diff --git a/darkwater_640/darkwater_640.py b/darkwater_640/darkwater_640.py
index 81252a1..eb11f20 100644
--- a/darkwater_640/darkwater_640.py
+++ b/darkwater_640/darkwater_640.py
@@ -219,10 +219,10 @@ class dw_Motor:
                         return
                 if (command == dw_Controller.FORWARD):
                         self.MC.setPin(self.PHpin, 0)
-                        self.MC._pwm.setPWM(self.ENpin, 0, speed*16)
+                        self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
                 if (command == dw_Controller.BACKWARD):
                         self.MC.setPin(self.PHpin, 1)
-                        self.MC._pwm.setPWM(self.ENpin, 0, speed*16)
+                        self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
                 if (command == dw_Controller.RELEASE):
                         self.MC.setPin(self.PHpin, 0)
                         self.MC.setPin(self.ENpin, 0)
@@ -266,7 +266,7 @@ class dw_Servo:
 
         def setPWM(self, value):
                 if(value > 0):
-                        self.MC._pwm.setPWM(self.pin, 0, int(value) )
+                        self.MC._pwm.set_pwm(self.pin, 0, int(value) )
                 if(value == 0):
                         self.off()
 
@@ -313,9 +313,19 @@ class dw_Controller:
                 if (value != 0) and (value != 1):
                         raise NameError('Pin value must be 0 or 1!')
                 if (value == 0):
-                        self._pwm.setPWM(pin, 0, 4096)
+                        self._pwm.set_pwm(pin, 0, 4096)
                 if (value == 1):
-                        self._pwm.setPWM(pin, 4096, 0)
+                        self._pwm.set_pwm(pin, 4096, 0)
+
+        def setAllPin(self, value):
+                if (pin < 0) or (pin > 15):
+                        raise NameError('PWM pin must be between 0 and 15 inclusive')
+                if (value != 0) and (value != 1):
+                        raise NameError('Pin value must be 0 or 1!')
+                if (value == 0):
+                        self._pwm.set_all_pwm(0, 4096)
+                if (value == 1):
+                        self._pwm.set_all_pwm(4096, 0)
 
         def getMotor(self, num):
                 if (num < 1) or (num > 6):
@@ -327,9 +337,26 @@ class dw_Controller:
                         raise NameError('Servos must be between 1 and 2 inclusive')
                 return self.servos[num-1]
 
+        def setAllPWM(self, value):
+                if(value > 0):
+                        self._pwm.set_all_pwm(0, value)
+                if(value == 0):
+                        self.allOff()
+
+        def setAllPWMmS(self, value):
+                if(value > 0):
+                        self._pwm.set_all_pwm(0, value)
+                if(value == 0):
+                        self.allOff()
+
+        def setAllPWMuS(self, value):
+                if(value > 0):
+                        self._pwm.set_all_pwm(0, value)
+                if(value == 0):
+                        self.allOff()
+
         def allOff(self):
-                for y in range(5):
-                        self.motors[y].run(dw_MotorCONTROL.RELEASE, 0)
+                this.setAllPin( 0 );
 
 def translate(value, leftMin, leftMax, rightMin, rightMax):
     # Figure out how 'wide' each range is