         int numSteps = argv[1] + (argv[2] << 7);
         int pin1 = argv[3] ;
         int pin2 = argv[4] ;
-        if ( argc == 5 )
-        {
+        if ( argc == 5 ) {
           // two pin motor
           stepper = new Stepper(numSteps, pin1, pin2) ;
         }
-        else if (argc == 7 ) // 4 wire motor
-        {
+        else if (argc == 7 ) { // 4 wire motor
           int pin3 = argv[5] ;
           int pin4 = argv[6] ;
           stepper =  new Stepper(numSteps, pin1, pin2, pin3, pin4) ;
-        }
-        else
-        {
+        } else {
           Firmata.sendString("STEPPER CONFIG Error: Wrong Number of arguments");
           printData("argc = ", argc) ;
         }
-      }
-      else if ( argv[0] == STEPPER_STEP )
-      {
+      } else if ( argv[0] == STEPPER_STEP ) {
         long speed = (long)argv[1] | ((long)argv[2] << 7) | ((long)argv[3] << 14);
         int numSteps = argv[4] + (argv[5] << 7);
         int direction = argv[6] ;
-        if (stepper != NULL )
-        {
+        if (stepper != NULL ) {
           stepper->setSpeed(speed) ;
-          if (direction == 0 )
-          {
+          if (direction == 0 ) {
             numSteps *= -1 ;
           }
           stepper->step(numSteps) ;
-        }
-        else
-        {
+        } else {
           Firmata.sendString("STEPPER OPERATE Error: MOTOR NOT CONFIGURED");
         }
-      }
-      else if ( argv[0] == STEPPER_LIBRARY_VERSION )
-      {
-        if ( stepper != NULL )
-        {
+      } else if ( argv[0] == STEPPER_LIBRARY_VERSION ) {
+        if ( stepper != NULL ) {
           int version = stepper->version() ;
           Firmata.write(START_SYSEX);
           Firmata.write(STEPPER_DATA);
           Firmata.write(version & 0x7F);
           Firmata.write(version >> 7);
           Firmata.write(END_SYSEX);
-        }
-        else
-        {
+        } else {
           // did not find a configured stepper
           Firmata.sendString("STEPPER FIRMWARE VERSION Error: NO MOTORS CONFIGURED");
         }
         break ;
-      }
-      else
-      {
+      } else {
         Firmata.sendString("STEPPER CONFIG Error: UNKNOWN STEPPER COMMAND");
       }
       break ;
   }
 }
 
-void enableI2CPins()
-{
+
+void enableI2CPins() {
   byte i;
   // is there a faster way to do this? would probaby require importing
   // Arduino.h to get SCL and SDA pins

    detachedServoCount++;
    detachedServos[detachedServoCount - 1] = servoPinMap[pin];
  }

  servoPinMap[pin] = 255;
}

void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
  // allow I2C requests that don't require a register read
  // for example, some devices using an interrupt pin to signify new data available
  // do not always require the register read so upon interrupt you call Wire.requestFrom()

  if (theRegister != REGISTER_NOT_SPECIFIED) {
    Wire.beginTransmission(address);
#if ARDUINO >= 100

  Copyright (C) 2009 Shigeru Kobayashi.  All rights reserved.
  Copyright (C) 2009-2015 Jeff Hoefs.  All rights reserved.
  Copyright (C) 2013-2015 Alan Yorinks. All rights reserved.
  Modified for RoseBot 2015 David Fisher

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
