diff --git a/Hardware/Y_axis/Y_rod_idler.scad b/Hardware/Y_axis/Y_rod_idler.scad
index 529842a..34b50f9 100644
--- a/Hardware/Y_axis/Y_rod_idler.scad
+++ b/Hardware/Y_axis/Y_rod_idler.scad
@@ -4,8 +4,8 @@
 
 
 use <../libs/build_plate.scad>
-use <../libs/MCAD-master/nuts_and_bolts.scad>
-fileNameLogo = "../libs/logo/cyclone_logo.dxf";
+use <../libs/MCAD/nuts_and_bolts.scad>
+fileNameLogo = "../libs/logo/cyclone_logoC.dxf";
 
 M8_rod_diam = 8.2;
 M3_rod_diam = 3.2;
@@ -20,8 +20,6 @@ frame_width = 25;
 frame_height = Y_rod_height-smooth_rod_margin;
 frame_depth = 10;
 
-
-
 module mainBlock(){
   union(){
     //main block
@@ -47,7 +45,6 @@ module gap(){
         cube([frame_width/2,frame_depth/8,frame_depth],center=true);
 }
 
-
 module hole(){
     scale([0.77,1.5,0.77])
     //main block shirnked
@@ -70,6 +67,7 @@ module M3rodAndNut(){
            		nutHole(3); 
         }  	
 }
+
 module supportL(){
     mirror([0,0,0])
     translate([17,40 -10/4,0]){
@@ -80,11 +78,12 @@ module supportL(){
       }
     }
 }
+
 module supportR(){
     mirror([1,0,0,])
       supportL();
-
 }
+
 module mainBody(){
   mainBlock();
   supportR();
@@ -103,10 +102,9 @@ module logo(mirror = 0){
 				resize([20,20,1.2])
 					linear_extrude(file = fileNameLogo, height=2);
 	}
-
 }
 
-module Y_rod_idler(side = 0){
+module Y_rod_idler(side = 0, logo = 0){
 	/*if left, side = 1
 	  if right, side = 0*/
 	mirror([side,0,0])
@@ -116,30 +114,30 @@ module Y_rod_idler(side = 0){
 	    M3rodAndNut();
 	    gap();
 	    hole(); 
-      logo(side);
-	    
-	      
+      if(logo)
+      logo(side);	      
 	}
-
-
-
 }
+
 module show_printbed(){
 	translate([frame_width/2,frame_height/2,-frame_depth/2]) build_plate(3,150,140);
-
 }
-module Y_rod_idler_left(){
+
+module Y_rod_idler_left(logo){
 	translate([-25,0,0])	
-		Y_rod_idler(1);
+		Y_rod_idler(1, logo);
 }
-module Y_rod_idler_right(){
+
+module Y_rod_idler_right(logo){
 	translate([25,0,0])	
-		Y_rod_idler(0);
+		Y_rod_idler(0, logo);
 }
 
-
-Y_rod_idler_right();
-Y_rod_idler_left();
+/***************************************************************/
+Y_rod_idler_right(logo = 1);
+Y_rod_idler_left(logo = 1);
+// Y_rod_idler_right(); // Without logo
+// Y_rod_idler_left(); // Without logo
 show_printbed();
 
 
diff --git a/Hardware/Y_axis/stl/Y_rod_idler.stl b/Hardware/Y_axis/stl/Y_rod_idler.stl
index cf00044..5bac242 100644
--- a/Hardware/Y_axis/stl/Y_rod_idler.stl
+++ b/Hardware/Y_axis/stl/Y_rod_idler.stl
@@ -111,20 +111,6 @@ solid OpenSCAD_Model
       vertex 37.5 35 -5
     endloop
   endfacet
-  facet normal 0 0 -1
-    outer loop
-      vertex 23.8744 21.5419 -5
-      vertex 24.3362 18.3461 -5
-      vertex 23.6678 19.1097 -5
-    endloop
-  endfacet
-  facet normal 0 0 -1
-    outer loop
-      vertex 29.4079 10.5336 -5
-      vertex 37.5 0 -5
-      vertex 28.1888 10.7989 -5
-    endloop
-  endfacet
   facet normal 0 0 -1
     outer loop
       vertex 29.3 -8.2 -5
@@ -307,13 +293,6 @@ solid OpenSCAD_Model
       vertex 27.8991 -2.89914 -5
     endloop
   endfacet
-  facet normal 0 0 -1
-    outer loop
-      vertex 25.9627 18.0159 -5
-      vertex 23.8744 21.5419 -5
-      vertex 26.3643 18.1427 -5
-    endloop
-  endfacet
   facet normal 0 0 -1
     outer loop
       vertex 23.1386 -3.65313 -5
@@ -330,16 +309,9 @@ solid OpenSCAD_Model
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 23.8744 21.5419 -5
-      vertex 25.9627 18.0159 -5
-      vertex 25.5324 17.9717 -5
-    endloop
-  endfacet
-  facet normal 0 0 -1
-    outer loop
-      vertex 28.1888 10.7989 -5
-      vertex 37.5 0 -5
-      vertex 27.0069 11.1291 -5
+      vertex 20.9369 14.2364 -5
+      vertex 35.9339 -4.81984 -5
+      vertex 20.1452 14.9912 -5
     endloop
   endfacet
   facet normal 0 0 -1
@@ -351,16 +323,9 @@ solid OpenSCAD_Model
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 26.3643 18.1427 -5
-      vertex 24.3362 21.9929 -5
       vertex 26.7286 18.3461 -5
-    endloop
-  endfacet
-  facet normal 0 0 -1
-    outer loop
       vertex 24.3362 21.9929 -5
-      vertex 23.8744 21.5419 -5
-      vertex 24.0207 21.7217 -5
+      vertex 27.0442 18.6144 -5
     endloop
   endfacet
   facet normal 0 0 -1
@@ -428,44 +393,128 @@ solid OpenSCAD_Model
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 31.2008 12.2376 -5
-      vertex 30.2685 14.4811 -5
-      vertex 31.611 11.8721 -5
+      vertex 20.9369 14.2364 -5
+      vertex 36.6063 -3.72272 -5
+      vertex 35.9339 -4.81984 -5
     endloop
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 27.397 19.1097 -5
-      vertex 26.7286 21.9929 -5
-      vertex 27.0442 21.7217 -5
+      vertex 30.6443 10.339 -5
+      vertex 37.5 0 -5
+      vertex 29.4079 10.5336 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 29.4079 10.5336 -5
+      vertex 37.5 0 -5
+      vertex 28.1888 10.7989 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 23.5617 21.023 -5
+      vertex 25.5324 17.9717 -5
+      vertex 23.4355 20.6103 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 28.1888 10.7989 -5
+      vertex 37.5 0 -5
+      vertex 27.0069 11.1291 -5
     endloop
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 23.8744 21.5419 -5
-      vertex 25.1021 18.0159 -5
       vertex 24.7005 18.1427 -5
+      vertex 23.3924 20.168 -5
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     endloop
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 30.257 14.6226 -5
-      vertex 31.611 11.8721 -5
-      vertex 30.2685 14.4811 -5
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     endloop
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 30.8508 12.6415 -5
-      vertex 30.4406 13.4552 -5
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+      vertex 23.0166 12.9717 -5
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     endloop
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 29.7751 26.2205 -5
-      vertex 37.5 35 -5
-      vertex 30.5812 25.4658 -5
+      vertex 22.311 13.3491 -5
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+  endfacet
+  facet normal 0 0 -1
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+  facet normal 0 0 -1
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+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 37.0987 -2.53394 -5
+      vertex 22.311 13.3491 -5
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+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 37.399 -1.28276 -5
+      vertex 37.0987 -2.53394 -5
+      vertex 23.8657 12.444 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 25.8795 11.5183 -5
+      vertex 37.399 -1.28276 -5
+      vertex 24.8267 11.9575 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 25.8795 11.5183 -5
+      vertex 37.5 0 -5
+      vertex 37.399 -1.28276 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 27.0069 11.1291 -5
+      vertex 37.5 0 -5
+      vertex 25.8795 11.5183 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 25.1021 18.0159 -5
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+  endfacet
+  facet normal 0 0 -1
+    outer loop
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     endloop
   endfacet
   facet normal 0 0 -1
@@ -477,23 +526,233 @@ solid OpenSCAD_Model
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 33.097 11.0967 -5
-      vertex 32.4859 21.5419 -5
+      vertex 34.6403 10.3302 -5
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+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 35.3173 10.4982 -5
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+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 35.3603 10.5366 -5
+      vertex 37.5 0 -5
+      vertex 35.3173 10.4982 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 37.5 35 -5
+      vertex 37.5 0 -5
+      vertex 35.3603 10.5366 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
       vertex 34.0379 10.8107 -5
+      vertex 37.5 35 -5
+      vertex 35.1452 10.5808 -5
     endloop
   endfacet
   facet normal 0 0 -1
     outer loop
       vertex 33.097 11.0967 -5
+      vertex 37.5 35 -5
+      vertex 34.0379 10.8107 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 31.611 11.8721 -5
+      vertex 37.5 35 -5
+      vertex 32.2966 11.4475 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 37.5 35 -5
+      vertex 33.097 11.0967 -5
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+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 24.7005 22.1934 -5
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+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
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+  endfacet
+  facet normal 0 0 -1
+    outer loop
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+    outer loop
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+    outer loop
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       vertex 32.2392 17.8361 -5
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     endloop
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     outer loop
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+      vertex 32.5491 19.3396 -5
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
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+      vertex 27.5032 19.3131 -5
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+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 32.5347 21.2028 -5
+      vertex 27.5118 19.3396 -5
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+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 30.5812 25.4658 -5
+      vertex 37.5 35 -5
+      vertex 31.2725 24.5902 -5
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+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 25.1021 22.3231 -5
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+  endfacet
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+    outer loop
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+  endfacet
+  facet normal 0 0 -1
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   endfacet
   facet normal 0 0 -1
@@ -505,53 +764,193 @@ solid OpenSCAD_Model
   endfacet
   facet normal 0 0 -1
     outer loop
-      vertex 37.5 35 -5
-      vertex 32.4859 21.5419 -5
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diff --git a/Hardware/libs/MCAD/README b/Hardware/libs/MCAD/README
new file mode 100644
index 0000000..5ff6ed2
--- /dev/null
+++ b/Hardware/libs/MCAD/README
@@ -0,0 +1,35 @@
+OpenSCAD MCAD Library
+=====================
+
+This library contains components commonly used in designing and moching up mechanical designs. It is currently unfinished and still undergoing considerable API changes however many things are already working.
+
+This library is licensed under the LGPL 2.1
+See http://creativecommons.org/licenses/LGPL/2.1/ or the included file, lgpl-2.1.txt.
+
+Currently Provided Tools:
+
+* involute_gears.scad (http://www.thingiverse.com/thing:3575): 
+    - gear()
+    - bevel_gear()
+    - bevel_gear_pair()
+
+* gears.scad (Old version):
+    - gear(number_of_teeth, circular_pitch OR diametrial_pitch, pressure_angle OPTIONAL, clearance OPTIONAL)
+
+* motors.scad:
+    - stepper_motor_mount(nema_standard, slide_distance OPTIONAL, mochup OPTIONAL)
+
+Other tools (alpha quality):
+* nuts_and_bolts.scad: for creating metric and imperial bolt/nut holes
+* bearing.scad: standard/custom bearings
+* screw.cad: screws and augers
+* materials.scad: color definitions for different materials
+
+Utils:
+* math.scad: general math functions
+* constants.scad: mathematical constants
+* curves.scad: mathematical functions defining curves
+* units.scad: easy metric units
+* utilities: geometric funtions and misc. useful stuff
+
+You are welcome to fork this project in github and request pulls. I will try to accomodate the community as much as possible in this.
diff --git a/Hardware/libs/MCAD/bearing.scad b/Hardware/libs/MCAD/bearing.scad
new file mode 100644
index 0000000..b4ba296
--- /dev/null
+++ b/Hardware/libs/MCAD/bearing.scad
@@ -0,0 +1,79 @@
+/*
+ * Bearing model.
+ * 
+ * Originally by Hans Häggström, 2010.
+ * Dual licenced under Creative Commons Attribution-Share Alike 3.0 and LGPL2 or later
+ */
+
+include <units.scad>
+include <materials.scad>
+
+// Example, uncomment to view
+//bearing_test();
+//bearing_hole_test();
+
+module bearing_test(){
+    bearing();
+    bearing(pos=[5*cm, 0,0], angle=[90,0,0]);
+    bearing(pos=[-2.5*cm, 0,0], model=Bearing688);
+}
+
+module bearing_hole_test(){
+    difference(){
+      translate([0, 0, 3.5]) cube(size=[30, 30, 7-10*epsilon], center=true);
+      bearing(outline=true);
+    }
+}
+
+BEARING_INNER_DIAMETER = 0;
+BEARING_OUTER_DIAMETER = 1;
+BEARING_WIDTH = 2;
+
+Bearing608 = [8*mm, 22*mm, 7*mm];
+Bearing627 = [7*mm, 22*mm, 7*mm];
+Bearing688 = [8*mm, 16*mm, 5*mm];
+SkateBearing = Bearing608;
+
+function bearingWidth(model) = model[BEARING_WIDTH];
+function bearingInnerDiameter(model) = model[BEARING_INNER_DIAMETER];
+function bearingOuterDiameter(model) = model[BEARING_OUTER_DIAMETER];
+
+module bearing(pos=[0,0,0], angle=[0,0,0], model=SkateBearing, outline=false,
+                material=Steel, sideMaterial=Brass) {
+  w = bearingWidth(model);
+  innerD = outline==false ? bearingInnerDiameter(model) : 0;
+  outerD = bearingOuterDiameter(model);
+  
+  innerRim = innerD + (outerD - innerD) * 0.2;
+  outerRim = outerD - (outerD - innerD) * 0.2;
+  midSink = w * 0.1;
+
+  translate(pos) rotate(angle) union() {
+    color(material)  
+      difference() {
+        // Basic ring
+        Ring([0,0,0], outerD, innerD, w, material, material);
+
+        if (outline==false) {
+          // Side shields
+          Ring([0,0,-epsilon], outerRim, innerRim, epsilon+midSink, sideMaterial, material);
+          Ring([0,0,w-midSink], outerRim, innerRim, epsilon+midSink, sideMaterial, material);
+        }
+      }
+  }
+
+  module Ring(pos, od, id, h, material, holeMaterial) {
+    color(material) {
+      translate(pos)
+        difference() {
+          cylinder(r=od/2, h=h,  $fs = 0.01);
+          color(holeMaterial) 
+            translate([0,0,-10*epsilon]) 
+              cylinder(r=id/2, h=h+20*epsilon,  $fs = 0.01);
+        }
+    }
+  }
+      
+}
+
+
diff --git a/Hardware/libs/MCAD/constants.scad b/Hardware/libs/MCAD/constants.scad
new file mode 100644
index 0000000..141c0c3
--- /dev/null
+++ b/Hardware/libs/MCAD/constants.scad
@@ -0,0 +1,9 @@
+// MIT license
+
+
+TAU = 6.2831853071; //2*PI, see http://tauday.com/
+PI = TAU/2;
+
+// translates a imperial measurement in inches to meters
+mm_per_inch = 25.4;
+
diff --git a/Hardware/libs/MCAD/curves.scad b/Hardware/libs/MCAD/curves.scad
new file mode 100644
index 0000000..87c675a
--- /dev/null
+++ b/Hardware/libs/MCAD/curves.scad
@@ -0,0 +1,21 @@
+// Parametric curves, to be used as paths
+// Licensed under the MIT license.
+// © 2010 by Elmo Mäntynen
+
+include <constants.scad>
+use <math.scad>
+
+
+/* A circular helix of radius a and pitch 2πb is described by the following parametrisation:
+x(t) = a*cos(t),
+y(t) = a*sin(t),
+z(t) = b*t
+*/
+
+
+function b(pitch) = pitch/(TAU);
+function t(pitch, z) = z/b(pitch);
+
+function helix_curve(pitch, radius, z) =
+    [radius*cos(deg(t(pitch, z))), radius*sin(deg(t(pitch, z))), z];
+
diff --git a/Hardware/libs/MCAD/gears.scad b/Hardware/libs/MCAD/gears.scad
new file mode 100644
index 0000000..9818431
--- /dev/null
+++ b/Hardware/libs/MCAD/gears.scad
@@ -0,0 +1,173 @@
+//test_involute_curve();
+test_gears();
+demo_3d_gears();
+
+// Geometry Sources:
+//	http://www.cartertools.com/involute.html
+//	gears.py (inkscape extension: /usr/share/inkscape/extensions/gears.py)
+// Usage:
+//	Diametral pitch: Number of teeth per unit length.
+//	Circular pitch: Length of the arc from one tooth to the next
+//	Clearance: Radial distance between top of tooth on one gear to bottom of gap on another.
+
+module gear(number_of_teeth,
+		circular_pitch=false, diametral_pitch=false,
+		pressure_angle=20, clearance = 0)
+{
+	if (circular_pitch==false && diametral_pitch==false) echo("MCAD ERROR: gear module needs either a diametral_pitch or circular_pitch");
+	
+	//Convert diametrial pitch to our native circular pitch
+	circular_pitch = (circular_pitch!=false?circular_pitch:180/diametral_pitch);
+	
+	// Pitch diameter: Diameter of pitch circle.
+	pitch_diameter  =  number_of_teeth * circular_pitch / 180;
+	pitch_radius = pitch_diameter/2;
+	
+	// Base Circle
+	base_diameter = pitch_diameter*cos(pressure_angle);
+	base_radius = base_diameter/2;
+
+	// Diametrial pitch: Number of teeth per unit length.
+	pitch_diametrial = number_of_teeth / pitch_diameter;
+
+	// Addendum: Radial distance from pitch circle to outside circle.
+	addendum = 1/pitch_diametrial;
+	
+	//Outer Circle
+	outer_radius = pitch_radius+addendum;
+	outer_diameter = outer_radius*2;
+	
+	// Dedendum: Radial distance from pitch circle to root diameter
+	dedendum = addendum + clearance;
+
+	// Root diameter: Diameter of bottom of tooth spaces.
+	root_radius = pitch_radius-dedendum;
+	root_diameter = root_radius * 2;
+	
+	half_thick_angle = 360 / (4 * number_of_teeth);
+	
+	union()
+	{
+		rotate(half_thick_angle) circle($fn=number_of_teeth*2, r=root_radius*1.001);
+		
+		for (i= [1:number_of_teeth])
+		//for (i = [0])
+		{
+			rotate([0,0,i*360/number_of_teeth])
+			{
+				involute_gear_tooth(
+					pitch_radius = pitch_radius,
+					root_radius = root_radius,
+					base_radius = base_radius,
+					outer_radius = outer_radius,
+					half_thick_angle = half_thick_angle);
+			}
+		}
+	}
+}
+
+
+module involute_gear_tooth(
+					pitch_radius,
+					root_radius,
+					base_radius,
+					outer_radius,
+					half_thick_angle
+					)
+{
+	pitch_to_base_angle  = involute_intersect_angle( base_radius, pitch_radius );
+	
+	outer_to_base_angle = involute_intersect_angle( base_radius, outer_radius );
+	
+	base1 = 0 - pitch_to_base_angle - half_thick_angle;
+	pitch1 = 0 - half_thick_angle;
+	outer1 = outer_to_base_angle - pitch_to_base_angle - half_thick_angle;
+	
+	b1 = polar_to_cartesian([ base1, base_radius ]);
+	p1 = polar_to_cartesian([ pitch1, pitch_radius ]);
+	o1 = polar_to_cartesian([ outer1, outer_radius ]);
+	
+	b2 = polar_to_cartesian([ -base1, base_radius ]);
+	p2 = polar_to_cartesian([ -pitch1, pitch_radius ]);
+	o2 = polar_to_cartesian([ -outer1, outer_radius ]);
+	
+	// ( root_radius > base_radius variables )
+		pitch_to_root_angle = pitch_to_base_angle - involute_intersect_angle(base_radius, root_radius );
+		root1 = pitch1 - pitch_to_root_angle;
+		root2 = -pitch1 + pitch_to_root_angle;
+		r1_t =  polar_to_cartesian([ root1, root_radius ]);
+		r2_t =  polar_to_cartesian([ -root1, root_radius ]);
+	
+	// ( else )
+		r1_f =  polar_to_cartesian([ base1, root_radius ]);
+		r2_f =  polar_to_cartesian([ -base1, root_radius ]);
+	
+	if (root_radius > base_radius)
+	{
+		//echo("true");
+		polygon( points = [
+			r1_t,p1,o1,o2,p2,r2_t
+		], convexity = 3);
+	}
+	else
+	{
+		polygon( points = [
+			r1_f, b1,p1,o1,o2,p2,b2,r2_f
+		], convexity = 3);
+	}
+	
+}
+
+// Mathematical Functions
+//===============
+
+// Finds the angle of the involute about the base radius at the given distance (radius) from it's center.
+//source: http://www.mathhelpforum.com/math-help/geometry/136011-circle-involute-solving-y-any-given-x.html
+
+function involute_intersect_angle(base_radius, radius) = sqrt( pow(radius/base_radius,2) - 1);
+
+
+
+// Polar coord [angle, radius] to cartesian coord [x,y]
+
+function polar_to_cartesian(polar) = [
+	polar[1]*cos(polar[0]),
+	polar[1]*sin(polar[0])
+];
+
+
+// Test Cases
+//===============
+
+module test_gears()
+{
+	gear(number_of_teeth=51,circular_pitch=200);
+	translate([0, 50])gear(number_of_teeth=17,circular_pitch=200);
+	translate([-50,0]) gear(number_of_teeth=17,diametral_pitch=1);
+}
+
+module demo_3d_gears()
+{
+	//double helical gear
+	// (helics don't line up perfectly - for display purposes only ;)
+	translate([50,0])
+	{
+	linear_extrude(height = 10, center = true, convexity = 10, twist = -45)
+	 gear(number_of_teeth=17,diametral_pitch=1);
+	translate([0,0,10]) linear_extrude(height = 10, center = true, convexity = 10, twist = 45)
+	 gear(number_of_teeth=17,diametral_pitch=1);
+	}
+	
+	//spur gear
+	translate([0,-50]) linear_extrude(height = 10, center = true, convexity = 10, twist = 0)
+	 gear(number_of_teeth=17,diametral_pitch=1);
+
+}
+
+module test_involute_curve()
+{
+	for (i=[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15])
+	{
+		translate(polar_to_cartesian([involute_intersect_angle( 0.1,i) , i ])) circle($fn=15, r=0.5);
+	}
+}
\ No newline at end of file
diff --git a/Hardware/libs/MCAD/involute_gears.scad b/Hardware/libs/MCAD/involute_gears.scad
new file mode 100644
index 0000000..1264903
--- /dev/null
+++ b/Hardware/libs/MCAD/involute_gears.scad
@@ -0,0 +1,678 @@
+// Parametric Involute Bevel and Spur Gears by GregFrost
+// It is licensed under the Creative Commons - GNU GPL license.
+// © 2010 by GregFrost
+// http://www.thingiverse.com/thing:3575
+
+// Simple Test:
+//gear (circular_pitch=700,
+//	gear_thickness = 12,
+//	rim_thickness = 15,
+//	hub_thickness = 17,
+//	circles=8);
+
+//Complex Spur Gear Test:
+//test_gears ();
+
+// Meshing Double Helix:
+//test_meshing_double_helix ();
+
+module test_meshing_double_helix(){
+    test_meshing_double_helix ();
+}
+
+// Demonstrate the backlash option for Spur gears.
+//test_backlash ();
+
+// Demonstrate how to make meshing bevel gears.
+//test_bevel_gear_pair();
+
+module test_bevel_gear_pair(){
+    bevel_gear_pair ();
+}
+
+pi=3.1415926535897932384626433832795;
+
+//==================================================
+// Bevel Gears:
+// Two gears with the same cone distance, circular pitch (measured at the cone distance) 
+// and pressure angle will mesh.
+
+module bevel_gear_pair (
+	gear1_teeth = 41,
+	gear2_teeth = 7,
+	axis_angle = 90,
+	outside_circular_pitch=1000)
+{
+	outside_pitch_radius1 = gear1_teeth * outside_circular_pitch / 360;
+	outside_pitch_radius2 = gear2_teeth * outside_circular_pitch / 360;
+	pitch_apex1=outside_pitch_radius2 * sin (axis_angle) + 
+		(outside_pitch_radius2 * cos (axis_angle) + outside_pitch_radius1) / tan (axis_angle);
+	cone_distance = sqrt (pow (pitch_apex1, 2) + pow (outside_pitch_radius1, 2));
+	pitch_apex2 = sqrt (pow (cone_distance, 2) - pow (outside_pitch_radius2, 2));
+	echo ("cone_distance", cone_distance);
+	pitch_angle1 = asin (outside_pitch_radius1 / cone_distance);
+	pitch_angle2 = asin (outside_pitch_radius2 / cone_distance);
+	echo ("pitch_angle1, pitch_angle2", pitch_angle1, pitch_angle2);
+	echo ("pitch_angle1 + pitch_angle2", pitch_angle1 + pitch_angle2);
+
+	rotate([0,0,90])
+	translate ([0,0,pitch_apex1+20])
+	{
+		translate([0,0,-pitch_apex1])
+		bevel_gear (
+			number_of_teeth=gear1_teeth,
+			cone_distance=cone_distance,
+			pressure_angle=30,
+			outside_circular_pitch=outside_circular_pitch);
+	
+		rotate([0,-(pitch_angle1+pitch_angle2),0])
+		translate([0,0,-pitch_apex2])
+		bevel_gear (
+			number_of_teeth=gear2_teeth,
+			cone_distance=cone_distance,
+			pressure_angle=30,
+			outside_circular_pitch=outside_circular_pitch);
+	}
+}
+
+//Bevel Gear Finishing Options:
+bevel_gear_flat = 0;
+bevel_gear_back_cone = 1;
+
+module bevel_gear (
+	number_of_teeth=11,
+	cone_distance=100,
+	face_width=20,
+	outside_circular_pitch=1000,
+	pressure_angle=30,
+	clearance = 0.2,
+	bore_diameter=5,
+	gear_thickness = 15,
+	backlash = 0,
+	involute_facets=0,
+	finish = -1)
+{
+	echo ("bevel_gear",
+		"teeth", number_of_teeth,
+		"cone distance", cone_distance,
+		face_width,
+		outside_circular_pitch,
+		pressure_angle,
+		clearance,
+		bore_diameter,
+		involute_facets,
+		finish);
+
+	// Pitch diameter: Diameter of pitch circle at the fat end of the gear.
+	outside_pitch_diameter  =  number_of_teeth * outside_circular_pitch / 180;
+	outside_pitch_radius = outside_pitch_diameter / 2;
+
+	// The height of the pitch apex.
+	pitch_apex = sqrt (pow (cone_distance, 2) - pow (outside_pitch_radius, 2));
+	pitch_angle = asin (outside_pitch_radius/cone_distance);
+
+	echo ("Num Teeth:", number_of_teeth, " Pitch Angle:", pitch_angle);
+
+	finish = (finish != -1) ? finish : (pitch_angle < 45) ? bevel_gear_flat : bevel_gear_back_cone;
+
+	apex_to_apex=cone_distance / cos (pitch_angle);
+	back_cone_radius = apex_to_apex * sin (pitch_angle);
+
+	// Calculate and display the pitch angle. This is needed to determine the angle to mount two meshing cone gears.
+
+	// Base Circle for forming the involute teeth shape.
+	base_radius = back_cone_radius * cos (pressure_angle);	
+
+	// Diametrial pitch: Number of teeth per unit length.
+	pitch_diametrial = number_of_teeth / outside_pitch_diameter;
+
+	// Addendum: Radial distance from pitch circle to outside circle.
+	addendum = 1 / pitch_diametrial;
+	// Outer Circle
+	outer_radius = back_cone_radius + addendum;
+
+	// Dedendum: Radial distance from pitch circle to root diameter
+	dedendum = addendum + clearance;
+	dedendum_angle = atan (dedendum / cone_distance);
+	root_angle = pitch_angle - dedendum_angle;
+
+	root_cone_full_radius = tan (root_angle)*apex_to_apex;
+	back_cone_full_radius=apex_to_apex / tan (pitch_angle);
+
+	back_cone_end_radius = 
+		outside_pitch_radius - 
+		dedendum * cos (pitch_angle) - 
+		gear_thickness / tan (pitch_angle);
+	back_cone_descent = dedendum * sin (pitch_angle) + gear_thickness;
+
+	// Root diameter: Diameter of bottom of tooth spaces.
+	root_radius = back_cone_radius - dedendum;
+
+	half_tooth_thickness = outside_pitch_radius * sin (360 / (4 * number_of_teeth)) - backlash / 4;
+	half_thick_angle = asin (half_tooth_thickness / back_cone_radius);
+
+	face_cone_height = apex_to_apex-face_width / cos (pitch_angle);
+	face_cone_full_radius = face_cone_height / tan (pitch_angle);
+	face_cone_descent = dedendum * sin (pitch_angle);
+	face_cone_end_radius = 
+		outside_pitch_radius -
+		face_width / sin (pitch_angle) - 
+		face_cone_descent / tan (pitch_angle);
+
+	// For the bevel_gear_flat finish option, calculate the height of a cube to select the portion of the gear that includes the full pitch face.
+	bevel_gear_flat_height = pitch_apex - (cone_distance - face_width) * cos (pitch_angle);
+
+//	translate([0,0,-pitch_apex])
+	difference ()
+	{
+		intersection ()
+		{
+			union()
+			{
+				rotate (half_thick_angle)
+				translate ([0,0,pitch_apex-apex_to_apex])
+				cylinder ($fn=number_of_teeth*2, r1=root_cone_full_radius,r2=0,h=apex_to_apex);
+				for (i = [1:number_of_teeth])
+//				for (i = [1:1])
+				{
+					rotate ([0,0,i*360/number_of_teeth])
+					{
+						involute_bevel_gear_tooth (
+							back_cone_radius = back_cone_radius,
+							root_radius = root_radius,
+							base_radius = base_radius,
+							outer_radius = outer_radius,
+							pitch_apex = pitch_apex,
+							cone_distance = cone_distance,
+							half_thick_angle = half_thick_angle,
+							involute_facets = involute_facets);
+					}
+				}
+			}
+
+			if (finish == bevel_gear_back_cone)
+			{
+				translate ([0,0,-back_cone_descent])
+				cylinder (
+					$fn=number_of_teeth*2, 
+					r1=back_cone_end_radius,
+					r2=back_cone_full_radius*2,
+					h=apex_to_apex + back_cone_descent);
+			}
+			else
+			{
+				translate ([-1.5*outside_pitch_radius,-1.5*outside_pitch_radius,0])
+				cube ([3*outside_pitch_radius,
+					3*outside_pitch_radius,
+					bevel_gear_flat_height]);
+			}
+		}
+		
+		if (finish == bevel_gear_back_cone)
+		{
+			translate ([0,0,-face_cone_descent])
+			cylinder (
+				r1=face_cone_end_radius,
+				r2=face_cone_full_radius * 2,
+				h=face_cone_height + face_cone_descent+pitch_apex);
+		}
+
+		translate ([0,0,pitch_apex - apex_to_apex])
+		cylinder (r=bore_diameter/2,h=apex_to_apex);
+	}	
+}
+
+module involute_bevel_gear_tooth (
+	back_cone_radius,
+	root_radius,
+	base_radius,
+	outer_radius,
+	pitch_apex,
+	cone_distance,
+	half_thick_angle,
+	involute_facets)
+{
+//	echo ("involute_bevel_gear_tooth",
+//		back_cone_radius,
+//		root_radius,
+//		base_radius,
+//		outer_radius,
+//		pitch_apex,
+//		cone_distance,
+//		half_thick_angle);
+
+	min_radius = max (base_radius*2,root_radius*2);
+
+	pitch_point = 
+		involute (
+			base_radius*2, 
+			involute_intersect_angle (base_radius*2, back_cone_radius*2));
+	pitch_angle = atan2 (pitch_point[1], pitch_point[0]);
+	centre_angle = pitch_angle + half_thick_angle;
+
+	start_angle = involute_intersect_angle (base_radius*2, min_radius);
+	stop_angle = involute_intersect_angle (base_radius*2, outer_radius*2);
+
+	res=(involute_facets!=0)?involute_facets:($fn==0)?5:$fn/4;
+
+	translate ([0,0,pitch_apex])
+	rotate ([0,-atan(back_cone_radius/cone_distance),0])
+	translate ([-back_cone_radius*2,0,-cone_distance*2])
+	union ()
+	{
+		for (i=[1:res])
+		{
+			assign (
+				point1=
+					involute (base_radius*2,start_angle+(stop_angle - start_angle)*(i-1)/res),
+				point2=
+					involute (base_radius*2,start_angle+(stop_angle - start_angle)*(i)/res))
+			{
+				assign (
+					side1_point1 = rotate_point (centre_angle, point1),
+					side1_point2 = rotate_point (centre_angle, point2),
+					side2_point1 = mirror_point (rotate_point (centre_angle, point1)),
+					side2_point2 = mirror_point (rotate_point (centre_angle, point2)))
+				{
+					polyhedron (
+						points=[
+							[back_cone_radius*2+0.1,0,cone_distance*2],
+							[side1_point1[0],side1_point1[1],0],
+							[side1_point2[0],side1_point2[1],0],
+							[side2_point2[0],side2_point2[1],0],
+							[side2_point1[0],side2_point1[1],0],
+							[0.1,0,0]],
+						triangles=[[0,1,2],[0,2,3],[0,3,4],[0,5,1],[1,5,2],[2,5,3],[3,5,4],[0,4,5]]);
+				}
+			}
+		}
+	}
+}
+
+module gear (
+	number_of_teeth=15,
+	circular_pitch=false, diametral_pitch=false,
+	pressure_angle=28,
+	clearance = 0.2,
+	gear_thickness=5,
+	rim_thickness=8,
+	rim_width=5,
+	hub_thickness=10,
+	hub_diameter=15,
+	bore_diameter=5,
+	circles=0,
+	backlash=0,
+	twist=0,
+	involute_facets=0)
+{
+	if (circular_pitch==false && diametral_pitch==false) 
+		echo("MCAD ERROR: gear module needs either a diametral_pitch or circular_pitch");
+
+	//Convert diametrial pitch to our native circular pitch
+	circular_pitch = (circular_pitch!=false?circular_pitch:180/diametral_pitch);
+
+	// Pitch diameter: Diameter of pitch circle.
+	pitch_diameter  =  number_of_teeth * circular_pitch / 180;
+	pitch_radius = pitch_diameter/2;
+	echo ("Teeth:", number_of_teeth, " Pitch radius:", pitch_radius);
+
+	// Base Circle
+	base_radius = pitch_radius*cos(pressure_angle);
+
+	// Diametrial pitch: Number of teeth per unit length.
+	pitch_diametrial = number_of_teeth / pitch_diameter;
+
+	// Addendum: Radial distance from pitch circle to outside circle.
+	addendum = 1/pitch_diametrial;
+
+	//Outer Circle
+	outer_radius = pitch_radius+addendum;
+
+	// Dedendum: Radial distance from pitch circle to root diameter
+	dedendum = addendum + clearance;
+
+	// Root diameter: Diameter of bottom of tooth spaces.
+	root_radius = pitch_radius-dedendum;
+	backlash_angle = backlash / pitch_radius * 180 / pi;
+	half_thick_angle = (360 / number_of_teeth - backlash_angle) / 4;
+
+	// Variables controlling the rim.
+	rim_radius = root_radius - rim_width;
+
+	// Variables controlling the circular holes in the gear.
+	circle_orbit_diameter=hub_diameter/2+rim_radius;
+	circle_orbit_curcumference=pi*circle_orbit_diameter;
+
+	// Limit the circle size to 90% of the gear face.
+	circle_diameter=
+		min (
+			0.70*circle_orbit_curcumference/circles,
+			(rim_radius-hub_diameter/2)*0.9);
+
+	difference ()
+	{
+		union ()
+		{
+			difference ()
+			{
+				linear_extrude (height=rim_thickness, convexity=10, twist=twist)
+				gear_shape (
+					number_of_teeth,
+					pitch_radius = pitch_radius,
+					root_radius = root_radius,
+					base_radius = base_radius,
+					outer_radius = outer_radius,
+					half_thick_angle = half_thick_angle,
+					involute_facets=involute_facets);
+
+				if (gear_thickness < rim_thickness)
+					translate ([0,0,gear_thickness])
+					cylinder (r=rim_radius,h=rim_thickness-gear_thickness+1);
+			}
+			if (gear_thickness > rim_thickness)
+				cylinder (r=rim_radius,h=gear_thickness);
+			if (hub_thickness > gear_thickness)
+				translate ([0,0,gear_thickness])
+				cylinder (r=hub_diameter/2,h=hub_thickness-gear_thickness);
+		}
+		translate ([0,0,-1])
+		cylinder (
+			r=bore_diameter/2,
+			h=2+max(rim_thickness,hub_thickness,gear_thickness));
+		if (circles>0)
+		{
+			for(i=[0:circles-1])	
+				rotate([0,0,i*360/circles])
+				translate([circle_orbit_diameter/2,0,-1])
+				cylinder(r=circle_diameter/2,h=max(gear_thickness,rim_thickness)+3);
+		}
+	}
+}
+
+module gear_shape (
+	number_of_teeth,
+	pitch_radius,
+	root_radius,
+	base_radius,
+	outer_radius,
+	half_thick_angle,
+	involute_facets)
+{
+	union()
+	{
+		rotate (half_thick_angle) circle ($fn=number_of_teeth*2, r=root_radius);
+
+		for (i = [1:number_of_teeth])
+		{
+			rotate ([0,0,i*360/number_of_teeth])
+			{
+				involute_gear_tooth (
+					pitch_radius = pitch_radius,
+					root_radius = root_radius,
+					base_radius = base_radius,
+					outer_radius = outer_radius,
+					half_thick_angle = half_thick_angle,
+					involute_facets=involute_facets);
+			}
+		}
+	}
+}
+
+module involute_gear_tooth (
+	pitch_radius,
+	root_radius,
+	base_radius,
+	outer_radius,
+	half_thick_angle,
+	involute_facets)
+{
+	min_radius = max (base_radius,root_radius);
+
+	pitch_point = involute (base_radius, involute_intersect_angle (base_radius, pitch_radius));
+	pitch_angle = atan2 (pitch_point[1], pitch_point[0]);
+	centre_angle = pitch_angle + half_thick_angle;
+
+	start_angle = involute_intersect_angle (base_radius, min_radius);
+	stop_angle = involute_intersect_angle (base_radius, outer_radius);
+
+	res=(involute_facets!=0)?involute_facets:($fn==0)?5:$fn/4;
+
+	union ()
+	{
+		for (i=[1:res])
+		assign (
+			point1=involute (base_radius,start_angle+(stop_angle - start_angle)*(i-1)/res),
+			point2=involute (base_radius,start_angle+(stop_angle - start_angle)*i/res))
+		{
+			assign (
+				side1_point1=rotate_point (centre_angle, point1),
+				side1_point2=rotate_point (centre_angle, point2),
+				side2_point1=mirror_point (rotate_point (centre_angle, point1)),
+				side2_point2=mirror_point (rotate_point (centre_angle, point2)))
+			{
+				polygon (
+					points=[[0,0],side1_point1,side1_point2,side2_point2,side2_point1],
+					paths=[[0,1,2,3,4,0]]);
+			}
+		}
+	}
+}
+
+// Mathematical Functions
+//===============
+
+// Finds the angle of the involute about the base radius at the given distance (radius) from it's center.
+//source: http://www.mathhelpforum.com/math-help/geometry/136011-circle-involute-solving-y-any-given-x.html
+
+function involute_intersect_angle (base_radius, radius) = sqrt (pow (radius/base_radius, 2) - 1) * 180 / pi;
+
+// Calculate the involute position for a given base radius and involute angle.
+
+function rotated_involute (rotate, base_radius, involute_angle) = 
+[
+	cos (rotate) * involute (base_radius, involute_angle)[0] + sin (rotate) * involute (base_radius, involute_angle)[1],
+	cos (rotate) * involute (base_radius, involute_angle)[1] - sin (rotate) * involute (base_radius, involute_angle)[0]
+];
+
+function mirror_point (coord) = 
+[
+	coord[0], 
+	-coord[1]
+];
+
+function rotate_point (rotate, coord) =
+[
+	cos (rotate) * coord[0] + sin (rotate) * coord[1],
+	cos (rotate) * coord[1] - sin (rotate) * coord[0]
+];
+
+function involute (base_radius, involute_angle) = 
+[
+	base_radius*(cos (involute_angle) + involute_angle*pi/180*sin (involute_angle)),
+	base_radius*(sin (involute_angle) - involute_angle*pi/180*cos (involute_angle)),
+];
+
+
+// Test Cases
+//===============
+
+module test_gears()
+{
+	translate([17,-15])
+	{
+		gear (number_of_teeth=17,
+			circular_pitch=500,
+			circles=8);
+	
+		rotate ([0,0,360*4/17])
+		translate ([39.088888,0,0])
+		{
+			gear (number_of_teeth=11,
+				circular_pitch=500,
+				hub_diameter=0,
+				rim_width=65);
+			translate ([0,0,8])
+			{
+				gear (number_of_teeth=6,
+					circular_pitch=300,
+					hub_diameter=0,
+					rim_width=5,
+					rim_thickness=6,
+					pressure_angle=31);
+				rotate ([0,0,360*5/6])
+				translate ([22.5,0,1])
+				gear (number_of_teeth=21,
+					circular_pitch=300,
+					bore_diameter=2,
+					hub_diameter=4,
+					rim_width=1,
+					hub_thickness=4,
+					rim_thickness=4,
+					gear_thickness=3,
+					pressure_angle=31);
+			}
+		}
+
+		translate ([-61.1111111,0,0])
+		{
+			gear (number_of_teeth=27,
+				circular_pitch=500,
+				circles=5,
+				hub_diameter=2*8.88888889);
+
+			translate ([0,0,10])
+			{
+				gear (
+					number_of_teeth=14,
+					circular_pitch=200,
+					pressure_angle=5,
+					clearance = 0.2,
+					gear_thickness = 10,
+					rim_thickness = 10,
+					rim_width = 15,
+					bore_diameter=5,
+					circles=0);
+				translate ([13.8888888,0,1])
+				gear (
+					number_of_teeth=11,
+					circular_pitch=200,
+					pressure_angle=5,
+					clearance = 0.2,
+					gear_thickness = 10,
+					rim_thickness = 10,
+					rim_width = 15,
+					hub_thickness = 20,
+					hub_diameter=2*7.222222,
+					bore_diameter=5,
+					circles=0);
+			}
+		}
+	
+		rotate ([0,0,360*-5/17])
+		translate ([44.444444444,0,0])
+		gear (number_of_teeth=15,
+			circular_pitch=500,
+			hub_diameter=10,
+			rim_width=5,
+			rim_thickness=5,
+			gear_thickness=4,
+			hub_thickness=6,
+			circles=9);
+	
+		rotate ([0,0,360*-1/17])
+		translate ([30.5555555,0,-1])
+		gear (number_of_teeth=5,
+			circular_pitch=500,
+			hub_diameter=0,
+			rim_width=5,
+			rim_thickness=10);
+	}
+}
+
+module meshing_double_helix ()
+{
+	test_double_helix_gear ();
+	
+	mirror ([0,1,0])
+	translate ([58.33333333,0,0])
+	test_double_helix_gear (teeth=13,circles=6);
+}
+
+module test_double_helix_gear (
+	teeth=17,
+	circles=8)
+{
+	//double helical gear
+	{
+		twist=200;
+		height=20;
+		pressure_angle=30;
+
+		gear (number_of_teeth=teeth,
+			circular_pitch=700,
+			pressure_angle=pressure_angle,
+			clearance = 0.2,
+			gear_thickness = height/2*0.5,
+			rim_thickness = height/2,
+			rim_width = 5,
+			hub_thickness = height/2*1.2,
+			hub_diameter=15,
+			bore_diameter=5,
+			circles=circles,
+			twist=twist/teeth);
+		mirror([0,0,1])
+		gear (number_of_teeth=teeth,
+			circular_pitch=700,
+			pressure_angle=pressure_angle,
+			clearance = 0.2,
+			gear_thickness = height/2,
+			rim_thickness = height/2,
+			rim_width = 5,
+			hub_thickness = height/2,
+			hub_diameter=15,
+			bore_diameter=5,
+			circles=circles,
+			twist=twist/teeth);
+	}
+}
+
+module test_backlash ()
+{
+	backlash = 2;
+	teeth = 15;
+
+	translate ([-29.166666,0,0])
+	{
+		translate ([58.3333333,0,0])
+		rotate ([0,0,-360/teeth/4])
+		gear (
+			number_of_teeth = teeth,
+			circular_pitch=700,
+			gear_thickness = 12,
+			rim_thickness = 15,
+			rim_width = 5,
+			hub_thickness = 17,
+			hub_diameter=15,
+			bore_diameter=5,
+			backlash = 2,
+			circles=8);
+		
+		rotate ([0,0,360/teeth/4])
+		gear (
+			number_of_teeth = teeth,
+			circular_pitch=700,
+			gear_thickness = 12,
+			rim_thickness = 15,
+			rim_width = 5,
+			hub_thickness = 17,
+			hub_diameter=15,
+			bore_diameter=5,
+			backlash = 2,
+			circles=8);
+	}
+
+	color([0,0,128,0.5])
+	translate([0,0,-5])
+	cylinder ($fn=20,r=backlash / 4,h=25);
+}
+
diff --git a/Hardware/libs/MCAD/lgpl-2.1.txt b/Hardware/libs/MCAD/lgpl-2.1.txt
new file mode 100644
index 0000000..4362b49
--- /dev/null
+++ b/Hardware/libs/MCAD/lgpl-2.1.txt
@@ -0,0 +1,502 @@
+                  GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 2.1, February 1999
+
+ Copyright (C) 1991, 1999 Free Software Foundation, Inc.
+ 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+[This is the first released version of the Lesser GPL.  It also counts
+ as the successor of the GNU Library Public License, version 2, hence
+ the version number 2.1.]
+
+                            Preamble
+
+  The licenses for most software are designed to take away your
+freedom to share and change it.  By contrast, the GNU General Public
+Licenses are intended to guarantee your freedom to share and change
+free software--to make sure the software is free for all its users.
+
+  This license, the Lesser General Public License, applies to some
+specially designated software packages--typically libraries--of the
+Free Software Foundation and other authors who decide to use it.  You
+can use it too, but we suggest you first think carefully about whether
+this license or the ordinary General Public License is the better
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+
+  When we speak of free software, we are referring to freedom of use,
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+  To protect your rights, we need to make restrictions that forbid
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+it.  And you must show them these terms so they know their rights.
+
+  We protect your rights with a two-step method: (1) we copyright the
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+
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+  Most GNU software, including some libraries, is covered by the
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+General Public License, applies to certain designated libraries, and
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+  When a program is linked with a library, whether statically or using
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diff --git a/Hardware/libs/MCAD/materials.scad b/Hardware/libs/MCAD/materials.scad
new file mode 100644
index 0000000..f75edf7
--- /dev/null
+++ b/Hardware/libs/MCAD/materials.scad
@@ -0,0 +1,45 @@
+/*
+ * Material colors.
+ * 
+ * Originally by Hans Häggström, 2010.
+ * Dual licenced under Creative Commons Attribution-Share Alike 3.0 and LGPL2 or later
+ */
+
+// Material colors
+Oak = [0.65, 0.5, 0.4];
+Pine = [0.85, 0.7, 0.45];
+Birch = [0.9, 0.8, 0.6];
+FiberBoard = [0.7, 0.67, 0.6];
+BlackPaint = [0.2, 0.2, 0.2];
+Iron = [0.36, 0.33, 0.33];
+Steel = [0.65, 0.67, 0.72];
+Stainless = [0.45, 0.43, 0.5];
+Aluminum = [0.77, 0.77, 0.8];
+Brass = [0.88, 0.78, 0.5];
+Transparent = [1, 1, 1, 0.2];
+
+// Example, uncomment to view
+//color_demo();
+
+module color_demo(){
+    // Wood
+    colorTest(Oak, 0, 0);
+    colorTest(Pine, 1, 0);
+    colorTest(Birch, 2, 0);
+
+    // Metals
+    colorTest(Iron, 0, 1);
+    colorTest(Steel, 1, 1);
+    colorTest(Stainless, 2, 1);
+    colorTest(Aluminum, 3, 1);
+
+    // Mixboards
+    colorTest(FiberBoard, 0, 2);
+
+    // Paints
+    colorTest(BlackPaint, 0, 3);
+}
+
+module colorTest(col, row=0, c=0) {
+  color(col) translate([row * 30,c*30,0]) sphere(r=10);
+}
diff --git a/Hardware/libs/MCAD/math.scad b/Hardware/libs/MCAD/math.scad
new file mode 100644
index 0000000..25b6721
--- /dev/null
+++ b/Hardware/libs/MCAD/math.scad
@@ -0,0 +1,6 @@
+// MIT license
+
+include <constants.scad>
+
+function deg(angle) = 360*angle/TAU;
+
diff --git a/Hardware/libs/MCAD/motors.scad b/Hardware/libs/MCAD/motors.scad
new file mode 100644
index 0000000..2536ae1
--- /dev/null
+++ b/Hardware/libs/MCAD/motors.scad
@@ -0,0 +1,94 @@
+// License: GPL 2.0
+
+include <math.scad>
+
+
+//generates a motor mount for the specified nema standard #.
+module stepper_motor_mount(nema_standard,slide_distance=0, mochup=true)
+{
+	//dimensions from:
+	// http://www.numberfactory.com/NEMA%20Motor%20Dimensions.htm
+	if (nema_standard == 17)
+	{
+		_stepper_motor_mount(
+			motor_shaft_diameter = 0.1968*mm_per_inche,
+			motor_shaft_length = 0.945*mm_per_inche,
+			pilot_diameter = 0.866*mm_per_inche,
+			pilot_length = 0.80*mm_per_inche,
+			mounting_bolt_circle = 1.725*mm_per_inche,
+			bolt_hole_size = 3.5,
+			bolt_hole_distance = 1.220*mm_per_inche,
+			slide_distance = slide_distance,
+			mochup = mochup);
+	}
+	if (nema_standard == 23)
+	{
+		_stepper_motor_mount(
+			motor_shaft_diameter = 0.250*mm_per_inche,
+			motor_shaft_length = 0.81*mm_per_inche,
+			pilot_diameter = 1.500*mm_per_inche,
+			pilot_length = 0.062*mm_per_inche,
+			mounting_bolt_circle = 2.625*mm_per_inche,
+			bolt_hole_size = 0.195*mm_per_inche,
+			bolt_hole_distance = 1.856*mm_per_inche,
+			slide_distance = slide_distance,
+			mochup = mochup);
+	}
+	
+}
+
+
+//inner mehod for creating a stepper motor mount of any dimensions
+module _stepper_motor_mount(
+	motor_shaft_diameter,
+	motor_shaft_length,
+	pilot_diameter,
+	pilot_length,
+	mounting_bolt_circle,
+	bolt_hole_size,
+	bolt_hole_distance,
+	slide_distance = 0,
+	motor_length = 40, //arbitray - not standardized
+	mochup
+)
+{
+	union()
+	{
+	// == centered mount points ==
+	//mounting circle inset
+	translate([0,slide_distance/2,0]) circle(r = pilot_diameter/2);
+	square([pilot_diameter,slide_distance],center=true);
+	translate([0,-slide_distance/2,0]) circle(r = pilot_diameter/2);
+
+	//todo: motor shaft hole
+	
+	//mounting screw holes
+	for (x = [-1,1])
+	{
+		for (y = [-1,1])
+		{
+			translate([x*bolt_hole_distance/2,y*bolt_hole_distance/2,0])
+			{
+				translate([0,slide_distance/2,0]) circle(bolt_hole_size/2);
+				translate([0,-slide_distance/2,0]) circle(bolt_hole_size/2);
+				square([bolt_hole_size,slide_distance],center=true);
+			}
+		}
+	}
+	// == motor mock-up ==
+	//motor box
+	if (mochup == true)
+	{
+		%translate([0,0,-5]) cylinder(h = 5, r = pilot_diameter/2);
+		%translate(v=[0,0,-motor_length/2])
+		{
+			cube(size=[bolt_hole_distance+bolt_hole_size+5,bolt_hole_distance+bolt_hole_size+5,motor_length], center = true);
+		}
+		//shaft
+		%translate(v=[0,0,-(motor_length-motor_shaft_length-2)/2])
+		{
+			%cylinder(r=motor_shaft_diameter/2,h=motor_length+motor_shaft_length--1, center = true);
+		}
+	}
+	};
+}
diff --git a/Hardware/libs/MCAD/nuts_and_bolts.scad b/Hardware/libs/MCAD/nuts_and_bolts.scad
new file mode 100644
index 0000000..c2e766e
--- /dev/null
+++ b/Hardware/libs/MCAD/nuts_and_bolts.scad
@@ -0,0 +1,182 @@
+// License: GPL 2.0
+
+//testNutsAndBolts();
+
+module testNutsAndBolts()
+{
+	$fn = 360;
+	translate([0,15])nutHole(3, proj=2);
+	boltHole(3, length= 30, proj=2);
+}
+
+MM = "mm";
+INCH = "inch"; //Not yet supported
+
+//Based on: http://www.roymech.co.uk/Useful_Tables/Screws/Hex_Screws.htm
+METRIC_NUT_AC_WIDTHS = 
+[
+	-1, //0 index is not used but reduces computation
+	-1,
+	-1,
+	6.40,//m3
+	8.10,//m4
+	9.20,//m5
+	11.50,//m6
+	-1,
+	15.00,//m8
+	-1,
+	19.60,//m10
+	-1,
+	22.10,//m12
+	-1,
+	-1,
+	-1,
+	27.70,//m16
+	-1,
+	-1,
+	-1,
+	34.60,//m20
+	-1,
+	-1,
+	-1,
+	41.60,//m24
+	-1,
+	-1,
+	-1,
+	-1,
+	-1,
+	53.1,//m30
+	-1,
+	-1,
+	-1,
+	-1,
+	-1,
+	63.5//m36
+];
+METRIC_NUT_THICKNESS =
+[
+	-1, //0 index is not used but reduces computation
+	-1,
+	-1,
+	2.40,//m3
+	3.20,//m4
+	4.00,//m5
+	5.00,//m6
+	-1,
+	6.50,//m8
+	-1,
+	8.00,//m10
+	-1,
+	10.00,//m12
+	-1,
+	-1,
+	-1,
+	13.00,//m16
+	-1,
+	-1,
+	-1,
+	16.00//m20
+	-1,
+	-1,
+	-1,
+	19.00,//m24
+	-1,
+	-1,
+	-1,
+	-1,
+	-1,
+	24.00,//m30
+	-1,
+	-1,
+	-1,
+	-1,
+	-1,
+	29.00//m36
+];
+
+COURSE_METRIC_BOLT_MAJOR_THREAD_DIAMETERS = 
+[//based on max values
+	-1, //0 index is not used but reduces computation
+	-1,
+	-1,
+	2.98,//m3
+	3.978,//m4
+	4.976,//m5
+	5.974,//m6
+	-1,
+	7.972,//m8
+	-1,
+	9.968,//m10
+	-1,
+	11.966,//m12
+	-1,
+	-1,
+	-1,
+	15.962,//m16
+	-1,
+	-1,
+	-1,
+	19.958,//m20
+	-1,
+	-1,
+	-1,
+	23.952,//m24
+	-1,
+	-1,
+	-1,
+	-1,
+	-1,
+	29.947,//m30
+	-1,
+	-1,
+	-1,
+	-1,
+	-1,
+	35.940//m36
+];
+
+module nutHole(size, units=MM, tolerance = +0.0001, proj = -1)
+{
+	//takes a metric screw/nut size and looksup nut dimensions
+	radius = METRIC_NUT_AC_WIDTHS[size]/2+tolerance;
+	height = METRIC_NUT_THICKNESS[size]+tolerance;
+	if (proj == -1)
+	{
+		cylinder(r= radius, h=height, $fn = 6, center=[0,0]);
+	}
+	if (proj == 1)
+	{
+		circle(r= radius, $fn = 6);
+	}
+	if (proj == 2)
+	{
+		translate([-radius/2, 0])
+			square([radius*2, height]);
+	}
+}
+
+module boltHole(size, units=MM, length, tolerance = +0.0001, proj = -1)
+{
+	radius = COURSE_METRIC_BOLT_MAJOR_THREAD_DIAMETERS[size]/2+tolerance;
+//TODO: proper screw cap values
+	capHeight = METRIC_NUT_THICKNESS[size]+tolerance; //METRIC_BOLT_CAP_HEIGHTS[size]+tolerance;
+	capRadius = METRIC_NUT_AC_WIDTHS[size]/2+tolerance; //METRIC_BOLT_CAP_RADIUS[size]+tolerance;
+	
+	if (proj == -1)
+	{
+	translate([0, 0, -capHeight])
+		cylinder(r= capRadius, h=capHeight);
+	cylinder(r = radius, h = length);
+	}
+	if (proj == 1)
+	{
+		circle(r = radius);
+	}
+	if (proj == 2)
+	{
+		translate([-capRadius/2, -capHeight])
+			square([capRadius*2, capHeight]);
+		square([radius*2, length]);
+	}
+}
+boltHole(3);
\ No newline at end of file
diff --git a/Hardware/libs/MCAD/openscad_utils.py b/Hardware/libs/MCAD/openscad_utils.py
new file mode 100644
index 0000000..51f383a
--- /dev/null
+++ b/Hardware/libs/MCAD/openscad_utils.py
@@ -0,0 +1,51 @@
+import py, re, os, signal, time
+from subprocess import Popen, PIPE
+
+mod_re = (r"\bmodule\s+(", r")\s*\(\s*")
+func_re = (r"\bfunction\s+(", r")\s*\(")
+
+def extract_mod_names(fpath, name_re=r"\w+"):
+    regex = name_re.join(mod_re)
+    matcher = re.compile(regex)
+    return (m.group(1) for m in matcher.finditer(fpath.read()))
+
+def extract_func_names(fpath, name_re=r"\w+"):
+    regex = name_re.join(func_re)
+    matcher = re.compile(regex)
+    return (m.group(1) for m in matcher.finditer(fpath.read()))
+
+def collect_test_modules():
+    dirpath = py.path.local("./")
+    print "Collecting openscad test module names"
+    
+    test_files = {}
+    for fpath in dirpath.visit('*.scad'):
+        #print fpath
+        modules = extract_mod_names(fpath, r"test\w*")
+        #functions = extract_func_names(fpath, r"test\w*")
+        test_files[fpath] = modules
+    return test_files
+
+collect_test_modules()
+
+def call_openscad(path, stlpath, timeout=20):
+    try:
+        proc = Popen(['openscad', '-s', str(stlpath),  str(path)],
+            stdout=PIPE, stderr=PIPE, close_fds=True)
+        calltime = time.time()
+        #print calltime
+        while True:
+            if proc.poll() is not None:
+                break
+            time.sleep(0.1)
+            #print time.time()
+            if time.time() > calltime + timeout:
+                raise Exception("Timeout")
+    finally:
+        try:
+            proc.terminate()
+            proc.kill()
+        except OSError:
+            pass
+
+    return (proc.returncode,) + proc.communicate()
diff --git a/Hardware/libs/MCAD/screw.scad b/Hardware/libs/MCAD/screw.scad
new file mode 100644
index 0000000..e8598af
--- /dev/null
+++ b/Hardware/libs/MCAD/screw.scad
@@ -0,0 +1,64 @@
+// Parametric screw-like things (ball screws, augers)
+// License: GNU GPL 2.0 or later.
+// © 2010 by Elmo Mäntynen
+
+include <curves.scad>
+
+/* common screw parameter
+length
+pitch = length/rotations: the distance between the turns of the thread
+outside_diameter
+inner_diameter: thickness of the shaft
+*/
+
+//Uncomment to see examples
+//test_auger();
+//test_ball_groove();
+//test_ball_groove2();
+//test_ball_screw();
+
+module helix(pitch, length, slices=500){
+    rotations = length/pitch;
+    linear_extrude(height=length, center=false, convexity=10, twist=360*rotations, slices=slices, $fn=100)
+        child(0);
+}
+
+module auger(pitch, length, outside_diameter, inner_diameter) {
+    union(){
+        helix(pitch, length)
+        polygon(points=[[10,10],[100,1],[100,-1],[10,-10]], paths=[[0,1,2,3]]);
+        cylinder(h=length, r=20);
+    }
+}
+
+module test_auger(){translate([300, 0, 0]) auger(100, 300);}
+
+
+module ball_groove(pitch, length, diameter, ball_radius=10) {
+    helix(pitch, length, slices=100)
+        translate([diameter, 0, 0])
+        circle(r = ball_radius);
+}
+
+module test_ball_groove(){ translate([0, 300, 0]) ball_groove(100, 300, 10);}
+
+module ball_groove2(pitch, length, diameter, ball_radius, slices=200){
+    rotations = length/pitch;
+    radius=diameter/2;
+    offset = length/slices;
+    union(){
+        for (i = [0:slices]) {
+            assign (z = i*offset){
+                translate(helix_curve(pitch, radius, z)) sphere(ball_radius, $fa=5, $fs=1);
+            }
+        }
+    }
+}
+
+module test_ball_groove2(){translate([0, 0, 0]) ball_groove2(100, 300, 100, 10);}
+
+module ball_screw(pitch, length, bearing_radius=2) {
+
+}
+
+module test_ball_screw(){}
diff --git a/Hardware/libs/MCAD/stepper.scad b/Hardware/libs/MCAD/stepper.scad
new file mode 100644
index 0000000..4baddc3
--- /dev/null
+++ b/Hardware/libs/MCAD/stepper.scad
@@ -0,0 +1,313 @@
+/*
+ * A nema standard stepper motor module.
+ * 
+ * Originally by Hans Häggström, 2010.
+ * Dual licenced under Creative Commons Attribution-Share Alike 3.0 and LGPL2 or later
+ */
+
+include <units.scad>
+include <materials.scad>
+
+
+// Demo, uncomment to show:
+//nema_demo();
+
+module nema_demo(){
+    for (size = [NemaShort, NemaMedium, NemaLong]) {  
+      translate([-100,size*100,0]) motor(Nema34, size, dualAxis=true);
+      translate([0,size*100,0])    motor(Nema23, size, dualAxis=true);
+      translate([100,size*100,0])  motor(Nema17, size, dualAxis=true);
+      translate([200,size*100,0])  motor(Nema14, size, dualAxis=true);
+      translate([300,size*100,0])  motor(Nema11, size, dualAxis=true);
+      translate([400,size*100,0])  motor(Nema08, size, dualAxis=true);
+    }
+}
+
+
+// Parameters: 
+NemaModel = 0;
+NemaLengthShort = 1;
+NemaLengthMedium = 2;
+NemaLengthLong = 3;
+NemaSideSize = 4;
+NemaDistanceBetweenMountingHoles = 5;
+NemaMountingHoleDiameter = 6;
+NemaMountingHoleDepth = 7;
+NemaMountingHoleLip = 8;
+NemaMountingHoleCutoutRadius = 9;
+NemaEdgeRoundingRadius = 10;
+NemaRoundExtrusionDiameter = 11;
+NemaRoundExtrusionHeight = 12;
+NemaAxleDiameter = 13;
+NemaFrontAxleLength = 14;
+NemaBackAxleLength = 15;
+NemaAxleFlatDepth = 16;
+NemaAxleFlatLengthFront = 17;
+NemaAxleFlatLengthBack = 18;
+
+NemaA = 1;
+NemaB = 2;
+NemaC = 3;
+
+NemaShort = NemaA;
+NemaMedium = NemaB;
+NemaLong = NemaC;
+
+// TODO: The small motors seem to be a bit too long, I picked the size specs from all over the place, is there some canonical reference?
+Nema08 = [
+                [NemaModel, 8],
+                [NemaLengthShort, 33*mm],
+                [NemaLengthMedium, 43*mm],
+                [NemaLengthLong, 43*mm],
+                [NemaSideSize, 20*mm], 
+                [NemaDistanceBetweenMountingHoles, 15.4*mm], 
+                [NemaMountingHoleDiameter, 2*mm], 
+                [NemaMountingHoleDepth, 1.75*mm], 
+                [NemaMountingHoleLip, -1*mm], 
+                [NemaMountingHoleCutoutRadius, 0*mm], 
+                [NemaEdgeRoundingRadius, 2*mm], 
+                [NemaRoundExtrusionDiameter, 16*mm], 
+                [NemaRoundExtrusionHeight, 1.5*mm], 
+                [NemaAxleDiameter, 4*mm], 
+                [NemaFrontAxleLength, 13.5*mm], 
+                [NemaBackAxleLength, 9.9*mm],
+                [NemaAxleFlatDepth, -1*mm],
+                [NemaAxleFlatLengthFront, 0*mm],
+                [NemaAxleFlatLengthBack, 0*mm],
+         ];
+
+Nema11 = [
+                [NemaModel, 11],
+                [NemaLengthShort, 32*mm],
+                [NemaLengthMedium, 40*mm],
+                [NemaLengthLong, 52*mm],
+                [NemaSideSize, 28*mm], 
+                [NemaDistanceBetweenMountingHoles, 23*mm], 
+                [NemaMountingHoleDiameter, 2.5*mm], 
+                [NemaMountingHoleDepth, 2*mm], 
+                [NemaMountingHoleLip, -1*mm], 
+                [NemaMountingHoleCutoutRadius, 0*mm], 
+                [NemaEdgeRoundingRadius, 2.5*mm], 
+                [NemaRoundExtrusionDiameter, 22*mm], 
+                [NemaRoundExtrusionHeight, 1.8*mm], 
+                [NemaAxleDiameter, 5*mm], 
+                [NemaFrontAxleLength, 13.7*mm], 
+                [NemaBackAxleLength, 10*mm],
+                [NemaAxleFlatDepth, 0.5*mm],
+                [NemaAxleFlatLengthFront, 10*mm],
+                [NemaAxleFlatLengthBack, 9*mm],
+         ];
+
+Nema14 = [
+                [NemaModel, 14],
+                [NemaLengthShort, 26*mm], 
+                [NemaLengthMedium, 28*mm], 
+                [NemaLengthLong, 34*mm], 
+                [NemaSideSize, 35.3*mm], 
+                [NemaDistanceBetweenMountingHoles, 26*mm], 
+                [NemaMountingHoleDiameter, 3*mm], 
+                [NemaMountingHoleDepth, 3.5*mm], 
+                [NemaMountingHoleLip, -1*mm], 
+                [NemaMountingHoleCutoutRadius, 0*mm], 
+                [NemaEdgeRoundingRadius, 5*mm], 
+                [NemaRoundExtrusionDiameter, 22*mm], 
+                [NemaRoundExtrusionHeight, 1.9*mm], 
+                [NemaAxleDiameter, 5*mm], 
+                [NemaFrontAxleLength, 18*mm], 
+                [NemaBackAxleLength, 10*mm],
+                [NemaAxleFlatDepth, 0.5*mm],
+                [NemaAxleFlatLengthFront, 15*mm],
+                [NemaAxleFlatLengthBack, 9*mm],
+         ];
+
+Nema17 = [
+                [NemaModel, 17],
+                [NemaLengthShort, 33*mm],
+                [NemaLengthMedium, 39*mm],
+                [NemaLengthLong, 47*mm],
+                [NemaSideSize, 42.20*mm], 
+                [NemaDistanceBetweenMountingHoles, 31.04*mm], 
+                [NemaMountingHoleDiameter, 4*mm], 
+                [NemaMountingHoleDepth, 4.5*mm], 
+                [NemaMountingHoleLip, -1*mm], 
+                [NemaMountingHoleCutoutRadius, 0*mm], 
+                [NemaEdgeRoundingRadius, 7*mm], 
+                [NemaRoundExtrusionDiameter, 22*mm], 
+                [NemaRoundExtrusionHeight, 1.9*mm], 
+                [NemaAxleDiameter, 5*mm], 
+                [NemaFrontAxleLength, 18*mm], 
+                [NemaBackAxleLength, 15*mm],
+                [NemaAxleFlatDepth, 0.5*mm],
+                [NemaAxleFlatLengthFront, 15*mm],
+                [NemaAxleFlatLengthBack, 14*mm],
+         ];
+
+Nema23 = [
+                [NemaModel, 23],
+                [NemaLengthShort, 39*mm],
+                [NemaLengthMedium, 54*mm],
+                [NemaLengthLong, 76*mm],
+                [NemaSideSize, 56.4*mm], 
+                [NemaDistanceBetweenMountingHoles, 47.14*mm], 
+                [NemaMountingHoleDiameter, 4.75*mm], 
+                [NemaMountingHoleDepth, 5*mm], 
+                [NemaMountingHoleLip, 4.95*mm], 
+                [NemaMountingHoleCutoutRadius, 9.5*mm], 
+                [NemaEdgeRoundingRadius, 2.5*mm], 
+                [NemaRoundExtrusionDiameter, 38.10*mm], 
+                [NemaRoundExtrusionHeight, 1.52*mm], 
+                [NemaAxleDiameter, 6.36*mm], 
+                [NemaFrontAxleLength, 18.80*mm], 
+                [NemaBackAxleLength, 15.60*mm],
+                [NemaAxleFlatDepth, 0.5*mm],
+                [NemaAxleFlatLengthFront, 16*mm],
+                [NemaAxleFlatLengthBack, 14*mm],
+         ];
+
+Nema34 = [
+                [NemaModel, 34],
+                [NemaLengthShort, 66*mm],
+                [NemaLengthMedium, 96*mm],
+                [NemaLengthLong, 126*mm],
+                [NemaSideSize, 85*mm], 
+                [NemaDistanceBetweenMountingHoles, 69.58*mm], 
+                [NemaMountingHoleDiameter, 6.5*mm], 
+                [NemaMountingHoleDepth, 5.5*mm], 
+                [NemaMountingHoleLip, 5*mm], 
+                [NemaMountingHoleCutoutRadius, 17*mm], 
+                [NemaEdgeRoundingRadius, 3*mm], 
+                [NemaRoundExtrusionDiameter, 73.03*mm], 
+                [NemaRoundExtrusionHeight, 1.9*mm], 
+                [NemaAxleDiameter, 0.5*inch], 
+                [NemaFrontAxleLength, 37*mm], 
+                [NemaBackAxleLength, 34*mm],
+                [NemaAxleFlatDepth, 1.20*mm],
+                [NemaAxleFlatLengthFront, 25*mm],
+                [NemaAxleFlatLengthBack, 25*mm],
+         ];
+
+
+
+function motorWidth(model=Nema23) = lookup(NemaSideSize, model);
+function motorLength(model=Nema23, size=NemaMedium) = lookup(size, model);
+
+
+module motor(model=Nema23, size=NemaMedium, dualAxis=false, pos=[0,0,0], orientation = [0,0,0]) {
+
+  length = lookup(size, model);
+
+  echo(str("  Motor: Nema",lookup(NemaModel, model),", length= ",length,"mm, dual axis=",dualAxis));
+
+  stepperBlack    = BlackPaint;
+  stepperAluminum = Aluminum;
+
+  side = lookup(NemaSideSize, model);
+
+  cutR = lookup(NemaMountingHoleCutoutRadius, model);
+  lip = lookup(NemaMountingHoleLip, model);
+  holeDepth = lookup(NemaMountingHoleDepth, model);
+
+  axleLengthFront = lookup(NemaFrontAxleLength, model);
+  axleLengthBack = lookup(NemaBackAxleLength, model);
+  axleRadius = lookup(NemaAxleDiameter, model) * 0.5;
+
+  extrSize = lookup(NemaRoundExtrusionHeight, model);
+  extrRad = lookup(NemaRoundExtrusionDiameter, model) * 0.5;
+
+  holeDist = lookup(NemaDistanceBetweenMountingHoles, model) * 0.5;
+  holeRadius = lookup(NemaMountingHoleDiameter, model) * 0.5;
+
+  mid = side / 2;
+
+  roundR = lookup(NemaEdgeRoundingRadius, model);
+
+  axleFlatDepth = lookup(NemaAxleFlatDepth, model);
+  axleFlatLengthFront = lookup(NemaAxleFlatLengthFront, model);
+  axleFlatLengthBack = lookup(NemaAxleFlatLengthBack, model);
+
+  color(stepperBlack){
+    translate(pos) rotate(orientation) {
+      translate([-mid, -mid, 0]) 
+        difference() {          
+          cube(size=[side, side, length + extrSize]);
+ 
+          // Corner cutouts
+          if (lip > 0) {
+            translate([0,    0,    lip]) cylinder(h=length, r=cutR);
+            translate([side, 0,    lip]) cylinder(h=length, r=cutR);
+            translate([0,    side, lip]) cylinder(h=length, r=cutR);
+            translate([side, side, lip]) cylinder(h=length, r=cutR);
+
+          }
+
+          // Rounded edges
+          if (roundR > 0) {
+                translate([mid+mid, mid+mid, length/2])
+                  rotate([0,0,45])
+                    cube(size=[roundR, roundR*2, 4+length + extrSize+2], center=true);
+                translate([mid-(mid), mid+(mid), length/2])
+                  rotate([0,0,45])
+                    cube(size=[roundR*2, roundR, 4+length + extrSize+2], center=true);
+                translate([mid+mid, mid-mid, length/2])
+                  rotate([0,0,45])
+                    cube(size=[roundR*2, roundR, 4+length + extrSize+2], center=true);
+                translate([mid-mid, mid-mid, length/2])
+                  rotate([0,0,45])
+                    cube(size=[roundR, roundR*2, 4+length + extrSize+2], center=true);
+
+          }
+
+          // Bolt holes
+          color(stepperAluminum, $fs=holeRadius/8) {
+            translate([mid+holeDist,mid+holeDist,-1*mm]) cylinder(h=holeDepth+1*mm, r=holeRadius);
+            translate([mid-holeDist,mid+holeDist,-1*mm]) cylinder(h=holeDepth+1*mm, r=holeRadius);
+            translate([mid+holeDist,mid-holeDist,-1*mm]) cylinder(h=holeDepth+1*mm, r=holeRadius);
+            translate([mid-holeDist,mid-holeDist,-1*mm]) cylinder(h=holeDepth+1*mm, r=holeRadius);
+
+          } 
+
+          // Grinded flat
+          color(stepperAluminum) {
+            difference() {
+              translate([-1*mm, -1*mm, -extrSize]) 
+                cube(size=[side+2*mm, side+2*mm, extrSize + 1*mm]);
+              translate([side/2, side/2, -extrSize - 1*mm]) 
+                cylinder(h=4*mm, r=extrRad);
+            }
+          }
+
+        }
+
+      // Axle
+      translate([0, 0, extrSize-axleLengthFront]) color(stepperAluminum) 
+        difference() {
+                     
+          cylinder(h=axleLengthFront + 1*mm , r=axleRadius, $fs=axleRadius/10);
+
+          // Flat
+          if (axleFlatDepth > 0)
+            translate([axleRadius - axleFlatDepth,-5*mm,-extrSize*mm -(axleLengthFront-axleFlatLengthFront)] ) cube(size=[5*mm, 10*mm, axleLengthFront]);
+        }
+
+        if (dualAxis) {
+          translate([0, 0, length+extrSize]) color(stepperAluminum) 
+            difference() {
+                     
+              cylinder(h=axleLengthBack + 0*mm, r=axleRadius, $fs=axleRadius/10);
+
+              // Flat
+              if (axleFlatDepth > 0)
+                translate([axleRadius - axleFlatDepth,-5*mm,(axleLengthBack-axleFlatLengthBack)]) cube(size=[5*mm, 10*mm, axleLengthBack]);
+          }
+
+        }
+
+    }
+  }
+}
+
+module roundedBox(size, edgeRadius) {
+    cube(size);
+
+}
+
diff --git a/Hardware/libs/MCAD/test_compile.py b/Hardware/libs/MCAD/test_compile.py
new file mode 100644
index 0000000..2208186
--- /dev/null
+++ b/Hardware/libs/MCAD/test_compile.py
@@ -0,0 +1,44 @@
+import py
+
+from openscad_utils import *
+
+def pytest_generate_tests(metafunc):
+    if "modpath" in metafunc.funcargnames:
+        if "modname" in metafunc.funcargnames:
+            for fpath, modnames in collect_test_modules().items():
+                for modname in modnames:
+                    metafunc.addcall(funcargs=dict(modname=modname, modpath=fpath))
+        else:
+            dirpath = py.path.local("./")
+            for fpath in dirpath.visit('*.scad'):
+                metafunc.addcall(funcargs=dict(modpath=fpath))
+
+temppath = py.test.ensuretemp('MCAD')
+
+def test_compile(modname, modpath):
+    tempname = "test_" + modpath.basename + modname
+    fpath = temppath.join(tempname)
+    stlpath = temppath.join(tempname + ".stl")
+    f = fpath.open('w')
+    f.write("""
+//generated testfile
+include <%s>
+
+%s()
+""" % (modpath, modname))
+    f.flush
+    output = call_openscad(path=fpath, stlpath=stlpath)
+    print output
+    assert output[0] is 0
+    assert "warning" or "error" not in output[2].strip().lowercase()
+    assert len(stlpath.readlines()) > 2
+
+def test_compile_default(modpath):
+    tempname = "test_" + modpath.basename
+    stlpath = temppath.join(tempname + ".stl")
+    output = call_openscad(path=modpath, stlpath=stlpath)
+    print output
+    assert output[0] is 0
+    assert "warning" or "error" not in output[2].strip().lowercase()
+
+
diff --git a/Hardware/libs/MCAD/units.scad b/Hardware/libs/MCAD/units.scad
new file mode 100644
index 0000000..62662a9
--- /dev/null
+++ b/Hardware/libs/MCAD/units.scad
@@ -0,0 +1,24 @@
+/*
+ * Basic units.
+ * 
+ * Originally by Hans Häggström, 2010.
+ * Dual licenced under Creative Commons Attribution-Share Alike 3.0 and LGPL2 or later
+ */
+
+
+mm = 1;
+cm = 10 * mm;
+dm = 100 * mm;
+m = 1000 * mm;
+inch = 25.4 * mm;
+
+M3 = 3*mm;
+M4 = 4*mm;
+M5 = 5*mm;
+M6 = 6*mm;
+M8 = 8*mm;
+
+
+// When a small distance is needed to overlap shapes for boolean cutting, etc.
+epsilon = 0.01*mm;
+
diff --git a/Hardware/libs/MCAD/utilities.scad b/Hardware/libs/MCAD/utilities.scad
new file mode 100644
index 0000000..fe85c31
--- /dev/null
+++ b/Hardware/libs/MCAD/utilities.scad
@@ -0,0 +1,58 @@
+/*
+ * Utility functions.
+ * 
+ * Originally by Hans Häggström, 2010.
+ * Dual licenced under Creative Commons Attribution-Share Alike 3.0 and LGPL2 or later
+ */
+
+<units.scad>
+
+function distance(a, b) = sqrt( (a[0] - b[0])*(a[0] - b[0]) + 
+                                (a[1] - b[1])*(a[1] - b[1]) + 
+                                (a[2] - b[2])*(a[2] - b[2]) );
+
+function length2(a) = sqrt( a[0]*a[0] + a[1]*a[1] );
+
+function normalized(a) = a / (max(distance([0,0,0], a), 0.00001));
+
+
+
+function angleOfNormalizedVector(n) = [0, -atan2(n[2], length2([n[0], n[1]])), atan2(n[1], n[0]) ];
+
+function angle(v) = angleOfNormalizedVector(normalized(v));
+
+function angleBetweenTwoPoints(a, b) = angle(normalized(b-a));
+
+
+CENTER = 0;
+LEFT = -0.5;
+RIGHT = 0.5;
+TOP = 0.5;
+BOTTOM = -0.5;
+
+FlatCap =0;
+ExtendedCap =0.5;
+CutCap =-0.5;
+
+
+module fromTo(from=[0,0,0], to=[1*m,0,0], size=[1*cm, 1*cm], align=[CENTER, CENTER], material=[0.5, 0.5, 0.5], name="", endExtras=[0,0], endCaps=[FlatCap, FlatCap], rotation=[0,0,0], printString=true) {
+
+  angle = angleBetweenTwoPoints(from, to);
+  length = distance(from, to) + endCaps[0]*size[0] + endCaps[1]*size[0] + endExtras[0] + endExtras[1];
+
+  if (length > 0) {
+    if (printString) echo(str("  " ,name, " ", size[0], "mm x ", size[1], "mm, length ",length,"mm"));
+
+    color(material)
+      translate(from)
+        rotate(angle) 
+          translate( [ -endCaps[0]*size[0] - endExtras[0], size[0]*(-0.5-align[0]), size[1]*(-0.5+align[1]) ] )
+            rotate(rotation) 
+              scale([length, size[0], size[1]]) child();
+  }
+}
+
+module part(name) {
+  echo("");
+  echo(str(name, ":"));
+}
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