diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 3405dfbffe27164deadb23bcc7584e48bb0f85f6..e22c83cae06ec929fc786b2480aac616fac17b96 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -2,7 +2,7 @@
 #define CONFIGURATION_H
 
 // This configurtion file contains the basic settings.
-// Advanced settings can be found in Configuration_adv.h 
+// Advanced settings can be found in Configuration_adv.h
 // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
 
 //User specified version info of this build to display in [Pronterface, etc] terminal window during startup.
@@ -78,7 +78,7 @@
 // 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
 // 10 is 100k RS thermistor 198-961 (4.7k pullup)
 //
-//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k 
+//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
 //                          (but gives greater accuracy and more stable PID)
 // 51 is 100k thermistor - EPCOS (1k pullup)
 // 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
@@ -95,7 +95,7 @@
 #define TEMP_WINDOW     1       // (degC) Window around target to start the recidency timer x degC early.
 
 // The minimal temperature defines the temperature below which the heater will not be enabled It is used
-// to check that the wiring to the thermistor is not broken. 
+// to check that the wiring to the thermistor is not broken.
 // Otherwise this would lead to the heater being powered on all the time.
 #define HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
@@ -121,7 +121,7 @@
 #define BANG_MAX 256 // limits current to nozzle while in bang-bang mode; 256=full current
 #define PID_MAX 256 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 256=full current
 #ifdef PIDTEMP
-  //#define PID_DEBUG // Sends debug data to the serial port. 
+  //#define PID_DEBUG // Sends debug data to the serial port.
   //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
   #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                   // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
@@ -132,15 +132,15 @@
 // If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
 // Ultimaker
     #define  DEFAULT_Kp 22.2
-    #define  DEFAULT_Ki 1.08  
-    #define  DEFAULT_Kd 114  
+    #define  DEFAULT_Ki 1.08
+    #define  DEFAULT_Kd 114
 
 // Makergear
 //    #define  DEFAULT_Kp 7.0
-//    #define  DEFAULT_Ki 0.1  
-//    #define  DEFAULT_Kd 12  
+//    #define  DEFAULT_Ki 0.1
+//    #define  DEFAULT_Kd 12
 
-// Mendel Parts V9 on 12V    
+// Mendel Parts V9 on 12V
 //    #define  DEFAULT_Kp 63.0
 //    #define  DEFAULT_Ki 2.25
 //    #define  DEFAULT_Kd 440
@@ -149,11 +149,11 @@
 // Bed Temperature Control
 // Select PID or bang-bang with PIDTEMPBED.  If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
 //
-// uncomment this to enable PID on the bed.   It uses the same ferquency PWM as the extruder. 
+// uncomment this to enable PID on the bed.   It uses the same ferquency PWM as the extruder.
 // If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
 // which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
-// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater. 
-// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly 
+// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
+// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
 // shouldn't use bed PID until someone else verifies your hardware works.
 // If this is enabled, find your own PID constants below.
 //#define PIDTEMPBED
@@ -223,9 +223,9 @@
 #endif
 
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
-const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
-const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
+const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
+const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
 //#define DISABLE_MAX_ENDSTOPS
 
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
@@ -280,13 +280,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
 #define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}  // set the homing speeds (mm/min)
 
-// default settings 
+// default settings
 
 #define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200.0*8/3,760*1.1}  // default steps per unit for ultimaker
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 25}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
 
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves 
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
 #define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
@@ -307,7 +307,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // EEPROM
 // the microcontroller can store settings in the EEPROM, e.g. max velocity...
 // M500 - stores paramters in EEPROM
-// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
+// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
 //define this to enable eeprom support
 //#define EEPROM_SETTINGS
@@ -353,7 +353,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
  #define ULTIPANEL
  #define NEWPANEL
-#endif 
+#endif
 
 #if defined(REPRAPWORLD_KEYPAD)
   #define NEWPANEL
@@ -361,7 +361,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #endif
 
 // Preheat Constants
-#define PLA_PREHEAT_HOTEND_TEMP 180 
+#define PLA_PREHEAT_HOTEND_TEMP 180
 #define PLA_PREHEAT_HPB_TEMP 70
 #define PLA_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
 
@@ -381,7 +381,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 		#define LCD_WIDTH 20
 		#define LCD_HEIGHT 4
 	#endif
-#else //no panel but just lcd 
+#else //no panel but just lcd
   #ifdef ULTRA_LCD
 	#ifdef DOGLCD	// Change number of lines to match the 128x64 graphics display
 		#define LCD_WIDTH 20
@@ -389,7 +389,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 	#else
 		#define LCD_WIDTH 16
 		#define LCD_HEIGHT 2
-	#endif    
+	#endif
   #endif
 #endif
 
@@ -406,6 +406,23 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // Support for the BariCUDA Paste Extruder.
 //#define BARICUDA
 
+/*********************************************************************\
+*
+* R/C SERVO support
+*
+* Sponsored by TrinityLabs, Reworked by codexmas
+*
+**********************************************************************/
+
+// Number of servos
+//
+// If you select a configuration below, this will receive a default value and does not need to be set manually
+// set it manually if you have more servos than extruders and wish to manually control some
+// leaving it undefined or defining as 0 will disable the servo subsystem
+// If unsure, leave commented / disabled
+//
+// #define NUM_SERVOS 3
+
 #include "Configuration_adv.h"
 #include "thermistortables.h"
 
diff --git a/Marlin/Makefile b/Marlin/Makefile
index e09d15f0677b7291398fd946fc2fafc2969e8f8e..c2317352556d9e942c8841c6383a27626885d582 100644
--- a/Marlin/Makefile
+++ b/Marlin/Makefile
@@ -1,12 +1,12 @@
 # Sprinter Arduino Project Makefile
-# 
+#
 # Makefile Based on:
 # Arduino 0011 Makefile
 # Arduino adaptation by mellis, eighthave, oli.keller
 # Marlin adaption by Daid
 #
 # This has been tested with Arduino 0022.
-# 
+#
 # This makefile allows you to build sketches from the command line
 # without the Arduino environment (or Java).
 #
@@ -21,7 +21,7 @@
 #     (e.g. UPLOAD_PORT = /dev/tty.USB0).  If the exact name of this file
 #     changes, you can use * as a wildcard (e.g. UPLOAD_PORT = /dev/tty.usb*).
 #
-#  3. Set the line containing "MCU" to match your board's processor. 
+#  3. Set the line containing "MCU" to match your board's processor.
 #     Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth
 #     or Diecimila have the atmega168.  If you're using a LilyPad Arduino,
 #     change F_CPU to 8000000. If you are using Gen7 electronics, you
@@ -44,7 +44,7 @@ ARDUINO_INSTALL_DIR  ?= ../../arduino-0022
 ARDUINO_VERSION      ?= 22
 
 # You can optionally set a path to the avr-gcc tools. Requires a trailing slash. (ex: /usr/local/avr-gcc/bin)
-AVR_TOOLS_PATH ?= 
+AVR_TOOLS_PATH ?=
 
 #Programmer configuration
 UPLOAD_RATE        ?= 115200
@@ -213,7 +213,7 @@ CXXSRC = WMath.cpp WString.cpp Print.cpp Marlin_main.cpp	\
 	SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp		\
 	stepper.cpp temperature.cpp cardreader.cpp ConfigurationStore.cpp \
 	watchdog.cpp
-CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp
+CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp Servo.cpp
 
 #Check for Arduino 1.0.0 or higher and use the correct sourcefiles for that version
 ifeq ($(shell [ $(ARDUINO_VERSION) -ge 100 ] && echo true), true)
@@ -317,19 +317,19 @@ endif
 # Default target.
 all: sizeafter
 
-build: $(BUILD_DIR) elf hex 
+build: $(BUILD_DIR) elf hex
 
 # Creates the object directory
-$(BUILD_DIR): 
+$(BUILD_DIR):
 	$P mkdir -p $(BUILD_DIR)
 
 elf: $(BUILD_DIR)/$(TARGET).elf
 hex: $(BUILD_DIR)/$(TARGET).hex
 eep: $(BUILD_DIR)/$(TARGET).eep
-lss: $(BUILD_DIR)/$(TARGET).lss 
+lss: $(BUILD_DIR)/$(TARGET).lss
 sym: $(BUILD_DIR)/$(TARGET).sym
 
-# Program the device.  
+# Program the device.
 # Do not try to reset an arduino if it's not one
 upload: $(BUILD_DIR)/$(TARGET).hex
 ifeq (${AVRDUDE_PROGRAMMER}, arduino)
@@ -356,7 +356,7 @@ COFFCONVERT=$(OBJCOPY) --debugging \
 	--change-section-address .data-0x800000 \
 	--change-section-address .bss-0x800000 \
 	--change-section-address .noinit-0x800000 \
-	--change-section-address .eeprom-0x810000 
+	--change-section-address .eeprom-0x810000
 
 
 coff: $(BUILD_DIR)/$(TARGET).elf
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0a528ea0588c4b2102bd22bb3817a938c1e58630..0ff34605c352a766d8d99168841f36e1644802dc 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3,17 +3,17 @@
 /*
     Reprap firmware based on Sprinter and grbl.
  Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- 
+
  This program is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
- 
+
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
- 
+
  You should have received a copy of the GNU General Public License
  along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
@@ -22,8 +22,8 @@
  This firmware is a mashup between Sprinter and grbl.
   (https://github.com/kliment/Sprinter)
   (https://github.com/simen/grbl/tree)
- 
- It has preliminary support for Matthew Roberts advance algorithm 
+
+ It has preliminary support for Matthew Roberts advance algorithm
     http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  */
 
@@ -40,6 +40,10 @@
 #include "language.h"
 #include "pins_arduino.h"
 
+#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
+#include "Servo.h"
+#endif
+
 #if DIGIPOTSS_PIN > -1
 #include <SPI.h>
 #endif
@@ -93,11 +97,11 @@
 // M81  - Turn off Power Supply
 // M82  - Set E codes absolute (default)
 // M83  - Set E codes relative while in Absolute Coordinates (G90) mode
-// M84  - Disable steppers until next move, 
+// M84  - Disable steppers until next move,
 //        or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
 // M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
 // M92  - Set axis_steps_per_unit - same syntax as G92
-// M114 - Output current position to serial port 
+// M114 - Output current position to serial port
 // M115	- Capabilities string
 // M117 - display message
 // M119 - Output Endstop status to serial port
@@ -121,6 +125,7 @@
 // M220 S<factor in percent>- set speed factor override percentage
 // M221 S<factor in percent>- set extrude factor override percentage
 // M240 - Trigger a camera to take a photograph
+// M280 - set servo position absolute. P: servo index, S: angle or microseconds
 // M300 - Play beepsound S<frequency Hz> P<duration ms>
 // M301 - Set PID parameters P I and D
 // M302 - Allow cold extrudes
@@ -128,7 +133,7 @@
 // M304 - Set bed PID parameters P I and D
 // M400 - Finish all moves
 // M500 - stores paramters in EEPROM
-// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
+// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
 // M503 - print the current settings (from memory not from eeprom)
 // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
@@ -164,11 +169,11 @@ float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
 float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
 // Extruder offset, only in XY plane
 #if EXTRUDERS > 1
-float extruder_offset[2][EXTRUDERS] = { 
+float extruder_offset[2][EXTRUDERS] = {
 #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
-  EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y 
+  EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
 #endif
-}; 
+};
 #endif
 uint8_t active_extruder = 0;
 int fanSpeed=0;
@@ -225,6 +230,10 @@ static uint8_t tmp_extruder;
 
 bool Stopped=false;
 
+#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
+  Servo servos[NUM_SERVOS];
+#endif
+
 //===========================================================================
 //=============================ROUTINES=============================
 //===========================================================================
@@ -296,7 +305,7 @@ void setup_killpin()
     WRITE(KILL_PIN,HIGH);
   #endif
 }
-    
+
 void setup_photpin()
 {
   #ifdef PHOTOGRAPH_PIN
@@ -304,7 +313,7 @@ void setup_photpin()
     SET_OUTPUT(PHOTOGRAPH_PIN);
     WRITE(PHOTOGRAPH_PIN, LOW);
     #endif
-  #endif 
+  #endif
 }
 
 void setup_powerhold()
@@ -324,16 +333,35 @@ void setup_powerhold()
 void suicide()
 {
  #ifdef SUICIDE_PIN
-    #if (SUICIDE_PIN> -1) 
+    #if (SUICIDE_PIN> -1)
       SET_OUTPUT(SUICIDE_PIN);
       WRITE(SUICIDE_PIN, LOW);
     #endif
   #endif
 }
 
+void servo_init()
+{
+  #if (NUM_SERVOS >= 1) && defined (SERVO0_PIN) && (SERVO0_PIN > -1)
+    servos[0].attach(SERVO0_PIN);
+  #endif
+  #if (NUM_SERVOS >= 2) && defined (SERVO1_PIN) && (SERVO1_PIN > -1)
+    servos[1].attach(SERVO1_PIN);
+  #endif
+  #if (NUM_SERVOS >= 3) && defined (SERVO2_PIN) && (SERVO2_PIN > -1)
+    servos[2].attach(SERVO2_PIN);
+  #endif
+  #if (NUM_SERVOS >= 4) && defined (SERVO3_PIN) && (SERVO3_PIN > -1)
+    servos[3].attach(SERVO3_PIN);
+  #endif
+  #if (NUM_SERVOS >= 5)
+    #error "TODO: enter initalisation code for more servos"
+  #endif
+}
+
 void setup()
 {
-  setup_killpin(); 
+  setup_killpin();
   setup_powerhold();
   MYSERIAL.begin(BAUDRATE);
   SERIAL_PROTOCOLLNPGM("start");
@@ -370,22 +398,23 @@ void setup()
   {
     fromsd[i] = false;
   }
-  
+
   // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
-  Config_RetrieveSettings(); 
+  Config_RetrieveSettings();
 
-  tp_init();    // Initialize temperature loop 
+  tp_init();    // Initialize temperature loop
   plan_init();  // Initialize planner;
   watchdog_init();
   st_init();    // Initialize stepper, this enables interrupts!
   setup_photpin();
-  
+  servo_init();
+
   lcd_init();
-  
+
   #ifdef CONTROLLERFAN_PIN
     SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
   #endif
-  
+
   #ifdef EXTRUDERFAN_PIN
     SET_OUTPUT(EXTRUDERFAN_PIN); //Set pin used for extruder cooling fan
   #endif
@@ -439,14 +468,14 @@ void loop()
   lcd_update();
 }
 
-void get_command() 
-{ 
+void get_command()
+{
   while( MYSERIAL.available() > 0  && buflen < BUFSIZE) {
     serial_char = MYSERIAL.read();
-    if(serial_char == '\n' || 
-       serial_char == '\r' || 
-       (serial_char == ':' && comment_mode == false) || 
-       serial_count >= (MAX_CMD_SIZE - 1) ) 
+    if(serial_char == '\n' ||
+       serial_char == '\r' ||
+       (serial_char == ':' && comment_mode == false) ||
+       serial_count >= (MAX_CMD_SIZE - 1) )
     {
       if(!serial_count) { //if empty line
         comment_mode = false; //for new command
@@ -487,7 +516,7 @@ void get_command()
             }
             //if no errors, continue parsing
           }
-          else 
+          else
           {
             SERIAL_ERROR_START;
             SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
@@ -523,7 +552,7 @@ void get_command()
               if(card.saving)
                 break;
 	      #endif //SDSUPPORT
-              SERIAL_PROTOCOLLNPGM(MSG_OK); 
+              SERIAL_PROTOCOLLNPGM(MSG_OK);
             }
             else {
               SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
@@ -553,10 +582,10 @@ void get_command()
   while( !card.eof()  && buflen < BUFSIZE) {
     int16_t n=card.get();
     serial_char = (char)n;
-    if(serial_char == '\n' || 
-       serial_char == '\r' || 
-       (serial_char == ':' && comment_mode == false) || 
-       serial_count >= (MAX_CMD_SIZE - 1)||n==-1) 
+    if(serial_char == '\n' ||
+       serial_char == '\r' ||
+       (serial_char == ':' && comment_mode == false) ||
+       serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
     {
       if(card.eof()){
         SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
@@ -572,7 +601,7 @@ void get_command()
         lcd_setstatus(time);
         card.printingHasFinished();
         card.checkautostart(true);
-        
+
       }
       if(!serial_count)
       {
@@ -584,7 +613,7 @@ void get_command()
         fromsd[bufindw] = true;
         buflen += 1;
         bufindw = (bufindw + 1)%BUFSIZE;
-//      }     
+//      }
       comment_mode = false; //for new command
       serial_count = 0; //clear buffer
     }
@@ -594,20 +623,20 @@ void get_command()
       if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
     }
   }
-  
+
   #endif //SDSUPPORT
 
 }
 
 
-float code_value() 
-{ 
-  return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); 
+float code_value()
+{
+  return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
 }
 
-long code_value_long() 
-{ 
-  return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); 
+long code_value_long()
+{
+  return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
 }
 
 bool code_seen(char code)
@@ -656,19 +685,19 @@ static void homeaxis(int axis) {
     feedrate = homing_feedrate[axis];
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
-   
+
     current_position[axis] = 0;
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
     destination[axis] = -home_retract_mm(axis) * home_dir(axis);
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
-   
+
     destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
-    feedrate = homing_feedrate[axis]/2 ; 
+    feedrate = homing_feedrate[axis]/2 ;
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
-   
-    axis_is_at_home(axis);					
+
+    axis_is_at_home(axis);
     destination[axis] = current_position[axis];
     feedrate = 0.0;
     endstops_hit_on_purpose();
@@ -711,7 +740,7 @@ void process_commands()
       codenum = 0;
       if(code_seen('P')) codenum = code_value(); // milliseconds to wait
       if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
-      
+
       st_synchronize();
       codenum += millis();  // keep track of when we started waiting
       previous_millis_cmd = millis();
@@ -721,30 +750,30 @@ void process_commands()
         lcd_update();
       }
       break;
-      #ifdef FWRETRACT  
+      #ifdef FWRETRACT
       case 10: // G10 retract
-      if(!retracted) 
+      if(!retracted)
       {
         destination[X_AXIS]=current_position[X_AXIS];
         destination[Y_AXIS]=current_position[Y_AXIS];
-        destination[Z_AXIS]=current_position[Z_AXIS]; 
+        destination[Z_AXIS]=current_position[Z_AXIS];
         current_position[Z_AXIS]+=-retract_zlift;
-        destination[E_AXIS]=current_position[E_AXIS]-retract_length; 
+        destination[E_AXIS]=current_position[E_AXIS]-retract_length;
         feedrate=retract_feedrate;
         retracted=true;
         prepare_move();
       }
-      
+
       break;
       case 11: // G10 retract_recover
-      if(!retracted) 
+      if(!retracted)
       {
         destination[X_AXIS]=current_position[X_AXIS];
         destination[Y_AXIS]=current_position[Y_AXIS];
-        destination[Z_AXIS]=current_position[Z_AXIS]; 
-        
+        destination[Z_AXIS]=current_position[Z_AXIS];
+
         current_position[Z_AXIS]+=retract_zlift;
-        current_position[E_AXIS]+=-retract_recover_length; 
+        current_position[E_AXIS]+=-retract_recover_length;
         feedrate=retract_recover_feedrate;
         retracted=false;
         prepare_move();
@@ -756,34 +785,34 @@ void process_commands()
       saved_feedmultiply = feedmultiply;
       feedmultiply = 100;
       previous_millis_cmd = millis();
-      
+
       enable_endstops(true);
-      
+
       for(int8_t i=0; i < NUM_AXIS; i++) {
         destination[i] = current_position[i];
       }
       feedrate = 0.0;
       home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
-      
+
       #if Z_HOME_DIR > 0                      // If homing away from BED do Z first
       if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
         HOMEAXIS(Z);
       }
       #endif
-      
+
       #ifdef QUICK_HOME
       if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) )  //first diagonal move
       {
-        current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;  
+        current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
 
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); 
-        destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;  
-        feedrate = homing_feedrate[X_AXIS]; 
+        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
+        feedrate = homing_feedrate[X_AXIS];
         if(homing_feedrate[Y_AXIS]<feedrate)
-          feedrate =homing_feedrate[Y_AXIS]; 
+          feedrate =homing_feedrate[Y_AXIS];
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
         st_synchronize();
-    
+
         axis_is_at_home(X_AXIS);
         axis_is_at_home(Y_AXIS);
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
@@ -795,8 +824,8 @@ void process_commands()
         endstops_hit_on_purpose();
       }
       #endif
-      
-      if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) 
+
+      if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
       {
         HOMEAXIS(X);
       }
@@ -804,14 +833,14 @@ void process_commands()
       if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
         HOMEAXIS(Y);
       }
-      
+
       #if Z_HOME_DIR < 0                      // If homing towards BED do Z last
       if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
         HOMEAXIS(Z);
       }
       #endif
-      
-      if(code_seen(axis_codes[X_AXIS])) 
+
+      if(code_seen(axis_codes[X_AXIS]))
       {
         if(code_value_long() != 0) {
           current_position[X_AXIS]=code_value()+add_homeing[0];
@@ -830,11 +859,11 @@ void process_commands()
         }
       }
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-      
+
       #ifdef ENDSTOPS_ONLY_FOR_HOMING
         enable_endstops(false);
       #endif
-      
+
       feedrate = saved_feedrate;
       feedmultiply = saved_feedmultiply;
       previous_millis_cmd = millis();
@@ -850,13 +879,13 @@ void process_commands()
       if(!code_seen(axis_codes[E_AXIS]))
         st_synchronize();
       for(int8_t i=0; i < NUM_AXIS; i++) {
-        if(code_seen(axis_codes[i])) { 
+        if(code_seen(axis_codes[i])) {
            if(i == E_AXIS) {
-             current_position[i] = code_value();  
+             current_position[i] = code_value();
              plan_set_e_position(current_position[E_AXIS]);
            }
            else {
-             current_position[i] = code_value()+add_homeing[i];  
+             current_position[i] = code_value()+add_homeing[i];
              plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
            }
         }
@@ -867,7 +896,7 @@ void process_commands()
 
   else if(code_seen('M'))
   {
-    switch( (int)code_value() ) 
+    switch( (int)code_value() )
     {
 #ifdef ULTIPANEL
     case 0: // M0 - Unconditional stop - Wait for user button press on LCD
@@ -877,7 +906,7 @@ void process_commands()
       codenum = 0;
       if(code_seen('P')) codenum = code_value(); // milliseconds to wait
       if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
-      
+
       st_synchronize();
       previous_millis_cmd = millis();
       if (codenum > 0){
@@ -900,12 +929,12 @@ void process_commands()
 #endif
     case 17:
         LCD_MESSAGEPGM(MSG_NO_MOVE);
-        enable_x(); 
-        enable_y(); 
-        enable_z(); 
-        enable_e0(); 
-        enable_e1(); 
-        enable_e2(); 
+        enable_x();
+        enable_y();
+        enable_z();
+        enable_e0();
+        enable_e1();
+        enable_e2();
       break;
 
 #ifdef SDSUPPORT
@@ -915,9 +944,9 @@ void process_commands()
       SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
       break;
     case 21: // M21 - init SD card
-      
+
       card.initsd();
-      
+
       break;
     case 22: //M22 - release SD card
       card.release();
@@ -957,7 +986,7 @@ void process_commands()
       //processed in write to file routine above
       //card,saving = false;
       break;
-    case 30: //M30 <filename> Delete File 
+    case 30: //M30 <filename> Delete File
 	if (card.cardOK){
 		card.closefile();
 		starpos = (strchr(strchr_pointer + 4,'*'));
@@ -978,7 +1007,7 @@ void process_commands()
       }
       card.openLogFile(strchr_pointer+5);
       break;
-	
+
 #endif //SDSUPPORT
 
     case 31: //M31 take time since the start of the SD print or an M109 command
@@ -1035,11 +1064,11 @@ void process_commands()
       }
       #if (TEMP_0_PIN > -1)
         SERIAL_PROTOCOLPGM("ok T:");
-        SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); 
+        SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
         SERIAL_PROTOCOLPGM(" /");
-        SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1); 
+        SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
         #if TEMP_BED_PIN > -1
-          SERIAL_PROTOCOLPGM(" B:");  
+          SERIAL_PROTOCOLPGM(" B:");
           SERIAL_PROTOCOL_F(degBed(),1);
           SERIAL_PROTOCOLPGM(" /");
           SERIAL_PROTOCOL_F(degTargetBed(),1);
@@ -1050,20 +1079,20 @@ void process_commands()
       #endif
 
         SERIAL_PROTOCOLPGM(" @:");
-        SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));  
+        SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
 
         SERIAL_PROTOCOLPGM(" B@:");
-        SERIAL_PROTOCOL(getHeaterPower(-1));  
+        SERIAL_PROTOCOL(getHeaterPower(-1));
 
         SERIAL_PROTOCOLLN("");
       return;
       break;
-    case 109: 
+    case 109:
     {// M109 - Wait for extruder heater to reach target.
       if(setTargetedHotend(109)){
         break;
       }
-      LCD_MESSAGEPGM(MSG_HEATING);   
+      LCD_MESSAGEPGM(MSG_HEATING);
       #ifdef AUTOTEMP
         autotemp_enabled=false;
       #endif
@@ -1071,15 +1100,15 @@ void process_commands()
       #ifdef AUTOTEMP
         if (code_seen('S')) autotemp_min=code_value();
         if (code_seen('B')) autotemp_max=code_value();
-        if (code_seen('F')) 
+        if (code_seen('F'))
         {
           autotemp_factor=code_value();
           autotemp_enabled=true;
         }
       #endif
-      
+
       setWatch();
-      codenum = millis(); 
+      codenum = millis();
 
       /* See if we are heating up or cooling down */
       bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
@@ -1087,7 +1116,7 @@ void process_commands()
       #ifdef TEMP_RESIDENCY_TIME
         long residencyStart;
         residencyStart = -1;
-        /* continue to loop until we have reached the target temp   
+        /* continue to loop until we have reached the target temp
           _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
         while((residencyStart == -1) ||
               (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
@@ -1097,9 +1126,9 @@ void process_commands()
           if( (millis() - codenum) > 1000UL )
           { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
             SERIAL_PROTOCOLPGM("T:");
-            SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); 
+            SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
             SERIAL_PROTOCOLPGM(" E:");
-            SERIAL_PROTOCOL((int)tmp_extruder); 
+            SERIAL_PROTOCOL((int)tmp_extruder);
             #ifdef TEMP_RESIDENCY_TIME
               SERIAL_PROTOCOLPGM(" W:");
               if(residencyStart > -1)
@@ -1107,7 +1136,7 @@ void process_commands()
                  codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
                  SERIAL_PROTOCOLLN( codenum );
               }
-              else 
+              else
               {
                  SERIAL_PROTOCOLLN( "?" );
               }
@@ -1124,7 +1153,7 @@ void process_commands()
               or when current temp falls outside the hysteresis after target temp was reached */
           if ((residencyStart == -1 &&  target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
               (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
-              (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) ) 
+              (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
           {
             residencyStart = millis();
           }
@@ -1139,8 +1168,8 @@ void process_commands()
     #if TEMP_BED_PIN > -1
         LCD_MESSAGEPGM(MSG_BED_HEATING);
         if (code_seen('S')) setTargetBed(code_value());
-        codenum = millis(); 
-        while(isHeatingBed()) 
+        codenum = millis();
+        while(isHeatingBed())
         {
           if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
           {
@@ -1148,11 +1177,11 @@ void process_commands()
             SERIAL_PROTOCOLPGM("T:");
             SERIAL_PROTOCOL(tt);
             SERIAL_PROTOCOLPGM(" E:");
-            SERIAL_PROTOCOL((int)active_extruder); 
+            SERIAL_PROTOCOL((int)active_extruder);
             SERIAL_PROTOCOLPGM(" B:");
-            SERIAL_PROTOCOL_F(degBed(),1); 
-            SERIAL_PROTOCOLLN(""); 
-            codenum = millis(); 
+            SERIAL_PROTOCOL_F(degBed(),1);
+            SERIAL_PROTOCOLLN("");
+            codenum = millis();
           }
           manage_heater();
           manage_inactivity();
@@ -1169,7 +1198,7 @@ void process_commands()
            fanSpeed=constrain(code_value(),0,255);
         }
         else {
-          fanSpeed=255;			
+          fanSpeed=255;
         }
         break;
       case 107: //M107 Fan Off
@@ -1184,7 +1213,7 @@ void process_commands()
              ValvePressure=constrain(code_value(),0,255);
           }
           else {
-            ValvePressure=255;			
+            ValvePressure=255;
           }
           break;
         case 127: //M127 valve closed
@@ -1199,7 +1228,7 @@ void process_commands()
              EtoPPressure=constrain(code_value(),0,255);
           }
           else {
-            EtoPPressure=255;			
+            EtoPPressure=255;
           }
           break;
         case 129: //M129 valve closed
@@ -1214,18 +1243,18 @@ void process_commands()
         WRITE(PS_ON_PIN, PS_ON_AWAKE);
         break;
       #endif
-      
+
       case 81: // M81 - ATX Power Off
-      
+
       #if defined SUICIDE_PIN && SUICIDE_PIN > -1
         st_synchronize();
         suicide();
       #elif (PS_ON_PIN > -1)
-        SET_OUTPUT(PS_ON_PIN); 
+        SET_OUTPUT(PS_ON_PIN);
         WRITE(PS_ON_PIN, PS_ON_ASLEEP);
       #endif
 		break;
-        
+
     case 82:
       axis_relative_modes[3] = false;
       break;
@@ -1234,11 +1263,11 @@ void process_commands()
       break;
     case 18: //compatibility
     case 84: // M84
-      if(code_seen('S')){ 
-        stepper_inactive_time = code_value() * 1000; 
+      if(code_seen('S')){
+        stepper_inactive_time = code_value() * 1000;
       }
       else
-      { 
+      {
         bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
         if(all_axis)
         {
@@ -1260,18 +1289,18 @@ void process_commands()
               disable_e1();
               disable_e2();
             }
-          #endif 
+          #endif
         }
       }
       break;
     case 85: // M85
       code_seen('S');
-      max_inactive_time = code_value() * 1000; 
+      max_inactive_time = code_value() * 1000;
       break;
     case 92: // M92
-      for(int8_t i=0; i < NUM_AXIS; i++) 
+      for(int8_t i=0; i < NUM_AXIS; i++)
       {
-        if(code_seen(axis_codes[i])) 
+        if(code_seen(axis_codes[i]))
         {
           if(i == 3) { // E
             float value = code_value();
@@ -1305,16 +1334,16 @@ void process_commands()
       SERIAL_PROTOCOL(current_position[Y_AXIS]);
       SERIAL_PROTOCOLPGM("Z:");
       SERIAL_PROTOCOL(current_position[Z_AXIS]);
-      SERIAL_PROTOCOLPGM("E:");      
+      SERIAL_PROTOCOLPGM("E:");
       SERIAL_PROTOCOL(current_position[E_AXIS]);
-      
+
       SERIAL_PROTOCOLPGM(MSG_COUNT_X);
       SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
       SERIAL_PROTOCOLPGM("Y:");
       SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
       SERIAL_PROTOCOLPGM("Z:");
       SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
-      
+
       SERIAL_PROTOCOLLN("");
       break;
     case 120: // M120
@@ -1352,7 +1381,7 @@ void process_commands()
       break;
       //TODO: update for all axis, use for loop
     case 201: // M201
-      for(int8_t i=0; i < NUM_AXIS; i++) 
+      for(int8_t i=0; i < NUM_AXIS; i++)
       {
         if(code_seen(axis_codes[i]))
         {
@@ -1391,7 +1420,7 @@ void process_commands()
     }
     break;
     case 206: // M206 additional homeing offset
-      for(int8_t i=0; i < 3; i++) 
+      for(int8_t i=0; i < 3; i++)
       {
         if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
       }
@@ -1399,47 +1428,47 @@ void process_commands()
     #ifdef FWRETRACT
     case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
     {
-      if(code_seen('S')) 
+      if(code_seen('S'))
       {
         retract_length = code_value() ;
       }
-      if(code_seen('F')) 
+      if(code_seen('F'))
       {
         retract_feedrate = code_value() ;
       }
-      if(code_seen('Z')) 
+      if(code_seen('Z'))
       {
         retract_zlift = code_value() ;
       }
     }break;
     case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
     {
-      if(code_seen('S')) 
+      if(code_seen('S'))
       {
         retract_recover_length = code_value() ;
       }
-      if(code_seen('F')) 
+      if(code_seen('F'))
       {
         retract_recover_feedrate = code_value() ;
       }
     }break;
     case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
     {
-      if(code_seen('S')) 
+      if(code_seen('S'))
       {
         int t= code_value() ;
         switch(t)
         {
           case 0: autoretract_enabled=false;retracted=false;break;
           case 1: autoretract_enabled=true;retracted=false;break;
-          default: 
+          default:
             SERIAL_ECHO_START;
             SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
             SERIAL_ECHO(cmdbuffer[bufindr]);
             SERIAL_ECHOLNPGM("\"");
         }
       }
-      
+
     }break;
     #endif // FWRETRACT
     #if EXTRUDERS > 1
@@ -1448,7 +1477,7 @@ void process_commands()
       if(setTargetedHotend(218)){
         break;
       }
-      if(code_seen('X')) 
+      if(code_seen('X'))
       {
         extruder_offset[X_AXIS][tmp_extruder] = code_value();
       }
@@ -1458,7 +1487,7 @@ void process_commands()
       }
       SERIAL_ECHO_START;
       SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
-      for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) 
+      for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
       {
          SERIAL_ECHO(" ");
          SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
@@ -1470,7 +1499,7 @@ void process_commands()
     #endif
     case 220: // M220 S<factor in percent>- set speed factor override percentage
     {
-      if(code_seen('S')) 
+      if(code_seen('S'))
       {
         feedmultiply = code_value() ;
       }
@@ -1478,13 +1507,44 @@ void process_commands()
     break;
     case 221: // M221 S<factor in percent>- set extrude factor override percentage
     {
-      if(code_seen('S')) 
+      if(code_seen('S'))
       {
         extrudemultiply = code_value() ;
       }
     }
     break;
-    
+
+    #if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
+    case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
+      {
+        int servo_index = -1;
+        int servo_position = 0;
+        if (code_seen('P'))
+          servo_index = code_value();
+        if (code_seen('S')) {
+          servo_position = code_value();
+          if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
+            servos[servo_index].write(servo_position);
+          }
+          else {
+            SERIAL_ECHO_START;
+            SERIAL_ECHO("Servo ");
+            SERIAL_ECHO(servo_index);
+            SERIAL_ECHOLN(" out of range");
+          }
+        }
+        else if (servo_index >= 0) {
+          SERIAL_PROTOCOL(MSG_OK);
+          SERIAL_PROTOCOL(" Servo ");
+          SERIAL_PROTOCOL(servo_index);
+          SERIAL_PROTOCOL(": ");
+          SERIAL_PROTOCOL(servos[servo_index].read());
+          SERIAL_PROTOCOLLN("");
+        }
+      }
+      break;
+    #endif // NUM_SERVOS > 0
+
     #if defined(LARGE_FLASH) && LARGE_FLASH == true && defined(BEEPER) && BEEPER > -1
     case 300: // M300
     {
@@ -1509,7 +1569,7 @@ void process_commands()
         #ifdef PID_ADD_EXTRUSION_RATE
         if(code_seen('C')) Kc = code_value();
         #endif
-        
+
         updatePID();
         SERIAL_PROTOCOL(MSG_OK);
 		SERIAL_PROTOCOL(" p:");
@@ -1569,7 +1629,7 @@ void process_commands()
       #endif
      }
     break;
-      
+
     case 302: // allow cold extrudes
     {
       allow_cold_extrudes(true);
@@ -1634,7 +1694,7 @@ void process_commands()
         lastpos[Z_AXIS]=current_position[Z_AXIS];
         lastpos[E_AXIS]=current_position[E_AXIS];
         //retract by E
-        if(code_seen('E')) 
+        if(code_seen('E'))
         {
           target[E_AXIS]+= code_value();
         }
@@ -1645,9 +1705,9 @@ void process_commands()
           #endif
         }
         plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
-        
+
         //lift Z
-        if(code_seen('Z')) 
+        if(code_seen('Z'))
         {
           target[Z_AXIS]+= code_value();
         }
@@ -1658,9 +1718,9 @@ void process_commands()
           #endif
         }
         plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
-        
+
         //move xy
-        if(code_seen('X')) 
+        if(code_seen('X'))
         {
           target[X_AXIS]+= code_value();
         }
@@ -1670,7 +1730,7 @@ void process_commands()
             target[X_AXIS]= FILAMENTCHANGE_XPOS ;
           #endif
         }
-        if(code_seen('Y')) 
+        if(code_seen('Y'))
         {
           target[Y_AXIS]= code_value();
         }
@@ -1680,9 +1740,9 @@ void process_commands()
             target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
           #endif
         }
-        
+
         plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
-        
+
         if(code_seen('L'))
         {
           target[E_AXIS]+= code_value();
@@ -1693,9 +1753,9 @@ void process_commands()
             target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
           #endif
         }
-        
+
         plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
-        
+
         //finish moves
         st_synchronize();
         //disable extruder steppers so filament can be removed
@@ -1710,12 +1770,12 @@ void process_commands()
           manage_heater();
           manage_inactivity();
           lcd_update();
-          
+
           #if BEEPER > -1
           if(cnt==0)
           {
             SET_OUTPUT(BEEPER);
-            
+
             WRITE(BEEPER,HIGH);
             delay(3);
             WRITE(BEEPER,LOW);
@@ -1723,9 +1783,9 @@ void process_commands()
           }
           #endif
         }
-        
+
         //return to normal
-        if(code_seen('L')) 
+        if(code_seen('L'))
         {
           target[E_AXIS]+= -code_value();
         }
@@ -1743,7 +1803,7 @@ void process_commands()
         plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
     }
     break;
-    #endif //FILAMENTCHANGEENABLE    
+    #endif //FILAMENTCHANGEENABLE
     case 907: // M907 Set digital trimpot motor current using axis codes.
     {
       #if DIGIPOTSS_PIN > -1
@@ -1766,7 +1826,7 @@ void process_commands()
     case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
     {
       #if X_MS1_PIN > -1
-        if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value()); 
+        if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
         for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
         if(code_seen('B')) microstep_mode(4,code_value());
         microstep_readings();
@@ -1800,7 +1860,7 @@ void process_commands()
     }
   }
 
-  else if(code_seen('T')) 
+  else if(code_seen('T'))
   {
     tmp_extruder = code_value();
     if(tmp_extruder >= EXTRUDERS) {
@@ -1825,7 +1885,7 @@ void process_commands()
         // Offset extruder (only by XY)
         int i;
         for(i = 0; i < 2; i++) {
-           current_position[i] = current_position[i] - 
+           current_position[i] = current_position[i] -
                                  extruder_offset[i][active_extruder] +
                                  extruder_offset[i][tmp_extruder];
         }
@@ -1871,14 +1931,14 @@ void ClearToSend()
   if(fromsd[bufindr])
     return;
   #endif //SDSUPPORT
-  SERIAL_PROTOCOLLNPGM(MSG_OK); 
+  SERIAL_PROTOCOLLNPGM(MSG_OK);
 }
 
 void get_coordinates()
 {
   bool seen[4]={false,false,false,false};
   for(int8_t i=0; i < NUM_AXIS; i++) {
-    if(code_seen(axis_codes[i])) 
+    if(code_seen(axis_codes[i]))
     {
       destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
       seen[i]=true;
@@ -1896,23 +1956,23 @@ void get_coordinates()
     float echange=destination[E_AXIS]-current_position[E_AXIS];
     if(echange<-MIN_RETRACT) //retract
     {
-      if(!retracted) 
+      if(!retracted)
       {
-      
+
       destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
       //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
       float correctede=-echange-retract_length;
       //to generate the additional steps, not the destination is changed, but inversely the current position
-      current_position[E_AXIS]+=-correctede; 
+      current_position[E_AXIS]+=-correctede;
       feedrate=retract_feedrate;
       retracted=true;
       }
-      
+
     }
-    else 
+    else
       if(echange>MIN_RETRACT) //retract_recover
     {
-      if(retracted) 
+      if(retracted)
       {
       //current_position[Z_AXIS]+=-retract_zlift;
       //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
@@ -1922,7 +1982,7 @@ void get_coordinates()
       retracted=false;
       }
     }
-    
+
   }
   #endif //FWRETRACT
 }
@@ -1940,7 +2000,7 @@ void get_arc_coordinates()
 
    if(code_seen('I')) {
      offset[0] = code_value();
-   } 
+   }
    else {
      offset[0] = 0.0;
    }
@@ -1971,7 +2031,7 @@ void prepare_move()
 {
   clamp_to_software_endstops(destination);
 
-  previous_millis_cmd = millis(); 
+  previous_millis_cmd = millis();
   // Do not use feedmultiply for E or Z only moves
   if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
       plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
@@ -1989,7 +2049,7 @@ void prepare_arc_move(char isclockwise) {
 
   // Trace the arc
   mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
-  
+
   // As far as the parser is concerned, the position is now == target. In reality the
   // motion control system might still be processing the action and the real tool position
   // in any intermediate location.
@@ -2008,7 +2068,7 @@ void controllerFan()
   if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
   {
     lastMotorCheck = millis();
-    
+
     if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
     #if EXTRUDERS > 2
        || !READ(E2_ENABLE_PIN)
@@ -2016,12 +2076,12 @@ void controllerFan()
     #if EXTRUDER > 1
        || !READ(E1_ENABLE_PIN)
     #endif
-       || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...    
+       || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
     {
       lastMotor = millis(); //... set time to NOW so the fan will turn on
     }
-    
-    if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...   
+
+    if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
     {
       WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
     }
@@ -2041,7 +2101,7 @@ void extruderFan()
   if ((millis() - lastExtruderCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
   {
     lastExtruderCheck = millis();
-           
+
     if (degHotend(active_extruder) < EXTRUDERFAN_DEC)
     {
       WRITE(EXTRUDERFAN_PIN, LOW); //... turn the fan off
@@ -2054,13 +2114,13 @@ void extruderFan()
 }
 #endif
 
-void manage_inactivity() 
-{ 
-  if( (millis() - previous_millis_cmd) >  max_inactive_time ) 
-    if(max_inactive_time) 
-      kill(); 
+void manage_inactivity()
+{
+  if( (millis() - previous_millis_cmd) >  max_inactive_time )
+    if(max_inactive_time)
+      kill();
   if(stepper_inactive_time)  {
-    if( (millis() - previous_millis_cmd) >  stepper_inactive_time ) 
+    if( (millis() - previous_millis_cmd) >  stepper_inactive_time )
     {
       if(blocks_queued() == false) {
         disable_x();
@@ -2080,15 +2140,15 @@ void manage_inactivity()
     controllerFan(); //Check if fan should be turned on to cool stepper drivers down
   #endif
   #ifdef EXTRUDER_RUNOUT_PREVENT
-    if( (millis() - previous_millis_cmd) >  EXTRUDER_RUNOUT_SECONDS*1000 ) 
+    if( (millis() - previous_millis_cmd) >  EXTRUDER_RUNOUT_SECONDS*1000 )
     if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
     {
      bool oldstatus=READ(E0_ENABLE_PIN);
      enable_e0();
      float oldepos=current_position[E_AXIS];
      float oldedes=destination[E_AXIS];
-     plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], 
-                      current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], 
+     plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
+                      current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
                       EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
      current_position[E_AXIS]=oldepos;
      destination[E_AXIS]=oldedes;
@@ -2112,7 +2172,7 @@ void kill()
   disable_e0();
   disable_e1();
   disable_e2();
-  
+
   if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
   SERIAL_ERROR_START;
   SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
@@ -2141,7 +2201,7 @@ void setPwmFrequency(uint8_t pin, int val)
   val &= 0x07;
   switch(digitalPinToTimer(pin))
   {
- 
+
     #if defined(TCCR0A)
     case TIMER0A:
     case TIMER0B:
@@ -2183,7 +2243,7 @@ void setPwmFrequency(uint8_t pin, int val)
          break;
     #endif
 
-    #if defined(TCCR4A) 
+    #if defined(TCCR4A)
     case TIMER4A:
     case TIMER4B:
     case TIMER4C:
@@ -2192,7 +2252,7 @@ void setPwmFrequency(uint8_t pin, int val)
          break;
    #endif
 
-    #if defined(TCCR5A) 
+    #if defined(TCCR5A)
     case TIMER5A:
     case TIMER5B:
     case TIMER5C:
diff --git a/Marlin/Servo.cpp b/Marlin/Servo.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..02138b5825fb3ca372e42691f96808da0f0aa879
--- /dev/null
+++ b/Marlin/Servo.cpp
@@ -0,0 +1,337 @@
+/*
+ Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+ Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+/*
+
+ A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
+ The servos are pulsed in the background using the value most recently written using the write() method
+
+ Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
+ Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
+
+ The methods are:
+
+ Servo - Class for manipulating servo motors connected to Arduino pins.
+
+ attach(pin )  - Attaches a servo motor to an i/o pin.
+ attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
+ default min is 544, max is 2400
+
+ write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+ writeMicroseconds() - Sets the servo pulse width in microseconds
+ read()      - Gets the last written servo pulse width as an angle between 0 and 180.
+ readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+ attached()  - Returns true if there is a servo attached.
+ detach()    - Stops an attached servos from pulsing its i/o pin.
+
+*/
+
+#include <avr/interrupt.h>
+#include <Arduino.h>
+
+#include "Servo.h"
+
+#define usToTicks(_us)    (( clockCyclesPerMicrosecond()* _us) / 8)     // converts microseconds to tick (assumes prescale of 8)  // 12 Aug 2009
+#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
+
+
+#define TRIM_DURATION       2                               // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
+
+//#define NBR_TIMERS        (MAX_SERVOS / SERVOS_PER_TIMER)
+
+static servo_t servos[MAX_SERVOS];                          // static array of servo structures
+static volatile int8_t Channel[_Nbr_16timers ];             // counter for the servo being pulsed for each timer (or -1 if refresh interval)
+
+uint8_t ServoCount = 0;                                     // the total number of attached servos
+
+
+// convenience macros
+#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
+#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER)       // returns the index of the servo on this timer
+#define SERVO_INDEX(_timer,_channel)  ((_timer*SERVOS_PER_TIMER) + _channel)     // macro to access servo index by timer and channel
+#define SERVO(_timer,_channel)  (servos[SERVO_INDEX(_timer,_channel)])            // macro to access servo class by timer and channel
+
+#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4)  // minimum value in uS for this servo
+#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4)  // maximum value in uS for this servo
+
+/************ static functions common to all instances ***********************/
+
+static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
+{
+  if( Channel[timer] < 0 )
+    *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
+  else{
+    if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
+      digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
+  }
+
+  Channel[timer]++;    // increment to the next channel
+  if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
+    *OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
+    if(SERVO(timer,Channel[timer]).Pin.isActive == true)     // check if activated
+      digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
+  }
+  else {
+    // finished all channels so wait for the refresh period to expire before starting over
+    if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) )  // allow a few ticks to ensure the next OCR1A not missed
+      *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
+    else
+      *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed
+    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+  }
+}
+
+#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
+// Interrupt handlers for Arduino
+#if defined(_useTimer1)
+SIGNAL (TIMER1_COMPA_vect)
+{
+  handle_interrupts(_timer1, &TCNT1, &OCR1A);
+}
+#endif
+
+#if defined(_useTimer3)
+SIGNAL (TIMER3_COMPA_vect)
+{
+  handle_interrupts(_timer3, &TCNT3, &OCR3A);
+}
+#endif
+
+#if defined(_useTimer4)
+SIGNAL (TIMER4_COMPA_vect)
+{
+  handle_interrupts(_timer4, &TCNT4, &OCR4A);
+}
+#endif
+
+#if defined(_useTimer5)
+SIGNAL (TIMER5_COMPA_vect)
+{
+  handle_interrupts(_timer5, &TCNT5, &OCR5A);
+}
+#endif
+
+#elif defined WIRING
+// Interrupt handlers for Wiring
+#if defined(_useTimer1)
+void Timer1Service()
+{
+  handle_interrupts(_timer1, &TCNT1, &OCR1A);
+}
+#endif
+#if defined(_useTimer3)
+void Timer3Service()
+{
+  handle_interrupts(_timer3, &TCNT3, &OCR3A);
+}
+#endif
+#endif
+
+
+static void initISR(timer16_Sequence_t timer)
+{
+#if defined (_useTimer1)
+  if(timer == _timer1) {
+    TCCR1A = 0;             // normal counting mode
+    TCCR1B = _BV(CS11);     // set prescaler of 8
+    TCNT1 = 0;              // clear the timer count
+#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
+    TIFR |= _BV(OCF1A);      // clear any pending interrupts;
+    TIMSK |=  _BV(OCIE1A) ;  // enable the output compare interrupt
+#else
+    // here if not ATmega8 or ATmega128
+    TIFR1 |= _BV(OCF1A);     // clear any pending interrupts;
+    TIMSK1 |=  _BV(OCIE1A) ; // enable the output compare interrupt
+#endif
+#if defined(WIRING)
+    timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
+#endif
+  }
+#endif
+
+#if defined (_useTimer3)
+  if(timer == _timer3) {
+    TCCR3A = 0;             // normal counting mode
+    TCCR3B = _BV(CS31);     // set prescaler of 8
+    TCNT3 = 0;              // clear the timer count
+#if defined(__AVR_ATmega128__)
+    TIFR |= _BV(OCF3A);     // clear any pending interrupts;
+	ETIMSK |= _BV(OCIE3A);  // enable the output compare interrupt
+#else
+    TIFR3 = _BV(OCF3A);     // clear any pending interrupts;
+    TIMSK3 =  _BV(OCIE3A) ; // enable the output compare interrupt
+#endif
+#if defined(WIRING)
+    timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
+#endif
+  }
+#endif
+
+#if defined (_useTimer4)
+  if(timer == _timer4) {
+    TCCR4A = 0;             // normal counting mode
+    TCCR4B = _BV(CS41);     // set prescaler of 8
+    TCNT4 = 0;              // clear the timer count
+    TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
+    TIMSK4 =  _BV(OCIE4A) ; // enable the output compare interrupt
+  }
+#endif
+
+#if defined (_useTimer5)
+  if(timer == _timer5) {
+    TCCR5A = 0;             // normal counting mode
+    TCCR5B = _BV(CS51);     // set prescaler of 8
+    TCNT5 = 0;              // clear the timer count
+    TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
+    TIMSK5 =  _BV(OCIE5A) ; // enable the output compare interrupt
+  }
+#endif
+}
+
+static void finISR(timer16_Sequence_t timer)
+{
+    //disable use of the given timer
+#if defined WIRING   // Wiring
+  if(timer == _timer1) {
+    #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+    TIMSK1 &=  ~_BV(OCIE1A) ;  // disable timer 1 output compare interrupt
+    #else
+    TIMSK &=  ~_BV(OCIE1A) ;  // disable timer 1 output compare interrupt
+    #endif
+    timerDetach(TIMER1OUTCOMPAREA_INT);
+  }
+  else if(timer == _timer3) {
+    #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+    TIMSK3 &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
+    #else
+    ETIMSK &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
+    #endif
+    timerDetach(TIMER3OUTCOMPAREA_INT);
+  }
+#else
+    //For arduino - in future: call here to a currently undefined function to reset the timer
+#endif
+}
+
+static boolean isTimerActive(timer16_Sequence_t timer)
+{
+  // returns true if any servo is active on this timer
+  for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
+    if(SERVO(timer,channel).Pin.isActive == true)
+      return true;
+  }
+  return false;
+}
+
+
+/****************** end of static functions ******************************/
+
+Servo::Servo()
+{
+  if( ServoCount < MAX_SERVOS) {
+    this->servoIndex = ServoCount++;                    // assign a servo index to this instance
+	servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH);   // store default values  - 12 Aug 2009
+  }
+  else
+    this->servoIndex = INVALID_SERVO ;  // too many servos
+}
+
+uint8_t Servo::attach(int pin)
+{
+  return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+}
+
+uint8_t Servo::attach(int pin, int min, int max)
+{
+  if(this->servoIndex < MAX_SERVOS ) {
+    pinMode( pin, OUTPUT) ;                                   // set servo pin to output
+    servos[this->servoIndex].Pin.nbr = pin;
+    // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
+    this->min  = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
+    this->max  = (MAX_PULSE_WIDTH - max)/4;
+    // initialize the timer if it has not already been initialized
+    timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+    if(isTimerActive(timer) == false)
+      initISR(timer);
+    servos[this->servoIndex].Pin.isActive = true;  // this must be set after the check for isTimerActive
+  }
+  return this->servoIndex ;
+}
+
+void Servo::detach()
+{
+  servos[this->servoIndex].Pin.isActive = false;
+  timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+  if(isTimerActive(timer) == false) {
+    finISR(timer);
+  }
+}
+
+void Servo::write(int value)
+{
+  if(value < MIN_PULSE_WIDTH)
+  {  // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
+    if(value < 0) value = 0;
+    if(value > 180) value = 180;
+    value = map(value, 0, 180, SERVO_MIN(),  SERVO_MAX());
+  }
+  this->writeMicroseconds(value);
+}
+
+void Servo::writeMicroseconds(int value)
+{
+  // calculate and store the values for the given channel
+  byte channel = this->servoIndex;
+  if( (channel < MAX_SERVOS) )   // ensure channel is valid
+  {
+    if( value < SERVO_MIN() )          // ensure pulse width is valid
+      value = SERVO_MIN();
+    else if( value > SERVO_MAX() )
+      value = SERVO_MAX();
+
+  	value = value - TRIM_DURATION;
+    value = usToTicks(value);  // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
+
+    uint8_t oldSREG = SREG;
+    cli();
+    servos[channel].ticks = value;
+    SREG = oldSREG;
+  }
+}
+
+int Servo::read() // return the value as degrees
+{
+  return  map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
+}
+
+int Servo::readMicroseconds()
+{
+  unsigned int pulsewidth;
+  if( this->servoIndex != INVALID_SERVO )
+    pulsewidth = ticksToUs(servos[this->servoIndex].ticks)  + TRIM_DURATION ;   // 12 aug 2009
+  else
+    pulsewidth  = 0;
+
+  return pulsewidth;
+}
+
+bool Servo::attached()
+{
+  return servos[this->servoIndex].Pin.isActive ;
+}
diff --git a/Marlin/Servo.h b/Marlin/Servo.h
new file mode 100644
index 0000000000000000000000000000000000000000..17c99f7974a7e5ac00867f049db252071540e1e9
--- /dev/null
+++ b/Marlin/Servo.h
@@ -0,0 +1,132 @@
+/*
+  Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+  Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+/*
+
+  A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
+  The servos are pulsed in the background using the value most recently written using the write() method
+
+  Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
+  Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
+  The sequence used to sieze timers is defined in timers.h
+
+  The methods are:
+
+   Servo - Class for manipulating servo motors connected to Arduino pins.
+
+   attach(pin )  - Attaches a servo motor to an i/o pin.
+   attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
+   default min is 544, max is 2400
+
+   write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+   writeMicroseconds() - Sets the servo pulse width in microseconds
+   read()      - Gets the last written servo pulse width as an angle between 0 and 180.
+   readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+   attached()  - Returns true if there is a servo attached.
+   detach()    - Stops an attached servos from pulsing its i/o pin.
+ */
+
+#ifndef Servo_h
+#define Servo_h
+
+#include <inttypes.h>
+
+/*
+ * Defines for 16 bit timers used with  Servo library
+ *
+ * If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
+ * timer16_Sequence_t enumerates the sequence that the timers should be allocated
+ * _Nbr_16timers indicates how many 16 bit timers are available.
+ *
+ */
+
+// Say which 16 bit timers can be used and in what order
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define _useTimer5
+//#define _useTimer1
+#define _useTimer3
+#define _useTimer4
+//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_ATmega32U4__)
+//#define _useTimer1
+#define _useTimer3
+//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
+#define _useTimer3
+//#define _useTimer1
+//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+#define _useTimer3
+//#define _useTimer1
+//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+
+#else  // everything else
+//#define _useTimer1
+//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _Nbr_16timers } timer16_Sequence_t ;
+#endif
+
+#define Servo_VERSION           2      // software version of this library
+
+#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo
+#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo
+#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
+#define REFRESH_INTERVAL    20000     // minumim time to refresh servos in microseconds
+
+#define SERVOS_PER_TIMER       12     // the maximum number of servos controlled by one timer
+#define MAX_SERVOS   (_Nbr_16timers  * SERVOS_PER_TIMER)
+
+#define INVALID_SERVO         255     // flag indicating an invalid servo index
+
+typedef struct  {
+  uint8_t nbr        :6 ;             // a pin number from 0 to 63
+  uint8_t isActive   :1 ;             // true if this channel is enabled, pin not pulsed if false
+} ServoPin_t   ;
+
+typedef struct {
+  ServoPin_t Pin;
+  unsigned int ticks;
+} servo_t;
+
+class Servo
+{
+public:
+  Servo();
+  uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
+  uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
+  void detach();
+  void write(int value);             // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
+  void writeMicroseconds(int value); // Write pulse width in microseconds
+  int read();                        // returns current pulse width as an angle between 0 and 180 degrees
+  int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
+  bool attached();                   // return true if this servo is attached, otherwise false
+private:
+   uint8_t servoIndex;               // index into the channel data for this servo
+   int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH
+   int8_t max;                       // maximum is this value times 4 added to MAX_PULSE_WIDTH
+};
+
+#endif
diff --git a/Marlin/pins.h b/Marlin/pins.h
index ad88338e87764531b331eaded1cd4ab4268bcb94..4d489f2525667eadf84eef3089cccb954702f578 100644
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
@@ -248,14 +248,14 @@
     #define E0_STEP_PIN      28
     #define E0_DIR_PIN       27
     #define E0_ENABLE_PIN    24
-    
+
     #define TEMP_0_PIN      2
     #define TEMP_1_PIN      -1
     #define TEMP_2_PIN      -1
     #define TEMP_BED_PIN        1   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
-     
+
     #define HEATER_0_PIN    4
-    #define HEATER_1_PIN    -1   
+    #define HEATER_1_PIN    -1
     #define HEATER_2_PIN    -1
     #define HEATER_BED_PIN      3  // (bed)
 
@@ -272,25 +272,25 @@
     //our RS485 pins
     //#define TX_ENABLE_PIN       12
     //#define RX_ENABLE_PIN       13
-    
-    #define BEEPER -1	
-	#define SDCARDDETECT -1 		
+
+    #define BEEPER -1
+	#define SDCARDDETECT -1
     #define SUICIDE_PIN -1						//has to be defined; otherwise Power_off doesn't work
-	
+
     #define KILL_PIN -1
-	//Pins for 4bit LCD Support 
-    #define LCD_PINS_RS 18 
+	//Pins for 4bit LCD Support
+    #define LCD_PINS_RS 18
     #define LCD_PINS_ENABLE 17
     #define LCD_PINS_D4 16
-    #define LCD_PINS_D5 15 
+    #define LCD_PINS_D5 15
     #define LCD_PINS_D6 13
     #define LCD_PINS_D7 14
-    
+
      //buttons are directly attached
     #define BTN_EN1 11
     #define BTN_EN2 10
     #define BTN_ENC 12  //the click
-    
+
     #define BLEN_C 2
     #define BLEN_B 1
     #define BLEN_A 0
@@ -376,13 +376,18 @@
 #else
 #define HEATER_1_PIN       9    // EXTRUDER 2 (FAN On Sprinter)
 #endif
-#define HEATER_2_PIN       -1   
+#define HEATER_2_PIN       -1
 #define TEMP_0_PIN         13   // ANALOG NUMBERING
 #define TEMP_1_PIN         15   // ANALOG NUMBERING
 #define TEMP_2_PIN         -1   // ANALOG NUMBERING
 #define HEATER_BED_PIN     8    // BED
 #define TEMP_BED_PIN       14   // ANALOG NUMBERING
 
+#define SERVO0_PIN         11
+#define SERVO1_PIN         6
+#define SERVO2_PIN         5
+#define SERVO3_PIN         4
+
 #ifdef ULTRA_LCD
 
   #ifdef NEWPANEL
@@ -396,13 +401,13 @@
     #define BLEN_B 1
     #define BLEN_C 2
 
-    #define LCD_PINS_RS 16 
+    #define LCD_PINS_RS 16
     #define LCD_PINS_ENABLE 17
     #define LCD_PINS_D4 23
-    #define LCD_PINS_D5 25 
+    #define LCD_PINS_D5 25
     #define LCD_PINS_D6 27
     #define LCD_PINS_D7 29
-    
+
     #ifdef REPRAP_DISCOUNT_SMART_CONTROLLER
       #define BEEPER 37
 
@@ -455,21 +460,21 @@
     //#define SHIFT_LD 42
     //#define SHIFT_OUT 40
     //#define SHIFT_EN 17
-    
-    #define LCD_PINS_RS 16 
+
+    #define LCD_PINS_RS 16
     #define LCD_PINS_ENABLE 17
     #define LCD_PINS_D4 23
-    #define LCD_PINS_D5 25 
+    #define LCD_PINS_D5 25
     #define LCD_PINS_D6 27
     #define LCD_PINS_D7 29
-    
+
     //encoder rotation values
     #define encrot0 0
     #define encrot1 2
     #define encrot2 3
     #define encrot3 1
 
-    
+
     //bits in the shift register that carry the buttons for:
     // left up center down right red
     #define BL_LE 7
@@ -481,7 +486,7 @@
 
     #define BLEN_B 1
     #define BLEN_A 0
-  #endif 
+  #endif
 #endif //ULTRA_LCD
 
 #else // RAMPS_V_1_1 or RAMPS_V_1_2 as default (MOTHERBOARD == 3)
@@ -526,15 +531,15 @@
 #define HEATER_1_PIN        -1
 #define HEATER_2_PIN        -1
 #define TEMP_0_PIN          2    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN          -1   
-#define TEMP_2_PIN          -1   
+#define TEMP_1_PIN          -1
+#define TEMP_2_PIN          -1
 #define TEMP_BED_PIN        1    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
 #endif// MOTHERBOARD == 33 || MOTHERBOARD == 34
 
-// SPI for Max6675 Thermocouple 
+// SPI for Max6675 Thermocouple
 
 #ifndef SDSUPPORT
-// these pins are defined in the SD library if building with SD support  
+// these pins are defined in the SD library if building with SD support
   #define MAX_SCK_PIN          52
   #define MAX_MISO_PIN         50
   #define MAX_MOSI_PIN         51
@@ -586,8 +591,8 @@
 #define HEATER_1_PIN        -1
 #define HEATER_2_PIN        -1
 #define TEMP_0_PIN          0    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN          -1    
-#define TEMP_2_PIN          -1    
+#define TEMP_1_PIN          -1
+#define TEMP_2_PIN          -1
 #define HEATER_BED_PIN      -1
 #define TEMP_BED_PIN        -1
 
@@ -650,14 +655,14 @@
     #define PS_ON_PIN       -1    //changed @ rkoeppl 20110410
     #define KILL_PIN        -1    //changed @ drakelive 20120830
     //our pin for debugging.
-    
+
     #define DEBUG_PIN        0
-    
+
     //our RS485 pins
     #define TX_ENABLE_PIN	12
     #define RX_ENABLE_PIN	13
 
-    
+
 #endif
 
 /****************************************************************************************
@@ -673,7 +678,7 @@
 #if MOTHERBOARD == 62 || MOTHERBOARD == 63 || MOTHERBOARD == 64
 #undef MOTHERBOARD
 #define MOTHERBOARD 6
-#define SANGUINOLOLU_V_1_2 
+#define SANGUINOLOLU_V_1_2
 #endif
 #if MOTHERBOARD == 6
 #define KNOWN_BOARD 1
@@ -700,7 +705,7 @@
 
 #define LED_PIN            -1
 
-#define FAN_PIN            -1 
+#define FAN_PIN            -1
 #if FAN_PIN == 12 || FAN_PIN ==13
 #define FAN_SOFT_PWM
 #endif
@@ -779,21 +784,21 @@
      #define BTN_ENC 16  //the switch
      //not connected to a pin
      #define SDCARDDETECT -1
-     
+
      //from the same bit in the RAMPS Newpanel define
      //encoder rotation values
      #define encrot0 0
      #define encrot1 2
      #define encrot2 3
      #define encrot3 1
-     
+
      #define BLEN_C 2
      #define BLEN_B 1
      #define BLEN_A 0
-     
+
    #endif //Newpanel
  #endif //Ultipanel
- 
+
 #endif
 
 
@@ -823,17 +828,17 @@
 #define Y_MAX_PIN 28
 #define Y_ENABLE_PIN 29
 
-#define Z_STEP_PIN 37 
+#define Z_STEP_PIN 37
 #define Z_DIR_PIN 39
 #define Z_MIN_PIN 30
 #define Z_MAX_PIN 32
 #define Z_ENABLE_PIN 35
 
-#define HEATER_BED_PIN 4 
-#define TEMP_BED_PIN 10  
+#define HEATER_BED_PIN 4
+#define TEMP_BED_PIN 10
 
 #define HEATER_0_PIN  2
-#define TEMP_0_PIN 8   
+#define TEMP_0_PIN 8
 
 #define HEATER_1_PIN 3
 #define TEMP_1_PIN 9
@@ -863,24 +868,24 @@
   //arduino pin witch triggers an piezzo beeper
     #define BEEPER 18
 
-    #define LCD_PINS_RS 20 
+    #define LCD_PINS_RS 20
     #define LCD_PINS_ENABLE 17
     #define LCD_PINS_D4 16
-    #define LCD_PINS_D5 21 
+    #define LCD_PINS_D5 21
     #define LCD_PINS_D6 5
     #define LCD_PINS_D7 6
-    
+
     //buttons are directly attached
     #define BTN_EN1 40
     #define BTN_EN2 42
     #define BTN_ENC 19  //the click
-    
+
     #define BLEN_C 2
     #define BLEN_B 1
     #define BLEN_A 0
-    
+
     #define SDCARDDETECT 38
-    
+
       //encoder rotation values
     #define encrot0 0
     #define encrot1 2
@@ -895,14 +900,14 @@
     #define SHIFT_LD 42
     #define SHIFT_OUT 40
     #define SHIFT_EN 17
-    
-    #define LCD_PINS_RS 16 
+
+    #define LCD_PINS_RS 16
     #define LCD_PINS_ENABLE 5
     #define LCD_PINS_D4 6
-    #define LCD_PINS_D5 21 
+    #define LCD_PINS_D5 21
     #define LCD_PINS_D6 20
     #define LCD_PINS_D7 19
-    
+
     //encoder rotation values
     #ifndef ULTIMAKERCONTROLLER
      #define encrot0 0
@@ -929,7 +934,7 @@
 
     #define BLEN_B 1
     #define BLEN_A 0
-  #endif 
+  #endif
 #endif //ULTRA_LCD
 
 #endif
@@ -960,17 +965,17 @@
 #define Y_MAX_PIN 16
 #define Y_ENABLE_PIN 29
 
-#define Z_STEP_PIN 37 
+#define Z_STEP_PIN 37
 #define Z_DIR_PIN 39
 #define Z_MIN_PIN 19
 #define Z_MAX_PIN 18
 #define Z_ENABLE_PIN 35
 
-#define HEATER_BED_PIN -1 
-#define TEMP_BED_PIN -1  
+#define HEATER_BED_PIN -1
+#define TEMP_BED_PIN -1
 
 #define HEATER_0_PIN  2
-#define TEMP_0_PIN 8   
+#define TEMP_0_PIN 8
 
 #define HEATER_1_PIN 1
 #define TEMP_1_PIN 1
@@ -994,10 +999,10 @@
 #define KILL_PIN           -1
 #define SUICIDE_PIN        -1  //PIN that has to be turned on right after start, to keep power flowing.
 
-#define LCD_PINS_RS 24 
+#define LCD_PINS_RS 24
 #define LCD_PINS_ENABLE 22
 #define LCD_PINS_D4 36
-#define LCD_PINS_D5 34 
+#define LCD_PINS_D5 34
 #define LCD_PINS_D6 32
 #define LCD_PINS_D7 30
 
@@ -1019,17 +1024,17 @@
 #define X_DIR_PIN          16
 #define X_ENABLE_PIN       48
 #define X_MIN_PIN          37
-#define X_MAX_PIN          36 
+#define X_MAX_PIN          36
 
 #define Y_STEP_PIN         54
-#define Y_DIR_PIN          47 
+#define Y_DIR_PIN          47
 #define Y_ENABLE_PIN       55
 #define Y_MIN_PIN          35
-#define Y_MAX_PIN          34 
+#define Y_MAX_PIN          34
 
-#define Z_STEP_PIN         57 
+#define Z_STEP_PIN         57
 #define Z_DIR_PIN          56
-#define Z_ENABLE_PIN       62 
+#define Z_ENABLE_PIN       62
 #define Z_MIN_PIN          33
 #define Z_MAX_PIN          32
 
@@ -1047,7 +1052,7 @@
 
 #define LED_PIN            13
 
-#define FAN_PIN            7 
+#define FAN_PIN            7
 //additional FAN1 PIN (e.g. useful for electronics fan or light on/off) on PIN 8
 
 #define PS_ON_PIN          45
@@ -1108,10 +1113,10 @@
 #define SDSS               53
 #define SDCARDDETECT       49
 #define BEEPER             44
-#define LCD_PINS_RS        19 
+#define LCD_PINS_RS        19
 #define LCD_PINS_ENABLE    42
 #define LCD_PINS_D4        18
-#define LCD_PINS_D5        38 
+#define LCD_PINS_D5        38
 #define LCD_PINS_D6        41
 #define LCD_PINS_D7        40
 #define BTN_EN1            11
@@ -1295,7 +1300,7 @@
 
 #define LED_PIN            -1
 
-#define FAN_PIN            -1 
+#define FAN_PIN            -1
 
 #define PS_ON_PIN         14
 #define KILL_PIN           -1
@@ -1334,7 +1339,7 @@
 *       MISO (D 6) PB6  7|        |34  PA6 (AI 6 / D25)
 *        SCK (D 7) PB7  8|        |33  PA7 (AI 7 / D24)
 *                  RST  9|        |32  AREF
-*                  VCC 10|        |31  GND 
+*                  VCC 10|        |31  GND
 *                  GND 11|        |30  AVCC
 *                XTAL2 12|        |29  PC7 (D 23)
 *                XTAL1 13|        |28  PC6 (D 22)
@@ -1391,7 +1396,7 @@
 #define KILL_PIN           -1
 
 #define HEATER_0_PIN       4
-#define HEATER_1_PIN       -1 // 12 
+#define HEATER_1_PIN       -1 // 12
 #define HEATER_2_PIN       -1 // 13
 #define TEMP_0_PIN          0 //D27   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
 #define TEMP_1_PIN         -1 // 1
@@ -1453,11 +1458,11 @@
 #define KILL_PIN           -1
 
 #define HEATER_0_PIN        3 /*DONE PWM on RIGHT connector */
-#define HEATER_1_PIN       -1 
+#define HEATER_1_PIN       -1
 #define HEATER_2_PIN       -1
-#define HEATER_1_PIN       -1 
+#define HEATER_1_PIN       -1
 #define HEATER_2_PIN       -1
-#define TEMP_0_PIN          0 // ANALOG INPUT NUMBERING 
+#define TEMP_0_PIN          0 // ANALOG INPUT NUMBERING
 #define TEMP_1_PIN          1 // ANALOG
 #define TEMP_2_PIN         -1 // 2
 #define HEATER_BED_PIN      4
@@ -1505,7 +1510,7 @@
 #define Z_MS2_PIN 67
 
 #define HEATER_BED_PIN 3
-#define TEMP_BED_PIN 2 
+#define TEMP_BED_PIN 2
 
 #define HEATER_0_PIN  9
 #define TEMP_0_PIN 0
@@ -1598,9 +1603,9 @@
 
 #define HEATER_0_PIN       9    // EXTRUDER 1
 #define HEATER_1_PIN       8    // EXTRUDER 2 (FAN On Sprinter)
-#define HEATER_2_PIN       -1  
+#define HEATER_2_PIN       -1
 
-#if TEMP_SENSOR_0 == -1 
+#if TEMP_SENSOR_0 == -1
 #define TEMP_0_PIN         8   // ANALOG NUMBERING
 #else
 #define TEMP_0_PIN         13   // ANALOG NUMBERING
@@ -1619,25 +1624,25 @@
 
   #ifdef NEWPANEL
   //arduino pin which triggers an piezzo beeper
-    
-    #define LCD_PINS_RS 16 
+
+    #define LCD_PINS_RS 16
     #define LCD_PINS_ENABLE 17
     #define LCD_PINS_D4 23
-    #define LCD_PINS_D5 25 
+    #define LCD_PINS_D5 25
     #define LCD_PINS_D6 27
     #define LCD_PINS_D7 29
-    
+
     //buttons are directly attached using AUX-2
     #define BTN_EN1 59
     #define BTN_EN2 64
     #define BTN_ENC 43  //the click
-    
+
     #define BLEN_C 2
     #define BLEN_B 1
     #define BLEN_A 0
-    
+
     #define SDCARDDETECT -1		// Ramps does not use this port
-    
+
       //encoder rotation values
     #define encrot0 0
     #define encrot1 2
@@ -1653,7 +1658,7 @@
 #endif
 
 //List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those!
-#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN, 
+#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN,
 #if EXTRUDERS > 1
   #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, HEATER_1_PIN,
 #else