diff --git a/adaptor.go b/adaptor.go
index 7781ce00..6a6d072a 100644
--- a/adaptor.go
+++ b/adaptor.go
@@ -9,6 +9,7 @@ type Adaptor struct {
 	adaptorType string
 }
 
+// AdaptorInterface defines behaviour expected for a Gobot Adaptor
 type AdaptorInterface interface {
 	Finalize() bool
 	Connect() bool
@@ -22,6 +23,7 @@ type AdaptorInterface interface {
 	ToJSON() *JSONConnection
 }
 
+// NewAdaptor returns a new Gobot Adaptor
 func NewAdaptor(name string, adaptorType string, v ...interface{}) *Adaptor {
 	if name == "" {
 		name = fmt.Sprintf("%X", Rand(int(^uint(0)>>1)))
@@ -43,34 +45,42 @@ func NewAdaptor(name string, adaptorType string, v ...interface{}) *Adaptor {
 	return a
 }
 
+// Port returns adaptor port
 func (a *Adaptor) Port() string {
 	return a.port
 }
 
+// SetPort sets adaptor port
 func (a *Adaptor) SetPort(s string) {
 	a.port = s
 }
 
+// Name returns adaptor name
 func (a *Adaptor) Name() string {
 	return a.name
 }
 
+// SetName sets adaptor name
 func (a *Adaptor) SetName(s string) {
 	a.name = s
 }
 
+// Type returns adaptor type
 func (a *Adaptor) Type() string {
 	return a.adaptorType
 }
 
+// Connected returns true if adaptor is connected
 func (a *Adaptor) Connected() bool {
 	return a.connected
 }
 
+// SetConnected sets adaptor as connected/disconnected
 func (a *Adaptor) SetConnected(b bool) {
 	a.connected = b
 }
 
+// ToJSON returns a json representation of adaptor
 func (a *Adaptor) ToJSON() *JSONConnection {
 	return &JSONConnection{
 		Name:    a.Name(),
diff --git a/api/api.go b/api/api.go
index 3ecfb24b..66ac4782 100644
--- a/api/api.go
+++ b/api/api.go
@@ -12,8 +12,6 @@ import (
 	"github.com/hybridgroup/gobot/api/robeaux"
 )
 
-// Optional restful API through Gobot has access
-// all the robots.
 type api struct {
 	gobot    *gobot.Gobot
 	router   *pat.PatternServeMux
@@ -25,6 +23,8 @@ type api struct {
 	start    func(*api)
 }
 
+// newAPI returns a gobot api instance
+// and starts a http server using configuration options
 func NewAPI(g *gobot.Gobot) *api {
 	return &api{
 		gobot:  g,
@@ -47,6 +47,7 @@ func NewAPI(g *gobot.Gobot) *api {
 	}
 }
 
+// ServeHTTP calls api handlers and then serves request using api router
 func (a *api) ServeHTTP(res http.ResponseWriter, req *http.Request) {
 	for _, handler := range a.handlers {
 		handler(res, req)
@@ -54,38 +55,43 @@ func (a *api) ServeHTTP(res http.ResponseWriter, req *http.Request) {
 	a.router.ServeHTTP(res, req)
 }
 
+// Post wraps api router Post call
 func (a *api) Post(path string, f func(http.ResponseWriter, *http.Request)) {
 	a.router.Post(path, http.HandlerFunc(f))
 }
 
+// Put wraps api router Put call
 func (a *api) Put(path string, f func(http.ResponseWriter, *http.Request)) {
 	a.router.Put(path, http.HandlerFunc(f))
 }
 
+// Delete wraps api router Delete call
 func (a *api) Delete(path string, f func(http.ResponseWriter, *http.Request)) {
 	a.router.Del(path, http.HandlerFunc(f))
 }
 
+// Options wraps api router Options call
 func (a *api) Options(path string, f func(http.ResponseWriter, *http.Request)) {
 	a.router.Options(path, http.HandlerFunc(f))
 }
 
+// Get wraps api router Get call
 func (a *api) Get(path string, f func(http.ResponseWriter, *http.Request)) {
 	a.router.Get(path, http.HandlerFunc(f))
 }
 
+// Head wraps api router Head call
 func (a *api) Head(path string, f func(http.ResponseWriter, *http.Request)) {
 	a.router.Head(path, http.HandlerFunc(f))
 }
 
+// AddHandler appends handler to api handlers
 func (a *api) AddHandler(f func(http.ResponseWriter, *http.Request)) {
 	a.handlers = append(a.handlers, f)
 }
 
-// start starts the api using the start function
-// sets on the API on initialization.
+// Start initializes the api by setting up c3pio routes and robeaux
 func (a *api) Start() {
-	// api
 	mcpCommandRoute := "/api/commands/:command"
 	deviceCommandRoute := "/api/robots/:robot/devices/:device/commands/:command"
 	robotCommandRoute := "/api/robots/:robot/commands/:command"
@@ -108,7 +114,6 @@ func (a *api) Start() {
 	a.Get("/api/robots/:robot/connections/:connection", a.robotConnection)
 	a.Get("/api/", a.mcp)
 
-	// robeaux
 	a.Get("/", func(res http.ResponseWriter, req *http.Request) {
 		http.Redirect(res, req, "/index.html", http.StatusMovedPermanently)
 	})
@@ -125,6 +130,8 @@ func (a *api) Start() {
 	a.start(a)
 }
 
+// robeaux returns handler for robeaux routes.
+// Writes asset in response and sets correct header
 func (a *api) robeaux(res http.ResponseWriter, req *http.Request) {
 	path := req.URL.Path
 	buf, err := robeaux.Asset(path[1:])
@@ -141,14 +148,20 @@ func (a *api) robeaux(res http.ResponseWriter, req *http.Request) {
 	res.Write(buf)
 }
 
+// mcp returns MCP route handler.
+// Writes JSON with gobot representation
 func (a *api) mcp(res http.ResponseWriter, req *http.Request) {
 	a.writeJSON(map[string]interface{}{"MCP": a.gobot.ToJSON()}, res)
 }
 
+// mcpCommands returns commands route handler.
+// Writes JSON with global commands representation
 func (a *api) mcpCommands(res http.ResponseWriter, req *http.Request) {
 	a.writeJSON(map[string]interface{}{"commands": a.gobot.ToJSON().Commands}, res)
 }
 
+// robots returns route handler.
+// Writes JSON with robots representation
 func (a *api) robots(res http.ResponseWriter, req *http.Request) {
 	jsonRobots := []*gobot.JSONRobot{}
 	a.gobot.Robots().Each(func(r *gobot.Robot) {
@@ -157,14 +170,20 @@ func (a *api) robots(res http.ResponseWriter, req *http.Request) {
 	a.writeJSON(map[string]interface{}{"robots": jsonRobots}, res)
 }
 
+// robot returns route handler.
+// Writes JSON with robot representation
 func (a *api) robot(res http.ResponseWriter, req *http.Request) {
 	a.writeJSON(map[string]interface{}{"robot": a.gobot.Robot(req.URL.Query().Get(":robot")).ToJSON()}, res)
 }
 
+// robotCommands returns commands route handler
+// Writes JSON with robot commands representation
 func (a *api) robotCommands(res http.ResponseWriter, req *http.Request) {
 	a.writeJSON(map[string]interface{}{"commands": a.gobot.Robot(req.URL.Query().Get(":robot")).ToJSON().Commands}, res)
 }
 
+// robotDevices returns devices route handler.
+// Writes JSON with robot devices representation
 func (a *api) robotDevices(res http.ResponseWriter, req *http.Request) {
 	jsonDevices := []*gobot.JSONDevice{}
 	a.gobot.Robot(req.URL.Query().Get(":robot")).Devices().Each(func(d gobot.Device) {
@@ -173,6 +192,8 @@ func (a *api) robotDevices(res http.ResponseWriter, req *http.Request) {
 	a.writeJSON(map[string]interface{}{"devices": jsonDevices}, res)
 }
 
+// robotDevice returns device route handler.
+// Writes JSON with robot device representation
 func (a *api) robotDevice(res http.ResponseWriter, req *http.Request) {
 	a.writeJSON(
 		map[string]interface{}{"device": a.gobot.Robot(req.URL.Query().Get(":robot")).
@@ -180,6 +201,9 @@ func (a *api) robotDevice(res http.ResponseWriter, req *http.Request) {
 	)
 }
 
+// robotDeviceEvent returns device event route handler.
+// Creates an event stream connection
+// and queries event data to be written when received
 func (a *api) robotDeviceEvent(res http.ResponseWriter, req *http.Request) {
 	f, _ := res.(http.Flusher)
 	c, _ := res.(http.CloseNotifier)
@@ -210,6 +234,8 @@ func (a *api) robotDeviceEvent(res http.ResponseWriter, req *http.Request) {
 	}
 }
 
+// robotDeviceCommands returns device commands route handler
+// writes JSON with robot device commands representation
 func (a *api) robotDeviceCommands(res http.ResponseWriter, req *http.Request) {
 	a.writeJSON(
 		map[string]interface{}{"commands": a.gobot.Robot(req.URL.Query().Get(":robot")).
@@ -217,6 +243,8 @@ func (a *api) robotDeviceCommands(res http.ResponseWriter, req *http.Request) {
 	)
 }
 
+// robotConnections returns connections route handler
+// writes JSON with robot connections representation
 func (a *api) robotConnections(res http.ResponseWriter, req *http.Request) {
 	jsonConnections := []*gobot.JSONConnection{}
 	a.gobot.Robot(req.URL.Query().Get(":robot")).Connections().Each(func(c gobot.Connection) {
@@ -225,6 +253,8 @@ func (a *api) robotConnections(res http.ResponseWriter, req *http.Request) {
 	a.writeJSON(map[string]interface{}{"connections": jsonConnections}, res)
 }
 
+// robotConnection returns connection route handler
+// writes JSON with robot connection representation
 func (a *api) robotConnection(res http.ResponseWriter, req *http.Request) {
 	a.writeJSON(
 		map[string]interface{}{"connection": a.gobot.Robot(req.URL.Query().Get(":robot")).
@@ -233,6 +263,7 @@ func (a *api) robotConnection(res http.ResponseWriter, req *http.Request) {
 	)
 }
 
+// executeMcpCommand calls a global command asociated to requested route
 func (a *api) executeMcpCommand(res http.ResponseWriter, req *http.Request) {
 	a.executeCommand(a.gobot.Command(req.URL.Query().Get(":command")),
 		res,
@@ -240,6 +271,7 @@ func (a *api) executeMcpCommand(res http.ResponseWriter, req *http.Request) {
 	)
 }
 
+// executeDeviceCommand calls a device command asociated to requested route
 func (a *api) executeDeviceCommand(res http.ResponseWriter, req *http.Request) {
 	a.executeCommand(
 		a.gobot.Robot(req.URL.Query().Get(":robot")).
@@ -250,6 +282,7 @@ func (a *api) executeDeviceCommand(res http.ResponseWriter, req *http.Request) {
 	)
 }
 
+// executeRobotCommand calls a robot command asociated to requested route
 func (a *api) executeRobotCommand(res http.ResponseWriter, req *http.Request) {
 	a.executeCommand(
 		a.gobot.Robot(req.URL.Query().Get(":robot")).
@@ -259,6 +292,7 @@ func (a *api) executeRobotCommand(res http.ResponseWriter, req *http.Request) {
 	)
 }
 
+// executeCommand writes JSON response with `f` returned value.
 func (a *api) executeCommand(f func(map[string]interface{}) interface{},
 	res http.ResponseWriter,
 	req *http.Request,
@@ -274,12 +308,14 @@ func (a *api) executeCommand(f func(map[string]interface{}) interface{},
 	}
 }
 
+// writeJSON writes `j` as JSON in response
 func (a *api) writeJSON(j interface{}, res http.ResponseWriter) {
 	data, _ := json.Marshal(j)
 	res.Header().Set("Content-Type", "application/json; charset=utf-8")
 	res.Write(data)
 }
 
+// Debug add handler to api that prints each request
 func (a *api) Debug() {
 	a.AddHandler(func(res http.ResponseWriter, req *http.Request) {
 		log.Println(req)
diff --git a/api/basic_auth.go b/api/basic_auth.go
index a86c7a7c..5aa08ffd 100644
--- a/api/basic_auth.go
+++ b/api/basic_auth.go
@@ -6,9 +6,9 @@ import (
 	"net/http"
 )
 
+// BasicAuth returns basic auth handler.
+// Inspired by https://github.com/codegangsta/martini-contrib/blob/master/auth/
 func BasicAuth(username, password string) http.HandlerFunc {
-	// basic auth inspired by
-	// https://github.com/codegangsta/martini-contrib/blob/master/auth/
 	return func(res http.ResponseWriter, req *http.Request) {
 		if !secureCompare(req.Header.Get("Authorization"),
 			"Basic "+base64.StdEncoding.EncodeToString([]byte(username+":"+password)),
diff --git a/api/cors.go b/api/cors.go
index 81ef2bd5..f5dec73c 100644
--- a/api/cors.go
+++ b/api/cors.go
@@ -14,6 +14,7 @@ type CORS struct {
 	allowOriginPatterns []string
 }
 
+// AllowRequestFrom returns handler to verify that requests come from allowedOrigins
 func AllowRequestsFrom(allowedOrigins ...string) http.HandlerFunc {
 	c := &CORS{
 		AllowOrigins: allowedOrigins,
@@ -35,6 +36,7 @@ func AllowRequestsFrom(allowedOrigins ...string) http.HandlerFunc {
 	}
 }
 
+// isOriginAllowed returns true if origin matches an allowed origin pattern.
 func (c *CORS) isOriginAllowed(origin string) (allowed bool) {
 	for _, allowedOriginPattern := range c.allowOriginPatterns {
 		allowed, _ = regexp.MatchString(allowedOriginPattern, origin)
@@ -45,6 +47,7 @@ func (c *CORS) isOriginAllowed(origin string) (allowed bool) {
 	return
 }
 
+// generatePatterns generates regex expresions for AllowOrigins
 func (c *CORS) generatePatterns() {
 	if c.AllowOrigins != nil {
 		for _, origin := range c.AllowOrigins {
@@ -56,10 +59,12 @@ func (c *CORS) generatePatterns() {
 	}
 }
 
+// AllowedHeaders returns allowed headers in a string
 func (c *CORS) AllowedHeaders() string {
 	return strings.Join(c.AllowHeaders, ",")
 }
 
+// AllowedMethods returns allowed http methods in a string
 func (c *CORS) AllowedMethods() string {
 	return strings.Join(c.AllowMethods, ",")
 }
diff --git a/api/doc.go b/api/doc.go
new file mode 100644
index 00000000..dbe0981d
--- /dev/null
+++ b/api/doc.go
@@ -0,0 +1,40 @@
+/*
+Package api provides functionally to expose your gobot programs
+to other by using starting a web server and adding commands.
+
+Example:
+
+    package main
+
+    import (
+    	"fmt"
+
+    	"github.com/hybridgroup/gobot"
+    	"github.com/hybridgroup/gobot/api"
+    )
+
+    func main() {
+    	gbot := gobot.NewGobot()
+
+      // Starts the API server on default port 3000
+    	api.NewAPI(gbot).Start()
+
+      // Accessible via http://localhost:3000/api/commands/say_hello
+    	gbot.AddCommand("say_hello", func(params map[string]interface{}) interface{} {
+    		return "Master says hello!"
+    	})
+
+    	hello := gbot.AddRobot(gobot.NewRobot("Eve"))
+
+      // Accessible via http://localhost:3000/robots/Eve/commands/say_hello
+    	hello.AddCommand("say_hello", func(params map[string]interface{}) interface{} {
+    		return fmt.Sprintf("%v says hello!", hello.Name)
+    	})
+
+    	gbot.Start()
+    }
+
+It follows Common Protocol for Programming Physical Input and Output (CPPP-IO) spec:
+https://github.com/hybridgroup/cppp-io
+*/
+package api
diff --git a/connection.go b/connection.go
index c95e2304..75d5689c 100644
--- a/connection.go
+++ b/connection.go
@@ -5,6 +5,7 @@ import (
 	"log"
 )
 
+// JSONConnection holds a JSON representation of a connection.
 type JSONConnection struct {
 	Name    string `json:"name"`
 	Adaptor string `json:"adaptor"`
@@ -14,17 +15,19 @@ type Connection AdaptorInterface
 
 type connections []Connection
 
+// Len returns connections length
 func (c *connections) Len() int {
 	return len(*c)
 }
 
+// Each calls function for each connection
 func (c *connections) Each(f func(Connection)) {
 	for _, connection := range *c {
 		f(connection)
 	}
 }
 
-// Start() starts all the connections.
+// Start initializes all the connections.
 func (c *connections) Start() error {
 	var err error
 	log.Println("Starting connections...")
@@ -42,7 +45,7 @@ func (c *connections) Start() error {
 	return err
 }
 
-// Finalize() finalizes all the connections.
+// Finalize finishes all the connections.
 func (c *connections) Finalize() {
 	for _, connection := range *c {
 		connection.Finalize()
diff --git a/device.go b/device.go
index febfa2df..15f925bf 100644
--- a/device.go
+++ b/device.go
@@ -5,6 +5,7 @@ import (
 	"log"
 )
 
+// JSONDevice is a JSON representation of a Gobot Device.
 type JSONDevice struct {
 	Name       string   `json:"name"`
 	Driver     string   `json:"driver"`
@@ -16,17 +17,19 @@ type Device DriverInterface
 
 type devices []Device
 
+// Len returns devices length
 func (d *devices) Len() int {
 	return len(*d)
 }
 
+// Each calls `f` function each device
 func (d *devices) Each(f func(Device)) {
 	for _, device := range *d {
 		f(device)
 	}
 }
 
-// Start() starts all the devices.
+// Start starts all the devices.
 func (d *devices) Start() error {
 	var err error
 	log.Println("Starting devices...")
@@ -44,7 +47,7 @@ func (d *devices) Start() error {
 	return err
 }
 
-// Halt() stop all the devices.
+// Halt stop all the devices.
 func (d *devices) Halt() {
 	for _, device := range *d {
 		device.Halt()
diff --git a/driver.go b/driver.go
index 6eda0702..36002753 100644
--- a/driver.go
+++ b/driver.go
@@ -5,6 +5,7 @@ import (
 	"time"
 )
 
+// DriverInterface defines Driver expected behaviour
 type DriverInterface interface {
 	Start() bool
 	Halt() bool
@@ -35,6 +36,8 @@ type Driver struct {
 	driverType string
 }
 
+// NewDriver returns a Driver with specified parameters
+// and sets driver pin, adaptor and interval
 func NewDriver(name string, driverType string, v ...interface{}) *Driver {
 	if name == "" {
 		name = fmt.Sprintf("%X", Rand(int(^uint(0)>>1)))
@@ -64,42 +67,52 @@ func NewDriver(name string, driverType string, v ...interface{}) *Driver {
 	return d
 }
 
+// Adaptor returns driver adaptor
 func (d *Driver) Adaptor() AdaptorInterface {
 	return d.adaptor
 }
 
+// SetInterval defines driver interval duration.
 func (d *Driver) SetInterval(t time.Duration) {
 	d.interval = t
 }
 
+// Interval current driver interval duration
 func (d *Driver) Interval() time.Duration {
 	return d.interval
 }
 
+// SetName sets driver name.
 func (d *Driver) SetName(s string) {
 	d.name = s
 }
 
+// Name returns driver name.
 func (d *Driver) Name() string {
 	return d.name
 }
 
+// Pin returns driver pin
 func (d *Driver) Pin() string {
 	return d.pin
 }
 
+// SetPin defines driver pin
 func (d *Driver) SetPin(pin string) {
 	d.pin = pin
 }
 
+// Type returns driver type
 func (d *Driver) Type() string {
 	return d.driverType
 }
 
+// Events returns driver events map
 func (d *Driver) Events() map[string]*Event {
 	return d.events
 }
 
+// Event returns an event by name if exists
 func (d *Driver) Event(name string) *Event {
 	e, ok := d.events[name]
 	if ok {
@@ -109,22 +122,27 @@ func (d *Driver) Event(name string) *Event {
 	}
 }
 
+// AddEvents adds a new event by name
 func (d *Driver) AddEvent(name string) {
 	d.events[name] = NewEvent()
 }
 
+// Command retrieves a command by name
 func (d *Driver) Command(name string) func(map[string]interface{}) interface{} {
 	return d.commands[name]
 }
 
+// Commands returns a map of driver commands
 func (d *Driver) Commands() map[string]func(map[string]interface{}) interface{} {
 	return d.commands
 }
 
+// AddCommand links specified command name to `f`
 func (d *Driver) AddCommand(name string, f func(map[string]interface{}) interface{}) {
 	d.commands[name] = f
 }
 
+// ToJSON returns JSON Driver represnentation including adaptor and commands
 func (d *Driver) ToJSON() *JSONDevice {
 	jsonDevice := &JSONDevice{
 		Name:       d.Name(),
diff --git a/event.go b/event.go
index 71e051bc..c2dfaa16 100644
--- a/event.go
+++ b/event.go
@@ -10,6 +10,8 @@ type Event struct {
 	Callbacks []callback
 }
 
+// NewEvent generates a new event by making a channel
+// and start reading from it
 func NewEvent() *Event {
 	e := &Event{
 		Chan:      make(chan interface{}, 1),
@@ -23,6 +25,7 @@ func NewEvent() *Event {
 	return e
 }
 
+// Writes sends event data to channel
 func (e *Event) Write(data interface{}) {
 	select {
 	case e.Chan <- data:
@@ -30,6 +33,8 @@ func (e *Event) Write(data interface{}) {
 	}
 }
 
+// Read waits data from channel and execute callbacks
+// for each event when received
 func (e *Event) Read() {
 	for s := range e.Chan {
 		tmp := []callback{}
diff --git a/utils.go b/utils.go
index 0cf02c42..631c605d 100644
--- a/utils.go
+++ b/utils.go
@@ -10,13 +10,10 @@ import (
 // Every triggers f every `t` time until the end of days.
 func Every(t time.Duration, f func()) {
 	c := time.Tick(t)
-	// start a go routine to not bloc the function
+
 	go func() {
 		for {
-			// wait for the ticker to tell us to run
 			<-c
-			// run the passed function in another go routine
-			// so we don't slow down the loop.
 			go f()
 		}
 	}()
@@ -27,27 +24,35 @@ func After(t time.Duration, f func()) {
 	time.AfterFunc(t, f)
 }
 
+// Publish emits an event by writting value
 func Publish(e *Event, val interface{}) {
 	e.Write(val)
 }
 
+// On adds `f` to callbacks that are executed on specified event
 func On(e *Event, f func(s interface{})) {
 	e.Callbacks = append(e.Callbacks, callback{f, false})
 }
 
+// Once adds `f` to callbacks that are executed on specified event
+// and sets flag to be called only once
 func Once(e *Event, f func(s interface{})) {
 	e.Callbacks = append(e.Callbacks, callback{f, true})
 }
 
+// Rand generates random int lower than max
 func Rand(max int) int {
 	i, _ := rand.Int(rand.Reader, big.NewInt(int64(max)))
 	return int(i.Int64())
 }
 
+// FromScale creates a scale using min and max values
+// to be used in combination with ToScale
 func FromScale(input, min, max float64) float64 {
 	return (input - math.Min(min, max)) / (math.Max(min, max) - math.Min(min, max))
 }
 
+// ToScale is used with FromScale to return input converted to new scale
 func ToScale(input, min, max float64) float64 {
 	i := input*(math.Max(min, max)-math.Min(min, max)) + math.Min(min, max)
 	if i < math.Min(min, max) {