diff --git a/device.go b/device.go
index c4a1cf0d..18d4494e 100644
--- a/device.go
+++ b/device.go
@@ -13,6 +13,7 @@ type device struct {
 
 type Device interface {
 	Start() bool
+	Halt() bool
 }
 
 func NewDevice(driver DriverInterface, r *Robot) *device {
@@ -31,6 +32,11 @@ func (d *device) Start() bool {
 	return d.Driver.Start()
 }
 
+func (d *device) Halt() bool {
+	log.Println("Device " + d.Name + " halted")
+	return d.Driver.Halt()
+}
+
 func (d *device) Commands() interface{} {
 	return FieldByNamePtr(d.Driver, "Commands").Interface()
 }
diff --git a/driver.go b/driver.go
index 0ce04d9f..d007312e 100644
--- a/driver.go
+++ b/driver.go
@@ -10,4 +10,5 @@ type Driver struct {
 
 type DriverInterface interface {
 	Start() bool
+	Halt() bool
 }
diff --git a/master.go b/master.go
index 2d8eb5fe..d3f5fc9e 100644
--- a/master.go
+++ b/master.go
@@ -29,6 +29,7 @@ func (m *Master) Start() {
 
 	for _ = range c {
 		for r := range m.Robots {
+			m.Robots[r].haltDevices()
 			m.Robots[r].finalizeConnections()
 		}
 		break
diff --git a/robot.go b/robot.go
index 9bd34b60..aec1da11 100644
--- a/robot.go
+++ b/robot.go
@@ -98,6 +98,12 @@ func (r *Robot) startDevices() bool {
 	return success
 }
 
+func (r *Robot) haltDevices() {
+	for _, device := range r.devices {
+		device.Halt()
+	}
+}
+
 func (r *Robot) finalizeConnections() {
 	for _, connection := range r.connections {
 		connection.Finalize()
diff --git a/test_helper.go b/test_helper.go
index fefc02f0..682dd1c3 100644
--- a/test_helper.go
+++ b/test_helper.go
@@ -5,6 +5,7 @@ type testDriver struct {
 }
 
 func (me *testDriver) Start() bool { return true }
+func (me *testDriver) Halt() bool  { return true }
 
 type testAdaptor struct {
 	Adaptor