diff --git a/adaptor.go b/adaptor.go
index 259b40535..9a7192a04 100644
--- a/adaptor.go
+++ b/adaptor.go
@@ -17,6 +17,7 @@ type AdaptorInterface interface {
 	name() string
 	setName(string)
 	params() map[string]interface{}
+	ToJSON() *JSONConnection
 }
 
 func (a *Adaptor) port() string {
diff --git a/api/api.go b/api/api.go
index 6cf2106cd..8ef04278e 100644
--- a/api/api.go
+++ b/api/api.go
@@ -132,9 +132,9 @@ func (a *api) commands(res http.ResponseWriter, req *http.Request) {
 
 func (a *api) robots(res http.ResponseWriter, req *http.Request) {
 	jsonRobots := []*gobot.JSONRobot{}
-	for _, robot := range a.gobot.Robots {
-		jsonRobots = append(jsonRobots, robot.ToJSON())
-	}
+	a.gobot.Robots().Each(func(r *gobot.Robot) {
+		jsonRobots = append(jsonRobots, r.ToJSON())
+	})
 	data, _ := json.Marshal(jsonRobots)
 	res.Header().Set("Content-Type", "application/json; charset=utf-8")
 	res.Write(data)
@@ -159,11 +159,10 @@ func (a *api) robotCommands(res http.ResponseWriter, req *http.Request) {
 func (a *api) robotDevices(res http.ResponseWriter, req *http.Request) {
 	robot := req.URL.Query().Get(":robot")
 
-	devices := a.gobot.Robot(robot).Devices()
 	jsonDevices := []*gobot.JSONDevice{}
-	for _, device := range devices {
-		jsonDevices = append(jsonDevices, device.ToJSON())
-	}
+	a.gobot.Robot(robot).Devices().Each(func(d gobot.Device) {
+		jsonDevices = append(jsonDevices, d.ToJSON())
+	})
 	data, _ := json.Marshal(jsonDevices)
 	res.Header().Set("Content-Type", "application/json; charset=utf-8")
 	res.Write(data)
@@ -190,11 +189,10 @@ func (a *api) robotDeviceCommands(res http.ResponseWriter, req *http.Request) {
 func (a *api) robotConnections(res http.ResponseWriter, req *http.Request) {
 	robot := req.URL.Query().Get(":robot")
 
-	connections := a.gobot.Robot(robot).Connections()
 	jsonConnections := []*gobot.JSONConnection{}
-	for _, connection := range connections {
-		jsonConnections = append(jsonConnections, connection.ToJSON())
-	}
+	a.gobot.Robot(robot).Connections().Each(func(c gobot.Connection) {
+		jsonConnections = append(jsonConnections, c.ToJSON())
+	})
 	data, _ := json.Marshal(jsonConnections)
 	res.Header().Set("Content-Type", "application/json; charset=utf-8")
 	res.Write(data)
@@ -215,7 +213,7 @@ func (a *api) executeCommand(res http.ResponseWriter, req *http.Request) {
 	data, _ := ioutil.ReadAll(req.Body)
 	body := make(map[string]interface{})
 	json.Unmarshal(data, &body)
-	f := a.gobot.Commands[command]
+	f := a.gobot.Commands()[command]
 
 	if f != nil {
 		data, _ = json.Marshal(f(body))
diff --git a/api/api_test.go b/api/api_test.go
index f46ca0d25..57317a5d3 100644
--- a/api/api_test.go
+++ b/api/api_test.go
@@ -18,11 +18,9 @@ func initTestAPI() *api {
 	a.start = func(m *api) {}
 	a.Start()
 
-	g.Robots = []*gobot.Robot{
-		gobot.NewTestRobot("Robot 1"),
-		gobot.NewTestRobot("Robot 2"),
-		gobot.NewTestRobot("Robot 3"),
-	}
+	g.Robots().Add(gobot.NewTestRobot("Robot 1"))
+	g.Robots().Add(gobot.NewTestRobot("Robot 2"))
+	g.Robots().Add(gobot.NewTestRobot("Robot 3"))
 
 	return a
 }
diff --git a/command.go b/command.go
deleted file mode 100644
index 7f5ac3204..000000000
--- a/command.go
+++ /dev/null
@@ -1,17 +0,0 @@
-package gobot
-
-type Command struct {
-	Name    string
-	Command func(map[string]interface{}) interface{}
-}
-type Commands []Command
-
-func (c commands) Add(name string, cmd Command) {
-	c[name] = cmd
-}
-
-func (c commands) Each(f func(Command)) {
-	for _, command := range c {
-		f(command)
-	}
-}
diff --git a/driver.go b/driver.go
index 594ea3435..c1f7dcced 100644
--- a/driver.go
+++ b/driver.go
@@ -10,7 +10,7 @@ type Driver struct {
 	Interval time.Duration
 	Pin      string
 	Name     string
-	Commands map[string]func(map[string]interface{}) interface{}
+	commands map[string]func(map[string]interface{}) interface{}
 	Events   map[string]*Event
 	Type     string
 }
@@ -23,7 +23,7 @@ type DriverInterface interface {
 	interval() time.Duration
 	setName(string)
 	name() string
-	commands() map[string]func(map[string]interface{}) interface{}
+	Commands() map[string]func(map[string]interface{}) interface{}
 	ToJSON() *JSONDevice
 }
 
@@ -47,15 +47,15 @@ func (d *Driver) name() string {
 	return d.Name
 }
 
-func (d *Driver) commands() map[string]func(map[string]interface{}) interface{} {
-	return d.Commands
+func (d *Driver) Commands() map[string]func(map[string]interface{}) interface{} {
+	return d.commands
 }
 
 func (d *Driver) AddCommand(name string, f func(map[string]interface{}) interface{}) {
-	d.Commands[name] = f
+	d.Commands()[name] = f
 }
 
-func NewDriver(name string, t string, commands Commands, a AdaptorInterface) *Driver {
+func NewDriver(name string, t string, a AdaptorInterface) *Driver {
 	if name == "" {
 		name = fmt.Sprintf("%X", Rand(int(^uint(0)>>1)))
 	}
@@ -63,7 +63,7 @@ func NewDriver(name string, t string, commands Commands, a AdaptorInterface) *Dr
 		Type:     t,
 		Name:     name,
 		Interval: 10 * time.Millisecond,
-		Commands: commands,
+		commands: make(map[string]func(map[string]interface{}) interface{}),
 		Adaptor:  a,
 	}
 }
@@ -77,10 +77,10 @@ func (d *Driver) ToJSON() *JSONDevice {
 	}
 
 	if d.adaptor() != nil {
-		//jsonDevice.Connection = d.Robot.Connection(d.adaptor().name()).ToJSON()
+		jsonDevice.Connection = d.adaptor().ToJSON()
 	}
 
-	commands := d.commands()
+	commands := d.Commands()
 	for command := range commands {
 		jsonDevice.Commands = append(jsonDevice.Commands, command)
 	}
diff --git a/gobot.go b/gobot.go
index 24bfb36e9..d6da89f4d 100644
--- a/gobot.go
+++ b/gobot.go
@@ -13,21 +13,21 @@ type JSONGobot struct {
 
 type Gobot struct {
 	robots   *robots
-	commands commands
+	commands map[string]func(map[string]interface{}) interface{}
 	trap     func(chan os.Signal)
 }
 
 func NewGobot() *Gobot {
 	return &Gobot{
 		robots:   &robots{},
-		commands: make(commands),
+		commands: make(map[string]func(map[string]interface{}) interface{}),
 		trap: func(c chan os.Signal) {
 			signal.Notify(c, os.Interrupt)
 		},
 	}
 }
 
-func (g *Gobot) Commands() commands {
+func (g *Gobot) Commands() map[string]func(map[string]interface{}) interface{} {
 	return g.commands
 }
 
@@ -65,9 +65,9 @@ func (g *Gobot) ToJSON() *JSONGobot {
 		Commands: []string{},
 	}
 
-	g.commands.Each(func(c Command) {
-		jsonGobot.Commands = append(jsonGobot.Commands, c.Name)
-	})
+	for command := range g.Commands() {
+		jsonGobot.Commands = append(jsonGobot.Commands, command)
+	}
 
 	g.robots.Each(func(r *Robot) {
 		jsonGobot.Robots = append(jsonGobot.Robots, r.ToJSON())
diff --git a/platforms/gpio/analog_sensor_driver.go b/platforms/gpio/analog_sensor_driver.go
index d3996f896..56f518c60 100644
--- a/platforms/gpio/analog_sensor_driver.go
+++ b/platforms/gpio/analog_sensor_driver.go
@@ -11,10 +11,9 @@ type AnalogSensorDriver struct {
 func NewAnalogSensorDriver(a AnalogReader, name string, pin string) *AnalogSensorDriver {
 	d := &AnalogSensorDriver{
 		Driver: gobot.Driver{
-			Name:     name,
-			Pin:      pin,
-			Commands: make(map[string]func(map[string]interface{}) interface{}),
-			Adaptor:  a.(gobot.AdaptorInterface),
+			Name:    name,
+			Pin:     pin,
+			Adaptor: a.(gobot.AdaptorInterface),
 		},
 	}
 	d.Driver.AddCommand("Read", func(params map[string]interface{}) interface{} {
diff --git a/platforms/gpio/direct_pin_driver.go b/platforms/gpio/direct_pin_driver.go
index 0c889a571..6bde19ac2 100644
--- a/platforms/gpio/direct_pin_driver.go
+++ b/platforms/gpio/direct_pin_driver.go
@@ -12,10 +12,9 @@ type DirectPinDriver struct {
 func NewDirectPinDriver(a DirectPin, name string, pin string) *DirectPinDriver {
 	d := &DirectPinDriver{
 		Driver: gobot.Driver{
-			Name:     name,
-			Pin:      pin,
-			Commands: make(map[string]func(map[string]interface{}) interface{}),
-			Adaptor:  a.(gobot.AdaptorInterface),
+			Name:    name,
+			Pin:     pin,
+			Adaptor: a.(gobot.AdaptorInterface),
 		},
 	}
 
diff --git a/platforms/gpio/led_driver.go b/platforms/gpio/led_driver.go
index 00ac87505..de103111f 100644
--- a/platforms/gpio/led_driver.go
+++ b/platforms/gpio/led_driver.go
@@ -15,30 +15,29 @@ func NewLedDriver(name string, a PwmDigitalWriter, pin string) *LedDriver {
 		Driver: *gobot.NewDriver(
 			name,
 			"LedDriver",
-			gobot.Commands{},
 			a.(gobot.AdaptorInterface),
 		),
 		Pin:  pin,
 		High: false,
 	}
 
-	l.Driver.Commands().Add("Brightness", func(params map[string]interface{}) interface{} {
+	l.Driver.AddCommand("Brightness", func(params map[string]interface{}) interface{} {
 		level := byte(params["level"].(float64))
 		l.Brightness(level)
 		return nil
 	})
 
-	l.Driver.Commands().Add("Toggle", func(params map[string]interface{}) interface{} {
+	l.Driver.AddCommand("Toggle", func(params map[string]interface{}) interface{} {
 		l.Toggle()
 		return nil
 	})
 
-	l.Driver.Commands().Add("On", func(params map[string]interface{}) interface{} {
+	l.Driver.AddCommand("On", func(params map[string]interface{}) interface{} {
 		l.On()
 		return nil
 	})
 
-	l.Driver.Commands().Add("Off", func(params map[string]interface{}) interface{} {
+	l.Driver.AddCommand("Off", func(params map[string]interface{}) interface{} {
 		l.Off()
 		return nil
 	})
diff --git a/platforms/gpio/servo_driver.go b/platforms/gpio/servo_driver.go
index 6664404e3..46b161a45 100644
--- a/platforms/gpio/servo_driver.go
+++ b/platforms/gpio/servo_driver.go
@@ -12,10 +12,9 @@ type ServoDriver struct {
 func NewServoDriver(a Servo, name string, pin string) *ServoDriver {
 	s := &ServoDriver{
 		Driver: gobot.Driver{
-			Name:     name,
-			Pin:      pin,
-			Commands: make(map[string]func(map[string]interface{}) interface{}),
-			Adaptor:  a.(gobot.AdaptorInterface),
+			Name:    name,
+			Pin:     pin,
+			Adaptor: a.(gobot.AdaptorInterface),
 		},
 		CurrentAngle: 0,
 	}
diff --git a/robot.go b/robot.go
index c70a6f602..27481688a 100644
--- a/robot.go
+++ b/robot.go
@@ -107,7 +107,7 @@ func (r *Robot) Devices() *devices {
 	return r.devices
 }
 
-func (r *Robot) Device(name string) DriverInterface {
+func (r *Robot) Device(name string) Device {
 	if r == nil {
 		return nil
 	}
@@ -123,7 +123,7 @@ func (r *Robot) Connections() *connections {
 	return r.connections
 }
 
-func (r *Robot) Connection(name string) AdaptorInterface {
+func (r *Robot) Connection(name string) Connection {
 	if r == nil {
 		return nil
 	}
diff --git a/test_helper.go b/test_helper.go
index a7706c627..b51ca17bb 100644
--- a/test_helper.go
+++ b/test_helper.go
@@ -56,7 +56,7 @@ func (t *testDriver) Halt() bool  { return true }
 func NewTestDriver(name string, adaptor *testAdaptor) *testDriver {
 	t := &testDriver{
 		Driver: Driver{
-			Commands: make(map[string]func(map[string]interface{}) interface{}),
+			commands: make(map[string]func(map[string]interface{}) interface{}),
 			Name:     name,
 			Adaptor:  adaptor,
 		},
@@ -102,7 +102,7 @@ func NewTestRobot(name string) *Robot {
 	driver2 := NewTestDriver("Device 2", adaptor2)
 	driver3 := NewTestDriver("Device 3", adaptor3)
 	work := func() {}
-	r := NewRobot(name, []AdaptorInterface{adaptor1, adaptor2, adaptor3}, []DriverInterface{driver1, driver2, driver3}, work)
+	r := NewRobot(name, []Connection{adaptor1, adaptor2, adaptor3}, []Device{driver1, driver2, driver3}, work)
 	r.AddCommand("robotTestFunction", func(params map[string]interface{}) interface{} {
 		message := params["message"].(string)
 		robot := params["robot"].(string)