwm.java
@@ -1,14 +1,13 @@
 package org.myrobotlab.service;
 
-import java.io.IOException;
 import java.util.Arrays;
 import java.util.List;
 
+import org.myrobotlab.framework.Platform;
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractMotor;
 import org.myrobotlab.service.config.MotorDualPwmConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 
 public class MotorDualPwm extends AbstractMotor<MotorDualPwmConfig> {
   private static final long serialVersionUID = 1L;
@@ -92,32 +91,34 @@ public MotorDualPwmConfig apply(MotorDualPwmConfig c) {
     return c;
   }
 
-  public static void main(String[] args) throws InterruptedException {
-
-    LoggingFactory.init(Level.INFO);
-    String arduinoPort = "COM5";
-
-    VirtualArduino virtual = (VirtualArduino) Runtime.start("virtual", "VirtualArduino");
+  public static void main(String[] args) {
     try {
-      virtual.connect(arduinoPort);
-    } catch (IOException e) {
-      // TODO Auto-generated catch block
-      e.printStackTrace();
-    }
-    Runtime.start("gui", "SwingGui");
-    Runtime.start("python", "Python");
+      LoggingFactory.init(Level.INFO);
+      String arduinoPort = "COM5";
+
+      Platform.setVirtual(true);
+      Runtime.startConfig("dev");
+      Runtime.start("webgui", "WebGui");
+      MotorDualPwm motor = (MotorDualPwm) Runtime.start("motor", "MotorDualPwm");
+      Arduino arduino = (Arduino) Runtime.start("arduino", "Arduino");
+      arduino.connect(arduinoPort);
+      motor.setPwmPins(10, 11);
 
-    MotorDualPwm motor = (MotorDualPwm) Runtime.start("motor", "MotorDualPwm");
-    Arduino arduino = (Arduino) Runtime.start("arduino", "Arduino");
-    arduino.connect(arduinoPort);
-    motor.setPwmPins(10, 11);
-    try {
       motor.attach(arduino);
     } catch (Exception e) {
-      // TODO Auto-generated catch block
       e.printStackTrace();
     }
+  }
 
+  @Override
+  public void attachMotorController(String controller) throws Exception {
+    // TODO Auto-generated method stub
+    
   }
 
+  @Override
+  public void detachMotorController(String controller) {
+    // TODO Auto-generated method stub
+    
+  }
 }
diff --git a/src/main/java/org/myrobotlab/service/MotorHat4Pi.java b/src/main/java/org/myrobotlab/service/MotorHat4Pi.java
index 1bc2bb6c1d..47256b98e5 100644
--- a/src/main/java/org/myrobotlab/service/MotorHat4Pi.java
+++ b/src/main/java/org/myrobotlab/service/MotorHat4Pi.java
@@ -113,4 +113,16 @@ public static void main(String[] args) {
     hat.attach(raspi, "1", "0x60");
   }
 
+  @Override
+  public void attachMotorController(String controller) throws Exception {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public void detachMotorController(String controller) {
+    // TODO Auto-generated method stub
+    
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/MotorPort.java b/src/main/java/org/myrobotlab/service/MotorPort.java
index d908d79e37..055209aeec 100644
--- a/src/main/java/org/myrobotlab/service/MotorPort.java
+++ b/src/main/java/org/myrobotlab/service/MotorPort.java
@@ -52,6 +52,18 @@ public static void main(String[] args) {
       log.error("main threw", e);
     }
   }
+
+  @Override
+  public void attachMotorController(String controller) throws Exception {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public void detachMotorController(String controller) {
+    // TODO Auto-generated method stub
+    
+  }
   
   
 
diff --git a/src/main/java/org/myrobotlab/service/WebGui.java b/src/main/java/org/myrobotlab/service/WebGui.java
index dd2178bf8c..d007befe6e 100644
--- a/src/main/java/org/myrobotlab/service/WebGui.java
+++ b/src/main/java/org/myrobotlab/service/WebGui.java
@@ -1179,7 +1179,7 @@ public static void main(String[] args) {
 
       // Platform.setVirtual(true);
       
-      Runtime.startConfig("default");
+      Runtime.startConfig("dev");
       
       boolean done = true;
       if (done) {
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
index eb496e0d35..9af8d6b32c 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
@@ -42,10 +42,8 @@
 import org.myrobotlab.sensor.EncoderPublisher;
 import org.myrobotlab.service.Runtime;
 import org.myrobotlab.service.config.GeneralMotorConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.AnalogData;
 import org.myrobotlab.service.interfaces.AnalogPublisher;
-import org.myrobotlab.service.interfaces.ButtonDefinition;
 import org.myrobotlab.service.interfaces.MotorControl;
 import org.myrobotlab.service.interfaces.MotorController;
 import org.slf4j.Logger;
@@ -80,16 +78,6 @@ abstract public class AbstractMotor<C extends GeneralMotorConfig> extends Servic
    */
   protected boolean locked = false;
 
-  /**
-   * attached analog publishers to this service - functionally its a simple
-   * "lock" to avoid cyclic attach/detaches - works well
-   */
-  // final protected Set<String> analogPublishers = new HashSet<>();
-  // bad idea publishers internally will need to know about subscribers
-  // but not the other way around ... could this be a general pattern for
-  // how to manage attach? ie publishers attach "always" needs to be called
-  // subscribers can just call publishers attach with their attach
-
   /**
    * the power level requested - varies between -1.0 &lt;--&gt; 1.0
    */
@@ -99,7 +87,11 @@ abstract public class AbstractMotor<C extends GeneralMotorConfig> extends Servic
 
   protected Double positionCurrent; // aka currentPos
 
-  // private String axisName;
+  /**
+   * controller now is part of config,
+   * isAttached is if that controller is or is not attached
+   */
+  protected boolean isAttached = false;
 
   public AbstractMotor(String n, String id) {
     super(n, id);
@@ -135,8 +127,7 @@ public Set<String> refreshControllers() {
   }
 
   public MotorController getController() {
-    GeneralMotorConfig c = config;
-    return (MotorController) Runtime.getService(c.controller);
+    return (MotorController) Runtime.getService(config.controller);
   }
 
   // FIXME - repair input/output
@@ -147,14 +138,15 @@ public double getPowerLevel() {
 
   @Override
   public boolean isAttached(MotorController controller) {
-    GeneralMotorConfig c = config;
-    return controller.getName().equals(c.controller);
+    if (controller == null) {
+      return false;
+    }
+    return controller.getName().equals(config.controller);
   }
 
   @Override
   public boolean isInverted() {
-    GeneralMotorConfig c = config;
-    return c.mapper.maxIn < c.mapper.minOut;
+    return config.mapper.maxIn < config.mapper.minOut;
   }
 
   @Override
@@ -169,18 +161,18 @@ public void move(double powerInput) {
       info("%s is locked - will not move");
       return;
     }
-    GeneralMotorConfig c = config;
+
     // FIXME make mapper.isInInputRange(x)
-    double min = Math.min(c.mapper.minIn, c.mapper.maxIn);
-    double max = Math.max(c.mapper.minIn, c.mapper.maxIn);
+    double min = Math.min(config.mapper.minIn, config.mapper.maxIn);
+    double max = Math.max(config.mapper.minIn, config.mapper.maxIn);
 
     if (powerInput < min) {
-      warn("requested power %.2f is under minimum %.2f", powerInput, c.mapper.minIn);
+      warn("requested power %.2f is under minimum %.2f", powerInput, config.mapper.minIn);
       return;
     }
 
     if (powerInput > max) {
-      warn("requested power %.2f is over maximum %.2f", powerInput, c.mapper.maxIn);
+      warn("requested power %.2f is over maximum %.2f", powerInput, config.mapper.maxIn);
       return;
     }
 
@@ -189,47 +181,52 @@ public void move(double powerInput) {
     MotorController controller = getController();
     if (controller != null) {
       invoke("publishPowerChange", powerInput);
-      invoke("publishPowerOutputChange", c.mapper.calcOutput(powerInput));
+      invoke("publishPowerOutputChange", config.mapper.calcOutput(powerInput));
       controller.motorMove(this);
     }
-    // broadcastState();
   }
 
   @Override
   public double publishPowerChange(double powerInput) {
     return powerInput;
   }
-  
+
   /**
    * the published output of this motor control
    */
   public double publishPowerOutputChange(double output) {
     return output;
   }
-  
 
   @Override
   public void setInverted(boolean invert) {
     log.warn("setting {} inverted = {}", getName(), invert);
-    GeneralMotorConfig c = config;
-    double temp = c.mapper.minIn;
-    c.mapper.minIn = c.mapper.maxIn;
-    c.mapper.maxIn = temp;
+    
+    // FIXME - this is residue when mapper had inverted state - 
+    // which it shouldn't, "inverted" is just values of the in/out params
+    
+    if (!invert) {
+      return;
+    }
+
+    double temp = config.mapper.minIn;
+    config.mapper.minIn = config.mapper.maxIn;
+    config.mapper.maxIn = temp;
     broadcastState();
   }
 
   @Override
   public void setMinMax(double min, double max) {
-    GeneralMotorConfig c = config;
-    c.mapper.minIn = min;
-    c.mapper.maxIn = max;
+
+    config.mapper.minIn = min;
+    config.mapper.maxIn = max;
     info("updated min %.2f max %.2f", min, max);
     broadcastState();
   }
 
   public void map(double minX, double maxX, double minY, double maxY) {
-    GeneralMotorConfig c = config;
-    c.mapper.map(minX, maxX, minY, maxY);
+
+    config.mapper.map(minX, maxX, minY, maxY);
     broadcastState();
   }
 
@@ -304,10 +301,10 @@ public void setEncoder(EncoderPublisher encoder) {
 
   @Override
   public void detachMotorController(MotorController controller) {
-    GeneralMotorConfig c = config;
+
     controller.detach(this);
     controller = null;
-    c.controller = null;
+    config.controller = null;
     broadcastState();
   }
 
@@ -350,8 +347,8 @@ public void attachMotorController(MotorController controller) throws Exception {
     }
 
     log.info("attachMotorController {}", controller.getName());
-    GeneralMotorConfig c = config;
-    c.controller = controller.getName();
+
+    config.controller = controller.getName();
     motorPorts = controller.getPorts();
     // TODO: KW: set a reasonable mapper. for pwm motor it's probable -1 to 1 to
     // 0 to 255 ? not sure.
@@ -371,8 +368,6 @@ public void attachMotorController(MotorController controller) throws Exception {
      *       So, the controller gave sane defaults, but the motor control has all the necessary configuration
      * </pre>
      */
-    Mapper defaultControllerMapper = controller.getDefaultMapper();
-    c.mapper.map(c.mapper.minIn, c.mapper.maxIn, defaultControllerMapper.getMinY(), defaultControllerMapper.getMaxY());
 
     broadcastState();
     controller.attach(this);
@@ -385,32 +380,22 @@ public boolean isAttached() {
 
   @Override
   public void detach() {
-    GeneralMotorConfig c = config;
-    c.controller = null;
-    // MAKE NOTE!: don't want to do this anymore for fear of infinit detach loop
-    // just detach this service
-//    if (controller != null) {
-//      detach(controller.getName());
-//    }
+    detach(config.controller);
   }
 
-  // FIXME - clean up the attach/detach
-  // TODO - this could be Java 8 default interface implementation
   @Override
   public void detach(String name) {
-    GeneralMotorConfig c = config;
     MotorController controller = getController();
 
     if (controller == null || !name.equals(controller.getName())) {
       return;
     }
-    // MAKE NOTE !: mutual detach - this is dangerous, because of potential
-    // cycliclal detaching for dependencies 
-    // its safer only to detach this service from the other service, vs call its detach
-    // but i think currently motorcontroller just remove notifylists (equivalent of unsubscribe)
-    // however if any of those call this detach - it will go infinite loop :(
-    // controller.detach(this); 
-    c.controller = null;
+
+    String controllerName = config.controller;
+    config.controller = null;
+    if (controllerName != null) {
+      send(controllerName, "detach", getName());
+    }
     broadcastState();
   }
 
@@ -432,34 +417,30 @@ public Set<String> getAttached() {
 
   // FIXME promote to interface
   public Mapper getMapper() {
-    GeneralMotorConfig c = config;
-    return c.mapper;
+    return config.mapper;
   }
 
   // FIXME promote to interface
   public void setMapper(MapperSimple mapper) {
-    GeneralMotorConfig c = config;
-    c.mapper = mapper;
+    config.mapper = mapper;
   }
 
   // FIXME promote to interface
   @Override
   public double calcControllerOutput() {
-    GeneralMotorConfig c = config;
-    return c.mapper.calcOutput(getPowerLevel());
+
+    return config.mapper.calcOutput(getPowerLevel());
   }
 
   @Override
   public void setAxis(String name) {
-    GeneralMotorConfig c = config;
-    c.axis = name;
+    config.axis = name;
     broadcastState();
   }
 
   @Override
   public String getAxis() {
-    GeneralMotorConfig c = config;
-    return c.axis;
+    return config.axis;
   }
 
   @Override
@@ -477,9 +458,9 @@ public C apply(C c) {
     // mapper.setClip(config.clip);
 
     // FIXME ?? future use only ServiceConfig.listeners ?
-    if (c.controller != null) {
+    if (config.controller != null) {
       try {
-        attach(c.controller);
+        attach(config.controller);
       } catch (Exception e) {
         error(e);
       }
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java
index 50bd64ccd0..f8cca2fa92 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java
@@ -545,7 +545,7 @@ AudioData play(AudioData data, boolean block) {
       log.warn("{} audioFile is null", getName());
       return data;
     }
-    return audioFile.play(data);
+    return audioFile.playAudioData(data);
   }
 
   /**
@@ -571,6 +571,12 @@ public String publishSpeechRequested(String toSpeak) {
    * @return - list of audio data
    */
   public List<AudioData> parse(String toSpeak) {
+    
+    // we generate a list of audio data to play to support
+    // synthesizing this speech
+    List<AudioData> playList = new ArrayList<AudioData>();
+    
+    try {
 
     // TODO - not sure if we want to support this notation
     // but at the moment it seems useful
@@ -596,10 +602,6 @@ public List<AudioData> parse(String toSpeak) {
 
     toSpeak = filterText(toSpeak);
 
-    // we generate a list of audio data to play to support
-    // synthesizing this speech
-    List<AudioData> playList = new ArrayList<AudioData>();
-
     for (String speak : spokenParts) {
 
       AudioData audioData = null;
@@ -627,6 +629,9 @@ public List<AudioData> parse(String toSpeak) {
     // so starting speaking event is when the first audio is "started"
     // and finished speaking is when the last audio is finished
 
+    } catch(Exception e) {
+      error(e);
+    }
     return playList;
   }
 
diff --git a/src/main/java/org/myrobotlab/service/interfaces/MotorControl.java b/src/main/java/org/myrobotlab/service/interfaces/MotorControl.java
index 4f5c098b99..d965d847a3 100644
--- a/src/main/java/org/myrobotlab/service/interfaces/MotorControl.java
+++ b/src/main/java/org/myrobotlab/service/interfaces/MotorControl.java
@@ -26,13 +26,65 @@
 package org.myrobotlab.service.interfaces;
 
 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 {
 
-  void attachMotorController(MotorController controller) throws Exception;
+  public final static Logger log = LoggerFactory.getLogger(MotorControl.class);
+
+  /**
+   * Attaching a motor controller with a reference is useful in Python or Java
+   * but final implementation should always be done with a named string parameter
+   * attachMotorController(String name) to support standardized messaging without
+   * the need of typed references 
+   * 
+   * @param controller
+   * @throws Exception
+   */
+  default void attachMotorController(MotorController controller) throws Exception {
+    if (controller == null) {
+      log.error("cannot attach with null controller");
+      return;
+    }
+    attachMotorController(controller.getName());
+  }
+
+  /**
+   * Implementation of attachMotorController
+   * @param controller
+   * @throws Exception
+   */
+  void attachMotorController(String controller) throws Exception;
+
+  
+  /**
+   * Detaching a motor controller with a reference is useful in Python or Java
+   * but final implementation should always be done with a named string parameter
+   * detachMotorController(String name) to support standardized messaging without
+   * the need of typed references 
+   * 
+   * @param controller
+   * @throws Exception
+   */
+  default void detachMotorController(MotorController controller){
+    if (controller == null) {
+      log.error("cannot detach with null controller");
+      return;
+    }
+    detachMotorController(controller.getName());
+  }
+
+
+  /**
+   * Implementation of detachMotorController
+   * @param controller
+   * @throws Exception
+   */
+  void detachMotorController(String controller);
 
-  void detachMotorController(MotorController controller);
 
   /**
    * the raw non-computed input range is -1.0 &lt;---&gt; 1.0
diff --git a/src/main/resources/resource/WebGui/app/service/js/MotorDualPwmGui.js b/src/main/resources/resource/WebGui/app/service/js/MotorDualPwmGui.js
index fc60b23983..c9c86d4041 100644
--- a/src/main/resources/resource/WebGui/app/service/js/MotorDualPwmGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/MotorDualPwmGui.js
@@ -6,6 +6,13 @@ angular.module('mrlapp.service.MotorDualPwmGui', []).controller('MotorDualPwmGui
 
     $scope.requestedPower = 0
     $scope.powerOutput = 0
+    $scope.options = {
+        interface: 'PinArrayControl',
+        attach: _self.selectController,
+        // isAttached: $scope.service.config.controller // callback: function...
+        // attachName: $scope.controllerName
+    }
+
 
     $scope.powerSlider = {
         value: 0,
@@ -14,12 +21,9 @@ angular.module('mrlapp.service.MotorDualPwmGui', []).controller('MotorDualPwmGui
             ceil: 100,
             minLimit: -100,
             maxLimit: 100,
-            // hideLimitLabels: true,
             onStart: function() {},
             onChange: function() {
-                // if ($scope.sliderEnabled) {
                 msg.send('move', $scope.requestedPower / 100)
-                //}
             },
             onEnd: function() {}
         }
@@ -35,8 +39,12 @@ angular.module('mrlapp.service.MotorDualPwmGui', []).controller('MotorDualPwmGui
     this.updateState = function(service) {
         $scope.service = service
         if (firstTime) {
-            $scope.requestedController = service.controllerName
+            $scope.requestedController = service.config.controller
             firstTime = false
+
+            $scope.options.attachName = service.config.controller
+            $scope.options.isAttached = service.attached
+            $scope.options.interface = 'PinArrayControl'    
         }
     }
 
@@ -77,7 +85,7 @@ angular.module('mrlapp.service.MotorDualPwmGui', []).controller('MotorDualPwmGui
 
     $scope.update = function() {
         console.info('update')
-        msg.send('map', $scope.service.mapper.minX, $scope.service.mapper.maxX, $scope.service.mapper.minY, $scope.service.mapper.maxY)
+        msg.send('map', $scope.service.config.mapper.minIn, $scope.service.config.mapper.minIn, $scope.service.config.mapper.minOut, $scope.service.config.mapper.maxOut)
     }
 
     $scope.setController = function(c) {
@@ -91,8 +99,8 @@ angular.module('mrlapp.service.MotorDualPwmGui', []).controller('MotorDualPwmGui
     }
 
     $scope.detach = function() {
-        console.info('detach', $scope.service.controllerName)
-        msg.send('detach', $scope.service.controllerName)
+        console.info('detach')
+        msg.send('detach')
     }
 
     $scope.moveTo = function() {
diff --git a/src/main/resources/resource/WebGui/app/service/views/MotorDualPwmGui.html b/src/main/resources/resource/WebGui/app/service/views/MotorDualPwmGui.html
index 8f3256870e..bb6ff3b3f4 100644
--- a/src/main/resources/resource/WebGui/app/service/views/MotorDualPwmGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/MotorDualPwmGui.html
@@ -40,18 +40,23 @@ <h1>
                 </tr>
                 <tr>
                     <td>
-                        <input class="form-control" type="text" width="4" ng-model="service.mapper.minX" title="minimum input"/>
+                        min<br/>
+                        <input class="form-control" type="text" width="4" ng-model="service.config.mapper.minIn" title="minimum input"/>
                     </td>
                     <td>
-                        <input class="form-control" type="text" width="4" ng-model="service.mapper.maxX" title="maximum input"/>
+                        max<br/>
+                        <input class="form-control" type="text" width="4" ng-model="service.config.mapper.maxIn" title="maximum input"/>
                     </td>
                     <td>
-                        <input class="form-control" type="text" width="4" ng-model="service.mapper.minY" title="minimum output"/>
+                        min<br/>
+                        <input class="form-control" type="text" width="4" ng-model="service.config.mapper.minOut" title="minimum output"/>
                     </td>
                     <td>
-                        <input class="form-control" type="text" width="4" ng-model="service.mapper.maxY" title="maximum output"/>
+                        max<br/>
+                        <input class="form-control" type="text" width="4" ng-model="service.config.mapper.maxOut" title="maximum output"/>
                     </td>
                     <td>
+                        <br/>                        
                         <button type="button" class="btn btn-default" ng-click='update()'>update</button>
                     </td>
                 </tr>
@@ -61,7 +66,7 @@ <h1>
                 <tr>
                     <td>
                         <b>invert</b>
-                        &nbsp;<toggle ng-model="service.mapper.inverted" class="miniBTN" title="This will invert motor direction" ng-change="msg.setInverted(service.mapper.inverted)" on="" off="" size="btn-lg"/>
+                        &nbsp;<toggle ng-model="service.config.mapper.inverted" class="miniBTN" title="This will invert motor direction" ng-change="msg.setInverted(true)" on="" off="" size="btn-lg"/>
                     </td>
                     <td></td>
                     <td></td>
@@ -73,19 +78,9 @@ <h1>
 </div>
 <div class="row">
     <div class="col-md-6">
-        <div class="btn-group" uib-dropdown>
-            <button type="button" class="btn btn-default">controller {{requestedController}}</button>
-            <button id="single-button" type="button" class="btn btn-default" uib-dropdown-toggle>
-                <span class="caret"></span>
-            </button>
-            <ul uib-dropdown-menu role="menu" aria-labelledby="single-button">
-                <li ng-repeat="c in service.controllers">
-                    <a href="" ng-click="setController(c)">{{c}}</a>
-                </li>
-            </ul>
-        </div>
-        <button type="button" class="btn btn-default" ng-click='attach()' ng-show='!service.controllerName'>attach</button>
-        <button type="button" class="btn btn-default" ng-click='detach()' ng-show='service.controllerName'>detach</button>
+        <attach options='options'/>
+        <button type="button" class="btn btn-default" ng-click='attach()' ng-show='!service.config.controller'>attach</button>
+        <button type="button" class="btn btn-default" ng-click='detach()' ng-show='service.config.controller'>detach</button>
         <div class="btn-group" uib-dropdown>
             <button type="button" class="btn btn-default">left pin {{service.leftPwmPin}}</button>
             <button id="single-button" ng-disabled="service.controller != null" type="button" class="btn btn-default" uib-dropdown-toggle>
@@ -108,7 +103,7 @@ <h1>
                 </li>
             </ul>
         </div>
-        <button type="button" class="btn btn-default" ng-click='stop()' ng-show='service.controllerName'>
+        <button type="button" class="btn btn-default" ng-click='stop()' ng-show='service.config.controller'>
             <img src="stop-large.png" width="40"/>
         </button>
     </div>