diff --git a/CHANGELOG b/CHANGELOG
index 2ee23a6c..58bbdefb 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,3 +1,6 @@
+1.1.0
+   * add support for hamster
+
 1.0.4
     * fix missing stddef.h include in i2c.h
     * add kmartin36's PRU encoder robustness improvement
@@ -187,4 +190,4 @@
 0.1.0
     * installs on Blue as well and Black
 
-// indentation is with spaces to allow copy/paste into debian/changelog
\ No newline at end of file
+// indentation is with spaces to allow copy/paste into debian/changelog
diff --git a/examples/src/rc_test_servos.c b/examples/src/rc_test_servos.c
index 190514a7..93203c17 100644
--- a/examples/src/rc_test_servos.c
+++ b/examples/src/rc_test_servos.c
@@ -258,10 +258,12 @@ int main(int argc, char *argv[])
 		switch(mode){
 
 		case NORM:
+			//printf("calling pulse_normalized %d -> %f\n", ch, servo_pos);
 			if(rc_servo_send_pulse_normalized(ch,servo_pos)==-1) return -1;
 			break;
 
 		case MICROSECONDS:
+			//printf("calling pulse_us %d -> %d\n", ch, width_us);
 			if(rc_servo_send_pulse_us(ch, width_us)==-1) return -1;
 			break;
 
diff --git a/library/Makefile b/library/Makefile
index 1a4fa71b..eddc1ca8 100644
--- a/library/Makefile
+++ b/library/Makefile
@@ -5,7 +5,7 @@ BUILDDIR	:= build
 INCLUDEDIR	:= include
 SHORTNAME	:= librobotcontrol.so
 SONAME		:= librobotcontrol.so.1
-FULLNAME	:= librobotcontrol.so.1.0.4
+FULLNAME	:= librobotcontrol.so.1.1.0
 TARGET		:= $(LIBDIR)/$(FULLNAME)
 RC_VAR_DIR	:= var/lib/robotcontrol
 
diff --git a/library/include/rc/adc.h b/library/include/rc/adc.h
index 33c56445..90302437 100644
--- a/library/include/rc/adc.h
+++ b/library/include/rc/adc.h
@@ -13,17 +13,31 @@
  * follows:
  *
  * - 1 - Ground
- * - 2 - VDD_ADC (1.8V)
- * - 3 - AIN0
- * - 4 - AIN1
- * - 5 - AIN2
- * - 6 - AIN3
+ * - 2 - VDD_ADC (1.8V) (optional 3.3V on BeagleBone AI)
+ * - 3 - AIN0 (4 on BeagleBone AI)
+ * - 4 - AIN1 (6 on BeagleBone AI)
+ * - 5 - AIN2 (7 on BeagleBone AI)
+ * - 6 - AIN3 (5 on BeagleBone AI)
  *
  * All 8 ADC channels on the Sitara including the 4 listed above can be read
  * with rc_adc_read_raw(int ch) which returns the raw integer output of the
  * 12-bit ADC. rc_adc_read_volt(int ch) additionally converts this raw value to
  * a voltage.
  *
+ * On BeagleBone AI, the on-board ADC is replaced with an SMTPE811. The pin
+ * mapping was done in a way to support touch screens and the channels are
+ * all swiveled around. The ADC2AI() macro will swivel using this table:
+ *
+ * AM3358 - AI
+ *      0 - 0 (X+)
+ *      1 - 1 (X-)
+ *      2 - 3 (Y-)
+ *      3 - 2 (Y+)
+ *      4 - 7 (IN3)
+ *      5 - 6 (IN2)
+ *      6 - 4 (IN0)
+ *      7 - 5 (IN1 - grounded on BeagleBone AI)
+ *
  * See the rc_test_adc example for sample use case.
  *
  * @addtogroup ADC
@@ -94,4 +108,4 @@ double rc_adc_dc_jack(void);
 
 #endif // RC_ADC_H
 
-/** @}  end group ADC*/
\ No newline at end of file
+/** @}  end group ADC*/
diff --git a/library/include/rc/model.h b/library/include/rc/model.h
index 97df0773..1b1a02c8 100644
--- a/library/include/rc/model.h
+++ b/library/include/rc/model.h
@@ -51,7 +51,9 @@ typedef enum rc_model_t{
 	MODEL_RPI0_W,
 	MODEL_RPI_CM,
 	MODEL_RPI_CM3,
-	MODEL_PC
+	MODEL_PC,
+	MODEL_BB_AI,
+	MODEL_BB_AI_RC
 } rc_model_t;
 
 
@@ -102,4 +104,4 @@ void rc_model_category_print(void);
 
 #endif // RC_MODEL_H
 
-/** @} end group Model*/
\ No newline at end of file
+/** @} end group Model*/
diff --git a/library/include/rc/pru.h b/library/include/rc/pru.h
index f974b16b..ff250fd3 100644
--- a/library/include/rc/pru.h
+++ b/library/include/rc/pru.h
@@ -28,7 +28,7 @@ extern "C" {
  * and "am335x-pru1-fw", please don't overwrite these if they exist. Name your
  * firmware image something like "am335x-pru0-mycustom-fw".
  *
- * @param[in]  ch       pru core to start (0 or 1)
+ * @param[in]  ch       pru core to start (0 or 1 on AM3, 2-5 on AM5)
  * @param[in]  fw_name  The firmware image name, e.g. "am335x-pru0-fw", do not
  * include '/lib/firmware' in the path, only the file name.
  *
@@ -42,15 +42,17 @@ int rc_pru_start(int ch, const char* fw_name);
  * This is done by mapping to /dev/mem and therefore requires root privileges
  * but provides extremely low-latency memory access to communicate with the PRU.
  *
+ * @param[in]  ch       pru core to reference (0 or 1 on AM3, 2-5 on AM5)
+ *
  * @return     memory pointer on success, NULL on failure
  */
-volatile uint32_t* rc_pru_shared_mem_ptr(void);
+volatile uint32_t* rc_pru_shared_mem_ptr(int ch);
 
 
 /**
  * Unloads pru binaries
  *
- * @param[in]  ch    pru core to stop (0 or 1)
+ * @param[in]  ch    pru core to stop (0 or 1 on AM3, 2-5 on AM5)
  *
  * @return     0 on success, -1 on failure.
  */
@@ -63,4 +65,4 @@ int rc_pru_stop(int ch);
 
 #endif // RC_PRU_H
 
-/** @} end group PRU */
\ No newline at end of file
+/** @} end group PRU */
diff --git a/library/include/rc/version.h b/library/include/rc/version.h
index 020a7981..5040af53 100644
--- a/library/include/rc/version.h
+++ b/library/include/rc/version.h
@@ -19,8 +19,8 @@ extern "C" {
 
 
 #define RC_LIB_VERSION_MAJOR	1
-#define RC_LIB_VERSION_MINOR	0
-#define RC_LIB_VERSION_PATCH	4
+#define RC_LIB_VERSION_MINOR	1
+#define RC_LIB_VERSION_PATCH	0
 #define RC_LIB_VERSION_HEX	((RC_LIB_VERSION_MAJOR << 16) | \
 				 (RC_LIB_VERSION_MINOR <<  8) | \
 				 (RC_LIB_VERSION_PATCH))
@@ -58,4 +58,4 @@ void rc_version_print(void);
 
 #endif //RC_VERSION_H
 
-/** @} end group version*/
\ No newline at end of file
+/** @} end group version*/
diff --git a/library/src/io/adc.c b/library/src/io/adc.c
index 67e2006e..1a2cbce8 100644
--- a/library/src/io/adc.c
+++ b/library/src/io/adc.c
@@ -13,6 +13,7 @@
 #include <fcntl.h> // for open
 #include <unistd.h> // for close
 #include <rc/adc.h>
+#include <rc/model.h>
 
 // preposessor macros
 #define unlikely(x)	__builtin_expect (!!(x), 0)
@@ -24,6 +25,7 @@
 #define V_DIV_RATIO	11.0
 #define BATT_DEADZONE	1.0
 
+#define ADC2AI(x) (x==0?0:(x==1?1:(x==2?3:(x==3?2:(x==4?7:(x==5?6:(x==6?4:(x==7?5:-1))))))))
 
 #define CHANNELS 8
 #define IIO_DIR "/sys/bus/iio/devices/iio:device0"
@@ -42,7 +44,10 @@ int rc_adc_init(void)
 	if(init_flag) return 0;
 
 	for(i=0;i<CHANNELS;i++){
-		snprintf(buf, sizeof(buf), IIO_DIR "/in_voltage%d_raw", i);
+		if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC)
+			snprintf(buf, sizeof(buf), IIO_DIR "/in_voltage%d_raw", ADC2AI(i));
+		else
+			snprintf(buf, sizeof(buf), IIO_DIR "/in_voltage%d_raw", i);
 		temp_fd = open(buf, O_RDONLY);
 		if(temp_fd<0){
 			perror("ERROR in rc_adc_init, failed to open iio adc interface\n");
@@ -100,7 +105,10 @@ double rc_adc_read_volt(int ch)
 {
 	int raw = rc_adc_read_raw(ch);
 	if(raw<0) return -1;
-	return raw * 1.8 / 4095.0;
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC)
+		return raw * 0.805664062 / 1000.0; // * in_voltage_scale = mV
+	else
+		return raw * 1.8 / 4095.0;
 }
 
 
diff --git a/library/src/io/gpio.c b/library/src/io/gpio.c
index ffa8a05e..bdcd21b8 100644
--- a/library/src/io/gpio.c
+++ b/library/src/io/gpio.c
@@ -28,7 +28,7 @@
 #define likely(x)	__builtin_expect (!!(x), 1)
 
 #define DEVICE_BASE "/dev/gpiochip"
-#define CHIPS_MAX	6 // up to 6 chip chips, make larger if you want
+#define CHIPS_MAX	10 // up to 10 chip chips, make larger if you want
 #define MAX_BUF		64
 
 
diff --git a/library/src/led.c b/library/src/led.c
index e9cfad74..3df03132 100644
--- a/library/src/led.c
+++ b/library/src/led.c
@@ -16,7 +16,7 @@
 #define unlikely(x)	__builtin_expect (!!(x), 0)
 
 
-#define SYSFS_LED_DIR "/sys/devices/platform/leds/leds/"
+#define SYSFS_LED_DIR "/sys/class/leds/"
 #define BRIGHTNESS_FILE	"/brightness"
 #define MAX_BUF 128
 #define NUM_LEDS 11
diff --git a/library/src/model.c b/library/src/model.c
index 337ab246..f48abb91 100644
--- a/library/src/model.c
+++ b/library/src/model.c
@@ -63,6 +63,14 @@ static void __check_model(void)
 
 		current_category = CATEGORY_BEAGLEBONE;
 
+		if(strcmp(c, "BeagleBoard.org BeagleBone AI")==0){
+			current_model = MODEL_BB_AI;
+			return;
+		}
+		if(strcmp(c, "BeagleBoard.org BeagleBone AI RoboticsCape")==0){
+			current_model = MODEL_BB_AI_RC;
+			return;
+		}
 		if(strcmp(c, "TI AM335x BeagleBone Black")==0){
 			current_model = MODEL_BB_BLACK;
 			return;
@@ -91,6 +99,14 @@ static void __check_model(void)
 			current_model = MODEL_BB_BLUE;
 			return;
 		}
+		if(strcmp(c, "TI AM57xx BeagleBone")==0){
+			current_model = MODEL_BB_AM57;
+			return;
+		}
+		if(strcmp(c, "TI AM57xx BeagleBone RoboticsCape")==0){
+			current_model = MODEL_BB_AM57_RC;
+			return;
+		}
 		if(strcmp(c, "TI AM335x PocketBeagle")==0) {
 			current_model = MODEL_BB_POCKET;
 			return;
@@ -182,6 +198,8 @@ void rc_model_print(void)
 	switch(model){
 
 	caseprint(MODEL_UNKNOWN)
+	caseprint(MODEL_BB_AI)
+	caseprint(MODEL_BB_AI_RC)
 	caseprint(MODEL_BB_BLACK)
 	caseprint(MODEL_BB_BLACK_RC)
 	caseprint(MODEL_BB_BLACK_W)
@@ -227,4 +245,4 @@ void rc_model_category_print(void)
 	return;
 }
 
-#undef caseprint
\ No newline at end of file
+#undef caseprint
diff --git a/library/src/pru/encoder_pru.c b/library/src/pru/encoder_pru.c
index f2e72032..aa1882fb 100644
--- a/library/src/pru/encoder_pru.c
+++ b/library/src/pru/encoder_pru.c
@@ -11,10 +11,13 @@
 #include <rc/pru.h>
 #include <rc/time.h>
 #include <rc/encoder_pru.h>
+#include <rc/model.h>
 
-#define ENCODER_PRU_CH		0 // PRU0
-#define ENCODER_PRU_FW		"am335x-pru0-rc-encoder-fw"
-#define ENCODER_MEM_OFFSET	16
+#define AM335X_ENCODER_PRU_CH		0 // PRU0
+#define AM335X_ENCODER_PRU_FW		"am335x-pru0-rc-encoder-fw"
+#define AM57XX_ENCODER_PRU_CH		3 // PRU1_1
+#define AM57XX_ENCODER_PRU_FW		"am57xx-pru1_1-rc-encoder-fw"
+#define ENCODER_MEM_OFFSET		16
 
 // pru shared memory pointer
 static volatile unsigned int* shared_mem_32bit_ptr = NULL;
@@ -22,9 +25,13 @@ static int init_flag=0;
 
 int rc_encoder_pru_init(void)
 {
+	return 0; // until we fix for AM5
 	int i;
 	// map memory
-	shared_mem_32bit_ptr = rc_pru_shared_mem_ptr();
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC)
+		shared_mem_32bit_ptr = rc_pru_shared_mem_ptr(AM57XX_ENCODER_PRU_CH);
+	else
+		shared_mem_32bit_ptr = rc_pru_shared_mem_ptr(AM335X_ENCODER_PRU_CH);
 	if(shared_mem_32bit_ptr==NULL){
 		fprintf(stderr, "ERROR in rc_encoder_pru_init, failed to map shared memory pointer\n");
 		init_flag=0;
@@ -34,9 +41,16 @@ int rc_encoder_pru_init(void)
 	shared_mem_32bit_ptr[ENCODER_MEM_OFFSET]=42;
 
 	// start pru
-	if(rc_pru_start(ENCODER_PRU_CH, ENCODER_PRU_FW)){
-		fprintf(stderr,"ERROR in rc_encoder_pru_init, failed to start PRU%d\n", ENCODER_PRU_CH);
-		return -1;
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC){
+		if(rc_pru_start(AM57XX_ENCODER_PRU_CH, AM57XX_ENCODER_PRU_FW)){
+			fprintf(stderr,"ERROR in rc_encoder_pru_init, failed to start PRU%d\n", AM57XX_ENCODER_PRU_CH);
+			return -1;
+		}
+	} else {
+		if(rc_pru_start(AM335X_ENCODER_PRU_CH, AM335X_ENCODER_PRU_FW)){
+			fprintf(stderr,"ERROR in rc_encoder_pru_init, failed to start PRU%d\n", AM335X_ENCODER_PRU_CH);
+			return -1;
+		}
 	}
 
 	// make sure memory actually got zero'd out
@@ -48,9 +62,15 @@ int rc_encoder_pru_init(void)
 		rc_usleep(100000);
 	}
 
-	fprintf(stderr, "ERROR in rc_encoder_pru_init, %s failed to load\n", ENCODER_PRU_FW);
-	fprintf(stderr, "attempting to stop PRU%d\n", ENCODER_PRU_CH);
-	rc_pru_stop(ENCODER_PRU_CH);
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC){
+		fprintf(stderr, "ERROR in rc_encoder_pru_init, %s failed to load\n", AM57XX_ENCODER_PRU_FW);
+		fprintf(stderr, "attempting to stop PRU%d\n", AM57XX_ENCODER_PRU_CH);
+		rc_pru_stop(AM57XX_ENCODER_PRU_CH);
+	} else {
+		fprintf(stderr, "ERROR in rc_encoder_pru_init, %s failed to load\n", AM335X_ENCODER_PRU_FW);
+		fprintf(stderr, "attempting to stop PRU%d\n", AM335X_ENCODER_PRU_CH);
+		rc_pru_stop(AM335X_ENCODER_PRU_CH);
+	}
 	init_flag=0;
 	return -1;
 }
@@ -62,7 +82,10 @@ void rc_encoder_pru_cleanup(void)
 	if(shared_mem_32bit_ptr != NULL){
 		shared_mem_32bit_ptr[ENCODER_MEM_OFFSET]=0;
 	}
-	rc_pru_stop(ENCODER_PRU_CH);
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC)
+		rc_pru_stop(AM57XX_ENCODER_PRU_CH);
+	else
+		rc_pru_stop(AM335X_ENCODER_PRU_CH);
 	shared_mem_32bit_ptr = NULL;
 	init_flag=0;
 	return;
diff --git a/library/src/pru/pru.c b/library/src/pru/pru.c
index b7ec26f0..107913cf 100644
--- a/library/src/pru/pru.c
+++ b/library/src/pru/pru.c
@@ -22,17 +22,63 @@
 #include <rc/pru.h>
 
 // remoteproc driver
+#warning These need to be against aliases as different numbers of remoteprocX can potentially be loaded
 #define PRU0_STATE	"/sys/class/remoteproc/remoteproc1/state"
 #define PRU1_STATE	"/sys/class/remoteproc/remoteproc2/state"
+#define PRU1_0_STATE	"/sys/class/remoteproc/remoteproc0/state"
+#define PRU1_1_STATE	"/sys/class/remoteproc/remoteproc1/state"
+#define PRU2_0_STATE	"/sys/class/remoteproc/remoteproc2/state"
+#define PRU2_1_STATE	"/sys/class/remoteproc/remoteproc3/state"
 #define PRU0_FW		"/sys/class/remoteproc/remoteproc1/firmware"
 #define PRU1_FW		"/sys/class/remoteproc/remoteproc2/firmware"
+#define PRU1_0_FW	"/sys/class/remoteproc/remoteproc0/firmware"
+#define PRU1_1_FW	"/sys/class/remoteproc/remoteproc1/firmware"
+#define PRU2_0_FW	"/sys/class/remoteproc/remoteproc2/firmware"
+#define PRU2_1_FW	"/sys/class/remoteproc/remoteproc3/firmware"
 
 // share memory pointer location
-#define PRU_ADDR	0x4A300000	// Start of PRU memory Page 184 am335x TRM
-#define PRU_LEN		0x80000		// Length of PRU memory
+#define AM335X_PRU_ADDR		0x4A300000	// Start of PRU memory Page 184 am335x TRM
+#define AM57XX_PRUSS1_ADDR	0x4B200000	// Start of PRUSS1 memory for AM57xx - See spruhz6
+#define AM57XX_PRUSS2_ADDR	0x4B280000	// Start of PRUSS2 memory for AM57xx
+/*
+ * TODO: Use /dev/bone/pru/X aliases in the future in case other uio drivers are loaded
+ *
+ * TODO: Use /dev/uioX to isolate permissions as well as abstract the offset
+ */
+#define PRU_LEN		0x20000		// Length of PRU memory (don't reach into registers)
 #define PRU_SHAREDMEM	0x10000		// Offset to shared memory
 
-static volatile unsigned int* shared_mem_32bit_ptr = NULL;
+static volatile unsigned int* shared_mem_32bit_ptr[6];
+
+static int __open_pru_ch(int ch, int state, int flags)
+{
+	int fd;
+
+	switch(ch) {
+	case 0:
+		fd=open(state?PRU0_STATE:PRU0_FW, flags);
+		break;
+	case 1:
+		fd=open(state?PRU1_STATE:PRU1_FW, flags);
+		break;
+	case 2:
+		fd=open(state?PRU1_0_STATE:PRU1_0_FW, flags);
+		break;
+	case 3:
+		fd=open(state?PRU1_1_STATE:PRU1_1_FW, flags);
+		break;
+	case 4:
+		fd=open(state?PRU2_0_STATE:PRU2_0_FW, flags);
+		break;
+	case 5:
+		fd=open(state?PRU2_1_STATE:PRU2_1_FW, flags);
+		break;
+	default:
+		fd = -1;
+		break;
+	}
+	return fd;
+}
 
 int rc_pru_start(int ch, const char* fw_name)
 {
@@ -40,10 +86,10 @@ int rc_pru_start(int ch, const char* fw_name)
 	char buf[64];
 
 	// sanity checks
-	if(ch!=0 && ch!=1){
-		fprintf(stderr, "ERROR in rc_pru_start, PRU channel must be 0 or 1\n");
-		return -1;
-	}
+	//if(ch!=0 && ch!=1){
+		//fprintf(stderr, "ERROR in rc_pru_start, PRU channel must be 0 or 1\n");
+		//return -1;
+	//}
 	if(fw_name==NULL){
 		fprintf(stderr, "ERROR in rc_pru_start, received NULL pointer\n");
 		return -1;
@@ -59,8 +105,7 @@ int rc_pru_start(int ch, const char* fw_name)
 	if(rc_pru_stop(ch)) return -1;
 
 	// write firmware title
-	if(ch==0)	fd=open(PRU0_FW, O_WRONLY);
-	else		fd=open(PRU1_FW, O_WRONLY);
+	fd=__open_pru_ch(ch, 0, O_WRONLY);
 	if(fd==-1){
 		perror("ERROR in rc_pru_start opening remoteproc driver");
 		fprintf(stderr,"need to be root to use the pru\n");
@@ -75,8 +120,7 @@ int rc_pru_start(int ch, const char* fw_name)
 
 
 	// open state fd to start pru
-	if(ch==0)	fd=open(PRU0_STATE, O_WRONLY);
-	else		fd=open(PRU1_STATE, O_WRONLY);
+	fd=__open_pru_ch(ch, 1, O_WRONLY);
 	if(fd==-1){
 		perror("ERROR in rc_pru_start opening remoteproc driver");
 		fprintf(stderr,"PRU probably not enabled in device tree\n");
@@ -91,8 +135,7 @@ int rc_pru_start(int ch, const char* fw_name)
 
 	// wait for it to start and make sure it's running
 	rc_usleep(250000);
-	if(ch==0)	fd=open(PRU0_STATE, O_RDONLY);
-	else		fd=open(PRU1_STATE, O_RDONLY);
+	fd=__open_pru_ch(ch, 1, O_RDONLY);
 	if(fd==-1){
 		perror("ERROR in rc_pru_start opening remoteproc driver");
 		fprintf(stderr,"PRU probably not enabled in device tree\n");
@@ -115,25 +158,47 @@ int rc_pru_start(int ch, const char* fw_name)
 }
 
 
-volatile uint32_t* rc_pru_shared_mem_ptr(void)
+volatile uint32_t* rc_pru_shared_mem_ptr(int ch)
 {
 	int fd;
 	volatile unsigned int* map;
+	off_t offset = 0;
 
 	// if already set, just return the pointer
-	if(shared_mem_32bit_ptr!=NULL){
-		return shared_mem_32bit_ptr;
+	if(shared_mem_32bit_ptr[ch]!=NULL){
+		return shared_mem_32bit_ptr[ch];
 	}
 
 	// map shared memory
-	fd=open("/dev/mem", O_RDWR | O_SYNC);
+	// TODO: use symlinks for repeatability
+	switch(ch) {
+	case 0:
+	case 1:
+		//offset=AM335X_PRU_ADDR;
+		fd=open("/dev/uio0", O_RDWR | O_SYNC);
+		break;
+	case 2:
+	case 3:
+		//offset=AM57XX_PRUSS1_ADDR;
+		fd=open("/dev/uio0", O_RDWR | O_SYNC);
+		break;
+	case 4:
+	case 5:
+		//offset=AM57XX_PRUSS2_ADDR;
+		fd=open("/dev/uio1", O_RDWR | O_SYNC);
+		//fd=open("/dev/mem", O_RDWR | O_SYNC);
+		break;
+	default:
+		fd=-1;
+		break;
+	}
 	if(fd==-1){
-		perror("ERROR: in rc_pru_shared_mem_ptr could not open /dev/mem");
-		fprintf(stderr, "Need to be root to access PRU shared memory\n");
+		perror("ERROR: in rc_pru_shared_mem_ptr could not open /dev/XXX");	// TODO: name interface
+		fprintf(stderr, "Need to be root to access PRU shared memory\n");	// TODO: don't need to be root for /dev/uioX, but need permissions
 		return NULL;
 	}
 
-	map = mmap(0, PRU_LEN, PROT_READ | PROT_WRITE, MAP_SHARED, fd, PRU_ADDR);
+	map = mmap(0, PRU_LEN, PROT_READ | PROT_WRITE, MAP_SHARED, fd, offset);
 	if(map==MAP_FAILED){
 		perror("ERROR in rc_pru_shared_mem_ptr failed to map memory");
 		close(fd);
@@ -143,9 +208,10 @@ volatile uint32_t* rc_pru_shared_mem_ptr(void)
 
 	// set global shared memory pointer
 	// Points to start of shared memory
-	shared_mem_32bit_ptr = map + PRU_SHAREDMEM/4;
+	shared_mem_32bit_ptr[ch] = map + PRU_SHAREDMEM/4;
+	printf("%p %p\n", map, shared_mem_32bit_ptr[ch]);
 
-	return shared_mem_32bit_ptr;
+	return shared_mem_32bit_ptr[ch];
 }
 
 
@@ -155,14 +221,13 @@ int rc_pru_stop(int ch)
 	char buf[64];
 
 	// sanity checks
-	if(ch!=0 && ch!=1){
-		fprintf(stderr, "ERROR in rc_pru_stop, PRU channel must be 0 or 1\n");
-		return -1;
-	}
+	//if(ch!=0 && ch!=1){
+		//fprintf(stderr, "ERROR in rc_pru_stop, PRU channel must be 0 or 1\n");
+		//return -1;
+	//}
 
 	// check state
-	if(ch==0)	fd=open(PRU0_STATE, O_RDONLY);
-	else		fd=open(PRU1_STATE, O_RDONLY);
+	fd=__open_pru_ch(ch, 1, O_RDONLY);
 	if(fd==-1){
 		perror("ERROR in rc_pru_stop opening remoteproc driver");
 		fprintf(stderr,"PRU probably not enabled in device tree\n");
@@ -183,8 +248,7 @@ int rc_pru_stop(int ch)
 	}
 	// if running, stop it
 	else if(strcmp(buf,"running\n")==0){
-		if(ch==0) fd=open(PRU0_STATE, O_WRONLY);
-		else fd=open(PRU1_STATE, O_WRONLY);
+		fd=__open_pru_ch(ch, 1, O_WRONLY);
 		ret=write(fd,"stop",4);
 		close(fd);
 		if(ret==-1){
@@ -200,8 +264,7 @@ int rc_pru_stop(int ch)
 
 	// wait for PRU to stop and check it stopped
 	//rc_usleep(1000000);
-	if(ch==0) fd=open(PRU0_STATE, O_RDONLY);
-	else fd=open(PRU1_STATE, O_RDONLY);
+	fd=__open_pru_ch(ch, 1, O_RDONLY);
 	memset(buf,0,sizeof(buf));
 	ret=read(fd, buf, sizeof(buf));
 	close(fd);
diff --git a/library/src/pru/servo.c b/library/src/pru/servo.c
index e9b3c699..edef65d4 100644
--- a/library/src/pru/servo.c
+++ b/library/src/pru/servo.c
@@ -13,11 +13,15 @@
 #include <rc/gpio.h>
 #include <rc/servo.h>
 #include <rc/time.h>
+#include <rc/model.h>
 
 #define TOL		0.01	// acceptable tolerance on doubleing point bounds
-#define GPIO_POWER_PIN	2,16	//gpio2.16 P8.36
-#define SERVO_PRU_CH	1	// PRU1
-#define SERVO_PRU_FW	"am335x-pru1-rc-servo-fw"
+#define AM335X_GPIO_POWER_PIN	2,16	//gpio2.16 P8.36
+#define AM335X_SERVO_PRU_CH	1	// PRU1
+#define AM335X_SERVO_PRU_FW	"am335x-pru1-rc-servo-fw"
+#define AM57XX_GPIO_POWER_PIN	7,10	//gpio8.10 P8.36
+#define AM57XX_SERVO_PRU_CH	4	// PRU2_0
+#define AM57XX_SERVO_PRU_FW	"am57xx-pru2_0-rc-servo-fw"
 #define PRU_SERVO_LOOP_INSTRUCTIONS 48 // instructions per PRU servo timer loop
 
 // pru shared memory pointer
@@ -31,13 +35,24 @@ int rc_servo_init(void)
 {
 	int i;
 	// start gpio power rail pin
-	if(rc_gpio_init(GPIO_POWER_PIN, GPIOHANDLE_REQUEST_OUTPUT)==-1){
-		fprintf(stderr, "ERROR in rc_servo_init, failed to set up power rail GPIO pin\n");
-		init_flag=0;
-		return -1;
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC){
+		if(rc_gpio_init(AM57XX_GPIO_POWER_PIN, GPIOHANDLE_REQUEST_OUTPUT)==-1){
+			fprintf(stderr, "ERROR in rc_servo_init, failed to set up power rail GPIO pin\n");
+			init_flag=0;
+			return -1;
+		}
+	} else {
+		if(rc_gpio_init(AM335X_GPIO_POWER_PIN, GPIOHANDLE_REQUEST_OUTPUT)==-1){
+			fprintf(stderr, "ERROR in rc_servo_init, failed to set up power rail GPIO pin\n");
+			init_flag=0;
+			return -1;
+		}
 	}
 	// map memory
-	shared_mem_32bit_ptr = rc_pru_shared_mem_ptr();
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC)
+		shared_mem_32bit_ptr = rc_pru_shared_mem_ptr(AM57XX_SERVO_PRU_CH);
+	else
+		shared_mem_32bit_ptr = rc_pru_shared_mem_ptr(AM335X_SERVO_PRU_CH);
 	if(shared_mem_32bit_ptr == NULL){
 		fprintf(stderr, "ERROR in rc_servo_init, failed to map shared memory pointer\n");
 		init_flag=0;
@@ -50,9 +65,16 @@ int rc_servo_init(void)
 	}
 
 	// start pru
-	if(rc_pru_start(SERVO_PRU_CH, SERVO_PRU_FW)){
-		fprintf(stderr,"ERROR in rc_servo_init, failed to start PRU%d\n", SERVO_PRU_CH);
-		return -1;
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC){
+		if(rc_pru_start(AM57XX_SERVO_PRU_CH, AM57XX_SERVO_PRU_FW)){
+			fprintf(stderr,"ERROR in rc_servo_init, failed to start PRU%d\n", AM57XX_SERVO_PRU_CH);
+			return -1;
+		}
+	} else {
+		if(rc_pru_start(AM335X_SERVO_PRU_CH, AM335X_SERVO_PRU_FW)){
+			fprintf(stderr,"ERROR in rc_servo_init, failed to start PRU%d\n", AM335X_SERVO_PRU_CH);
+			return -1;
+		}
 	}
 
 	// make sure memory actually got zero'd out
@@ -64,9 +86,15 @@ int rc_servo_init(void)
 		rc_usleep(100000);
 	}
 
-	fprintf(stderr, "ERROR in rc_servo_init, %s failed to load\n", SERVO_PRU_FW);
-	fprintf(stderr, "attempting to stop PRU1\n");
-	rc_pru_stop(SERVO_PRU_CH);
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC){
+		fprintf(stderr, "ERROR in rc_servo_init, %s failed to load\n", AM57XX_SERVO_PRU_FW);
+		fprintf(stderr, "attempting to stop PRU2_0\n");
+		rc_pru_stop(AM57XX_SERVO_PRU_CH);
+	} else {
+		fprintf(stderr, "ERROR in rc_servo_init, %s failed to load\n", AM335X_SERVO_PRU_FW);
+		fprintf(stderr, "attempting to stop PRU1\n");
+		rc_pru_stop(AM335X_SERVO_PRU_CH);
+	}
 	init_flag=0;
 	return -1;
 }
@@ -80,10 +108,18 @@ void rc_servo_cleanup(void)
 		for(i=0;i<RC_SERVO_CH_MAX;i++) shared_mem_32bit_ptr[i]=0;
 	}
 	if(init_flag!=0){
-		rc_gpio_set_value(GPIO_POWER_PIN,0);
-		rc_gpio_cleanup(GPIO_POWER_PIN);
+		if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC){
+			rc_gpio_set_value(AM57XX_GPIO_POWER_PIN,0);
+			rc_gpio_cleanup(AM57XX_GPIO_POWER_PIN);
+		} else {
+			rc_gpio_set_value(AM335X_GPIO_POWER_PIN,0);
+			rc_gpio_cleanup(AM335X_GPIO_POWER_PIN);
+		}
 	}
-	rc_pru_stop(SERVO_PRU_CH);
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC)
+		rc_pru_stop(AM57XX_SERVO_PRU_CH);
+	else
+		rc_pru_stop(AM335X_SERVO_PRU_CH);
 	shared_mem_32bit_ptr = NULL;
 	init_flag=0;
 	return;
@@ -96,9 +132,16 @@ int rc_servo_power_rail_en(int en)
 		fprintf(stderr, "ERROR in rc_servo_power_rail_en, call rc_servo_init first\n");
 		return -1;
 	}
-	if(rc_gpio_set_value(GPIO_POWER_PIN,en)==-1){
-		fprintf(stderr, "ERROR in rc_servo_power_rail_en, failed to write to GPIO pin\n");
-		return -1;
+	if(rc_model()==MODEL_BB_AI || rc_model()==MODEL_BB_AI_RC){
+		if(rc_gpio_set_value(AM57XX_GPIO_POWER_PIN,en)==-1){
+			fprintf(stderr, "ERROR in rc_servo_power_rail_en, failed to write to GPIO pin\n");
+			return -1;
+		}
+	} else {
+		if(rc_gpio_set_value(AM335X_GPIO_POWER_PIN,en)==-1){
+			fprintf(stderr, "ERROR in rc_servo_power_rail_en, failed to write to GPIO pin\n");
+			return -1;
+		}
 	}
 	return 0;
 }
@@ -133,7 +176,6 @@ int rc_servo_send_pulse_us(int ch, int us)
 		return -1;
 	}
 
-
 	// calculate what to write to pru shared memory to set pulse width
 	num_loops = ((us*200.0)/PRU_SERVO_LOOP_INSTRUCTIONS);
 
diff --git a/library/src/time.c b/library/src/time.c
index 26647144..33803b0b 100644
--- a/library/src/time.c
+++ b/library/src/time.c
@@ -17,8 +17,10 @@
 
 #include <rc/time.h>
 
+#include <stdio.h>
 
 void rc_nanosleep(uint64_t ns){
+	//printf("sleeping %llx\n", ns);
 	struct timespec req,rem;
 	req.tv_sec = ns/1000000000;
 	req.tv_nsec = ns%1000000000;
diff --git a/pru_firmware/Makefile b/pru_firmware/Makefile
index 1ff75458..1e32d588 100644
--- a/pru_firmware/Makefile
+++ b/pru_firmware/Makefile
@@ -11,12 +11,18 @@ BUILD_DIR	:= build
 
 PRU0_FW		:= am335x-pru0-rc-encoder-fw
 PRU1_FW		:= am335x-pru1-rc-servo-fw
+PRU1_1_FW	:= am57xx-pru1_1-rc-encoder-fw
+PRU2_0_FW	:= am57xx-pru2_0-rc-servo-fw
 
 TARGET0		:= $(BIN_DIR)/$(PRU0_FW)
 TARGET1		:= $(BIN_DIR)/$(PRU1_FW)
-TARGETS		:= $(TARGET0) $(TARGET1)
+TARGET2		:= $(BIN_DIR)/$(PRU1_1_FW)
+TARGET3		:= $(BIN_DIR)/$(PRU2_0_FW)
+TARGETS		:= $(TARGET0) $(TARGET1) $(TARGET2) $(TARGET3)
 LINK_PRU1_FW	:= $(BUILD_DIR)/pru1-servo.object
 LINK_PRU0_FW	:= $(BUILD_DIR)/pru0-encoder.object
+LINK_PRU2_0_FW	:= $(BUILD_DIR)/pru2_0-servo.object
+LINK_PRU1_1_FW	:= $(BUILD_DIR)/pru1_1-encoder.object
 
 RM		:= rm -f -r
 INSTALL		:= install -m 755
@@ -57,35 +63,49 @@ all: $(TARGETS)
 	@echo "Generated: $^"
 
 
-$(TARGET0): $(BUILD_DIR)/main_pru0.object $(LINK_PRU0_FW)
+$(TARGET0): $(BUILD_DIR)/main_pru.object $(LINK_PRU0_FW)
 	@echo 'LD	$^'
 	@mkdir -p $(BIN_DIR)
 	@$(LNKPRU) -i$(PRU_CGT)/lib -i$(PRU_CGT)/include $(LFLAGS) -o $@ $^  $(LINKER_COMMAND_FILE) --library=libc.a $(LIBS) $^
 
-$(TARGET1): $(BUILD_DIR)/main_pru1.object $(LINK_PRU1_FW)
+$(TARGET1): $(BUILD_DIR)/main_pru.object $(LINK_PRU1_FW)
+	@echo 'LD	$^'
+	@mkdir -p $(BIN_DIR)
+	@$(LNKPRU) -i$(PRU_CGT)/lib -i$(PRU_CGT)/include $(LFLAGS) -o $@ $^  $(LINKER_COMMAND_FILE) --library=libc.a $(LIBS) $^
+
+$(TARGET2): $(BUILD_DIR)/main_pru.object $(LINK_PRU1_1_FW)
+	@echo 'LD	$^'
+	@mkdir -p $(BIN_DIR)
+	@$(LNKPRU) -i$(PRU_CGT)/lib -i$(PRU_CGT)/include $(LFLAGS) -o $@ $^  $(LINKER_COMMAND_FILE) --library=libc.a $(LIBS) $^
+
+$(TARGET3): $(BUILD_DIR)/main_pru.object $(LINK_PRU2_0_FW)
 	@echo 'LD	$^'
 	@mkdir -p $(BIN_DIR)
 	@$(LNKPRU) -i$(PRU_CGT)/lib -i$(PRU_CGT)/include $(LFLAGS) -o $@ $^  $(LINKER_COMMAND_FILE) --library=libc.a $(LIBS) $^
 
 
-$(BUILD_DIR)/main_pru0.object: $(SRC_DIR)/main_pru0.c
+$(BUILD_DIR)/main_pru.object: $(SRC_DIR)/main_pru.c
 	@mkdir -p $(BUILD_DIR)
 	@echo 'CC	$<'
 	@$(CLPRU)  $(INCLUDE) $(CFLAGS) -fe $@ $<
 
 
-$(BUILD_DIR)/main_pru1.object: $(SRC_DIR)/main_pru1.c
+$(BUILD_DIR)/pru1-servo.object: $(SRC_DIR)/pru1-servo.asm
 	@mkdir -p $(BUILD_DIR)
 	@echo 'CC	$<'
 	@$(CLPRU)  $(INCLUDE) $(CFLAGS) -fe $@ $<
 
+$(BUILD_DIR)/pru0-encoder.object: $(SRC_DIR)/pru0-encoder.asm
+	@mkdir -p $(BUILD_DIR)
+	@echo 'CC	$<'
+	@$(CLPRU) $(INCLUDE) $(CFLAGS) -fe $@ $<
 
-$(BUILD_DIR)/pru1-servo.object: $(SRC_DIR)/pru1-servo.asm
+$(BUILD_DIR)/pru2_0-servo.object: $(SRC_DIR)/pru2_0-servo.asm
 	@mkdir -p $(BUILD_DIR)
 	@echo 'CC	$<'
 	@$(CLPRU)  $(INCLUDE) $(CFLAGS) -fe $@ $<
 
-$(BUILD_DIR)/pru0-encoder.object: $(SRC_DIR)/pru0-encoder.asm
+$(BUILD_DIR)/pru1_1-encoder.object: $(SRC_DIR)/pru1_1-encoder.asm
 	@mkdir -p $(BUILD_DIR)
 	@echo 'CC	$<'
 	@$(CLPRU) $(INCLUDE) $(CFLAGS) -fe $@ $<
@@ -96,6 +116,8 @@ install:
 	@$(INSTALLDIR) $(DESTDIR)/lib/firmware
 	@$(INSTALLNONEXEC) $(TARGET0) $(DESTDIR)/lib/firmware/
 	@$(INSTALLNONEXEC) $(TARGET1) $(DESTDIR)/lib/firmware/
+	@$(INSTALLNONEXEC) $(TARGET2) $(DESTDIR)/lib/firmware/
+	@$(INSTALLNONEXEC) $(TARGET3) $(DESTDIR)/lib/firmware/
 	@echo 'PRU Firmware Install Complete'
 
 
diff --git a/pru_firmware/fw/am335x-pru0-rc-encoder-fw b/pru_firmware/fw/am335x-pru0-rc-encoder-fw
deleted file mode 100644
index 7e3e5ed6..00000000
Binary files a/pru_firmware/fw/am335x-pru0-rc-encoder-fw and /dev/null differ
diff --git a/pru_firmware/fw/am335x-pru1-rc-servo-fw b/pru_firmware/fw/am335x-pru1-rc-servo-fw
deleted file mode 100644
index d8f5b0fb..00000000
Binary files a/pru_firmware/fw/am335x-pru1-rc-servo-fw and /dev/null differ
diff --git a/pru_firmware/src/main_pru0.c b/pru_firmware/src/main_pru.c
similarity index 95%
rename from pru_firmware/src/main_pru0.c
rename to pru_firmware/src/main_pru.c
index e069aec2..10057f1c 100644
--- a/pru_firmware/src/main_pru0.c
+++ b/pru_firmware/src/main_pru.c
@@ -49,8 +49,8 @@ void main(void)
 	/* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
 	CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
 	
-	// Access PRU Shared RAM using Constant Table                    */
-	// C28 defaults to 0x00000000, we need to set bits 23:8 to 0x0100 in order to have it point to 0x00010000	 */
+	// Access PRU Shared RAM using Constant Table 
+	// C28 defaults to 0x00000000, we need to set bits 23:8 to 0x0100 in order to have it point to 0x00010000
 	PRU0_CTRL.CTPPR0_bit.C28_BLK_POINTER = 0x0100;
 
 	start();
diff --git a/pru_firmware/src/main_pru1.c b/pru_firmware/src/main_pru1.c
deleted file mode 100644
index 75e63e35..00000000
--- a/pru_firmware/src/main_pru1.c
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * Source Modified by Zubeen Tolani < ZeekHuge - zeekhuge@gmail.com >
- * Based on the examples distributed by TI
- *
- * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- *	* Redistributions of source code must retain the above copyright
- *	  notice, this list of conditions and the following disclaimer.
- *
- *	* Redistributions in binary form must reproduce the above copyright
- *	  notice, this list of conditions and the following disclaimer in the
- *	  documentation and/or other materials provided with the
- *	  distribution.
- *
- *	* Neither the name of Texas Instruments Incorporated nor the names of
- *	  its contributors may be used to endorse or promote products derived
- *	  from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
- * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
- * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
- * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include <stdint.h>
-#include <pru_cfg.h>
-#include "resource_table_pru1.h"
-
-// The function is defined in pru1_asm_blinky.asm in same dir
-// We just need to add a declaration here, the defination can be
-// seperately linked
-extern void start(void);
-
-void main(void)
-{
-    /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
-	CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
-
-	start();
-}
-
diff --git a/pru_firmware/src/pru1-servo.asm b/pru_firmware/src/pru1-servo.asm
index 757e196f..528b4fda 100644
--- a/pru_firmware/src/pru1-servo.asm
+++ b/pru_firmware/src/pru1-servo.asm
@@ -9,7 +9,7 @@
 ;* published by the Free Software Foundation.
 
 
-	.cdecls "main_pru1.c"
+	.cdecls "main_pru.c"
 
 DELAY	.macro time, reg
 	LDI32	reg, time
diff --git a/pru_firmware/src/pru1_1-encoder.asm b/pru_firmware/src/pru1_1-encoder.asm
new file mode 100644
index 00000000..6851a9db
--- /dev/null
+++ b/pru_firmware/src/pru1_1-encoder.asm
@@ -0,0 +1,123 @@
+; Converted to clpru by Mark A. Yoder
+;	26-July-2016
+
+; pru_0_encoder.p
+; assembly code for counting quadrature encoder signal on inputs R31_14 & 15
+
+; Copyright (c) 2015, James Strawson
+; All rights reserved.
+
+; Redistribution and use in source and binary forms, with or without
+; modification, are permitted provided that the following conditions are met:
+
+; 1. Redistributions of source code must retain the above copyright notice, this
+;   list of conditions and the following disclaimer.
+; 2. Redistributions in binary form must reproduce the above copyright notice,
+;   this list of conditions and the following disclaimer in the documentation
+;   and/or other materials provided with the distribution.
+
+; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+; ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+; WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+; DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+; ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+; (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+; ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+; (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+; SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+; The views and conclusions contained in the software and documentation are those
+; of the authors and should not be interpreted as representing official policies,
+; either expressed or implied, of the FreeBSD Project.
+
+;	.cdecls "robotics_cape_defs.h"
+
+; PRU setup definitions
+	; .asg    C4,     CONST_SYSCFG
+	.asg    C28,    CONST_PRUSHAREDRAM
+
+	.asg	0x22000,	PRU0_CTRL
+	.asg    0x24000,    PRU1_CTRL       ; page 19
+	; .asg    0x28,       CTPPR0          ; page 75
+
+	.asg	0x000,	OWN_RAM
+	.asg	0x020,	OTHER_RAM
+	.asg    0x100,	SHARED_RAM       ; This is so prudebug can find it.
+	.asg    64,     CNT_OFFSET
+
+; Encoder counting definitions
+; these pin definitions are specific to SD-101D Robotics Cape
+	.asg	r0,			OLD		; keep last known values of chA and B in memory
+	.asg	r1,			EXOR	; place to store the XOR of old with new AB vals
+	.asg	18,			A
+	.asg	16,			B
+
+increment	.macro
+	LBCO	&r2, CONST_PRUSHAREDRAM, CNT_OFFSET, 4	; load existing counter from shared memory
+	ADD	r2, r2, 1		; increment
+	SBCO	&r2, CONST_PRUSHAREDRAM, CNT_OFFSET, 4	; write to shared memory
+	QBA CHECKPINS				; jump back to main CHECKPINS
+	.endm
+
+decrement	.macro
+	LBCO	&r2, CONST_PRUSHAREDRAM, CNT_OFFSET, 4	; load existing counter from shared memory
+	SUB 	r2, r2, 1		; subtract 1
+	SBCO	&r2, CONST_PRUSHAREDRAM, CNT_OFFSET, 4	; write to shared memory
+	QBA CHECKPINS				;/ jump back to main CHECKPINS
+	.endm
+
+	.clink
+	.global start
+start:
+; 	LBCO	&r0, CONST_SYSCFG, 4, 4		; Enable OCP master port
+; 	CLR	r0, r0, 4					; Clear SYSCFG[STANDBY_INIT] to enable OCP master port
+; 	SBCO	&r0, CONST_SYSCFG, 4, 4
+; Configure the programmable pointer register for PRU0 by setting c28_pointer[15:0]
+	; LDI     r0, SHARED_RAM              ; Set C28 to point to shared RAM
+	; LDI32   r1, PRU0_CTRL + CTPPR0		; Note we use beginning of shared ram unlike example which
+	; SBBO    &r0, r1, 0, 4				; has arbitrary 2048 offset
+
+; initialize by setting current state of two channels
+	MOV 	OLD, r31
+	zero	&r2, 4
+	SBCO	&r2, CONST_PRUSHAREDRAM, CNT_OFFSET, 4	; write 0 to shared memory
+
+; CHECKPINS here forever looking for pin changes
+CHECKPINS:
+	XOR EXOR, OLD, r31
+	QBBS A_CHANGED, EXOR, A	; Branch if CHA has toggled
+	QBBS B_CHANGED, EXOR, B ; Branch if CHB has toggled
+	QBA CHECKPINS
+
+
+A_CHANGED:
+	XOR OLD, OLD, EXOR	; update old value now that something changed
+	QBBS CHECKPINS, EXOR, B ; Branch if CHA and CHB have both toggled
+	QBBC A_FELL,  OLD, A	; Branch if CHA has fallen
+	QBBS DECREMENT, OLD, B	; A has risen, if B is HIGH, decrement
+	increment		; otherwise increment
+
+B_CHANGED:
+	XOR OLD, OLD, EXOR	; update old value now that something changed
+	QBBC B_FELL,  OLD, B	; Branch if CHB has fallen
+	QBBS INCREMENT, OLD, A	; ch B has risen, if A is HIGH, increment
+	decrement		; otherwise decrement
+
+A_FELL:				; CHA has fallen, check CHB
+	QBBC DECREMENT, OLD, B	; if CHB is clear (low) decrement
+	increment		; CHB must be high, so decrement counter
+
+B_FELL:				; CHB has fallen, check CHA
+	QBBC INCREMENT, OLD, A	; if CHA is clear (low) decrement
+	decrement
+
+
+DECREMENT:
+	decrement
+
+INCREMENT:
+	increment
+
+
+	HALT	; we should never actually get here
diff --git a/pru_firmware/src/pru2_0-servo.asm b/pru_firmware/src/pru2_0-servo.asm
new file mode 100644
index 00000000..ed01d005
--- /dev/null
+++ b/pru_firmware/src/pru2_0-servo.asm
@@ -0,0 +1,168 @@
+;*
+;* Copyright (C) 2016 Zubeen Tolani <ZeekHuge - zeekhuge@gmail.com>
+;*
+;* This file is as an example to show how to develope
+;* and compile inline assembly code for PRUs
+;*
+;* From Jason: note, this is not "inline" assembly. This is just calling
+;* assembly from a C function. Also, does it make any sense to hold a
+;* copyright over a program by simply providing an example that is really
+;* very much known to those practiced in the art? How about a thanks in
+;* the comments rather than a copyright?
+;*
+;* This program is free software; you can redistribute it and/or modify
+;* it under the terms of the GNU General Public License version 2 as
+;* published by the Free Software Foundation.
+
+
+	.cdecls "main_pru.c"
+
+DELAY	.macro time, reg
+	LDI32	reg, time
+	QBEQ	$E?, reg, 0
+$M?:	SUB	reg, reg, 1
+	QBNE	$M?, reg, 0
+$E?:
+	.endm
+
+
+	.clink
+	.global start
+start:
+	LDI 	R30, 0xFFFF
+	DELAY 	10000000, r11
+	LDI		R30, 0x0000
+	DELAY 	10000000, r11
+; 	JMP	start
+
+; 	HALT
+
+
+; these pin definitions are specific to SD-101C Robotics Cape
+    .asg    r30.t16,     CH1BIT  ; P8_27
+	.asg    r30.t17,    CH2BIT	; P8_28
+	.asg    r30.t18,     CH3BIT	; P8_29
+	.asg	r30.t19,	CH4BIT	; P8_30
+	.asg	r30.t3,		CH5BIT	; P8_39
+	.asg	r30.t4,		CH6BIT	; P8_40
+	.asg	r30.t1,		CH7BIT	; P8_41
+	.asg	r30.t2,		CH8BIT	; P8_42
+
+	.asg    C4,     CONST_SYSCFG
+	.asg    C28,    CONST_PRUSHAREDRAM
+
+	.asg	0x22000,	PRU0_CTRL
+	.asg    0x24000,    PRU1_CTRL       ; page 19
+	.asg    0x28,       CTPPR0          ; page 75
+
+	.asg	0x000,	OWN_RAM
+	.asg	0x020,	OTHER_RAM
+	.asg    0x100,	SHARED_RAM       ; This is so prudebug can find it.
+
+	LBCO	&r0, CONST_SYSCFG, 4, 4		; Enable OCP master port
+	CLR 	r0, r0, 4					; Clear SYSCFG[STANDBY_INIT] to enable OCP master port
+	SBCO	&r0, CONST_SYSCFG, 4, 4
+
+; Configure the programmable pointer register for PRU0 by setting c28_pointer[15:0]
+	LDI     r0, SHARED_RAM              ; Set C28 to point to shared RAM
+	LDI32   r1, PRU1_CTRL + CTPPR0		; Note we use beginning of shared ram unlike example which
+	SBBO    &r0, r1, 0, 4				;  page 25
+
+	LDI		r9, 0x0				; erase r9 to use to use later
+
+	LDI 	r0, 0x0				; clear internal counters
+	LDI 	r1, 0x0
+	LDI 	r2, 0x0
+	LDI 	r3, 0x0
+	LDI 	r4, 0x0
+	LDI 	r5, 0x0
+	LDI 	r6, 0x0
+	LDI32 	r7, 0x0
+	LDI 	r30, 0x0				; turn off GPIO outputs
+
+
+; Beginning of loop, should always take 48 instructions to complete
+CH1:
+	QBEQ	CLR1, r0, 0			; If timer is 0, jump to clear channel
+	SET	r30, CH1BIT			; If non-zero turn on the corresponding channel
+	SUB	r0, r0, 1			; Subtract one from timer
+	CLR	r9, r9.t1			; waste a cycle for timing
+	SBCO	&r9, CONST_PRUSHAREDRAM, 0, 4	; write 0 to shared memory
+CH2:
+	QBEQ	CLR2, r1, 0
+	SET	r30, CH2BIT
+	SUB	r1, r1, 1
+	CLR	r9, r9.t1
+	SBCO	&r9, CONST_PRUSHAREDRAM, 4, 4
+CH3:
+	QBEQ	CLR3, r2, 0
+	SET	r30, CH3BIT
+	SUB	r2, r2, 1
+	CLR	r9, r9.t1
+	SBCO	&r9, CONST_PRUSHAREDRAM, 8, 4
+CH4:
+	QBEQ	CLR4, r3, 0
+	SET	r30, CH4BIT
+	SUB	r3, r3, 1
+	CLR	r9, r9.t1
+	SBCO	&r9, CONST_PRUSHAREDRAM, 12, 4
+CH5:
+	QBEQ	CLR5, r4, 0
+	SET	r30, CH5BIT
+	SUB	r4, r4, 1
+	CLR	r9, r9.t1
+	SBCO	&r9, CONST_PRUSHAREDRAM, 16, 4
+CH6:
+	QBEQ	CLR6, r5, 0
+	SET	r30, CH6BIT
+	SUB	r5, r5, 1
+	CLR	r9, r9.t1
+	SBCO	&r9, CONST_PRUSHAREDRAM, 20, 4
+CH7:
+	QBEQ	CLR7, r6, 0
+	SET	r30, CH7BIT
+	SUB	r6, r6, 1
+	CLR	r9, r9.t1
+	SBCO	&r9, CONST_PRUSHAREDRAM, 24, 4
+CH8:
+	QBEQ	CLR8, r7, 0
+	SET	r30, CH8BIT
+	SUB	r7, r7, 1
+	SBCO	&r9, CONST_PRUSHAREDRAM, 28, 4
+
+	QBA	CH1	; return to beginning of loop
+	; no need to waste a cycle for timing here because of the QBA above
+
+
+CLR1:
+	CLR	r30, CH1BIT			; turn off the corresponding channel
+	LBCO	&r0, CONST_PRUSHAREDRAM, 0, 4	; Load new timer register
+	QBA	CH2
+CLR2:
+	CLR	r30, CH2BIT
+	LBCO	&r1, CONST_PRUSHAREDRAM, 4, 4
+	QBA	CH3
+CLR3:
+	CLR	r30, CH3BIT
+	LBCO	&r2, CONST_PRUSHAREDRAM, 8, 4
+	QBA	CH4
+CLR4:
+	CLR	r30, CH4BIT
+	LBCO	&r3, CONST_PRUSHAREDRAM, 12, 4
+	QBA	CH5
+CLR5:
+	CLR	r30, CH5BIT
+	LBCO	&r4, CONST_PRUSHAREDRAM, 16, 4
+	QBA	CH6
+CLR6:
+	CLR	r30, CH6BIT
+	LBCO	&r5, CONST_PRUSHAREDRAM, 20, 4
+	QBA	CH7
+CLR7:
+	CLR	r30, CH7BIT
+	LBCO	&r6, CONST_PRUSHAREDRAM, 24, 4
+	QBA	CH8
+CLR8:
+	CLR	r30, CH8BIT
+	LBCO	&r7, CONST_PRUSHAREDRAM, 28, 4
+	QBA	CH1	; return to beginning of loop
diff --git a/services/rc_battery_monitor/src/rc_battery_monitor.c b/services/rc_battery_monitor/src/rc_battery_monitor.c
index 76d141b0..2c40db52 100644
--- a/services/rc_battery_monitor/src/rc_battery_monitor.c
+++ b/services/rc_battery_monitor/src/rc_battery_monitor.c
@@ -18,7 +18,7 @@
 #include <rc/time.h>
 #include <rc/model.h>
 
-#define BATTPIDFILE	"/run/rc_battery_monitor.pid"
+#define BATTPIDFILE	"/run/librobotcontrol/rc_battery_monitor.pid"
 #define START_BLINK_US	100000	// 0.1 second
 
 // Critical Max voltages of packs used to detect number of cells in pack
@@ -66,10 +66,10 @@ int main(int argc, char *argv[])
 	rc_filter_t filterJ = rc_filter_empty(); // battery and jack filters
 
 	// ensure root privaleges until we sort out udev rules
-	if(geteuid()!=0){
-		fprintf(stderr,"ERROR: rc_battery_monitor must be run as root\n");
-		return -1;
-	}
+	//if(geteuid()!=0){
+		//fprintf(stderr,"ERROR: rc_battery_monitor must be run as root\n");
+		//return -1;
+	//}
 
 	// parse arguments to check for kill mode
 	opterr = 0;