     // arg3 = maxdistance lsb
     // arg4 = maxdistance msb
     case SONAR_CONFIG :
-      int max_distance ;
+      int max_distance;
       if ( numActiveSonars < MAX_SONARS)
       {
-        sonarTriggerPin = argv[0] ;
-        sonarEchoPin = argv[1] ;
+        sonarTriggerPin = argv[0];
+        sonarEchoPin = argv[1];
         // set interval to a minium of 33 ms.
         if ( argv[2] >= 33 ) {
-          pingInterval = argv[2] ;
+          pingInterval = argv[2];
         }
         else {
-          pingInterval = 33 ;
-        }
-        max_distance = argv[3] + (argv[4] << 7 ) ;
-        sonarPinNumbers[numActiveSonars] = sonarTriggerPin ;
+          pingInterval = 33;
+        }
+        max_distance = argv[3] + (argv[4] << 7 );
+        sonarPinNumbers[numActiveSonars] = sonarTriggerPin;
 
         setPinModeCallback(sonarTriggerPin, SONAR);
         setPinModeCallback(sonarEchoPin, SONAR);
-        sonars[numActiveSonars] = new NewPing(sonarTriggerPin, sonarEchoPin, max_distance) ;
-        numActiveSonars++ ;
+        sonars[numActiveSonars] = new NewPing(sonarTriggerPin, sonarEchoPin, max_distance);
+        numActiveSonars++;
       }
       else {
         Firmata.sendString("PING_CONFIG Error: Exceeded number of supported ping devices");
       }
-      break ;
+      break;
 
     case STEPPER_DATA:
       // determine if this a STEPPER_CONFIGURE command or STEPPER_OPERATE command
       if (argv[0] == STEPPER_CONFIGURE)
       {
         int numSteps = argv[1] + (argv[2] << 7);
-        int pin1 = argv[3] ;
-        int pin2 = argv[4] ;
+        int pin1 = argv[3];
+        int pin2 = argv[4];
         if ( argc == 5 )
         {
           // two pin motor
-          stepper = new Stepper(numSteps, pin1, pin2) ;
+          stepper = new Stepper(numSteps, pin1, pin2);
         }
         else if (argc == 7 ) // 4 wire motor
         {
-          int pin3 = argv[5] ;
-          int pin4 = argv[6] ;
-          stepper =  new Stepper(numSteps, pin1, pin2, pin3, pin4) ;
+          int pin3 = argv[5];
+          int pin4 = argv[6];
+          stepper =  new Stepper(numSteps, pin1, pin2, pin3, pin4);
         }
         else
         {
           Firmata.sendString("STEPPER CONFIG Error: Wrong Number of arguments");
-          printData("argc = ", argc) ;
+          printData("argc = ", argc);
         }
       }
       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] ;
+        int direction = argv[6];
         if (stepper != NULL )
         {
-          stepper->setSpeed(speed) ;
+          stepper->setSpeed(speed);
           if (direction == 0 )
           {
-            numSteps *= -1 ;
+            numSteps *= -1;
           }
-          stepper->step(numSteps) ;
+          stepper->step(numSteps);
         }
         else
         {

          // did not find a configured stepper
          Firmata.sendString("STEPPER FIRMWARE VERSION Error: NO MOTORS CONFIGURED");
        }
        break ;
      }
      else
      {
        Firmata.sendString("STEPPER CONFIG Error: UNKNOWN STEPPER COMMAND");
      }
      break ;
  }
}


  byte data;
  int slaveRegister;
  unsigned int delayTime;
  byte pin;// used for tone
  int frequency;
  int duration;

  switch (command) {
    case I2C_REQUEST:
