diff --git a/.gitignore b/.gitignore
index 2e51d654..f75ddbea 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,5 @@ count.out
 /parts
 /prime
 /stage
+vendor/
+.idea/
diff --git a/.travis.yml b/.travis.yml
index 040e914b..399fdda4 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -3,7 +3,6 @@ sudo: required
 dist: trusty
 go_import_path: gobot.io/x/gobot
 go:
-   - 1.7.6
    - 1.8.5
    - 1.9.2
    - tip
@@ -43,18 +42,19 @@ before_install:
    - sudo ln /dev/null /dev/raw1394
    - cd $HOME/gopath/src/gobot.io/x/gobot
    - go get github.com/axw/gocov/gocov
+   - go get -u github.com/golang/dep/cmd/dep
 before_cache:
-   - rm -f $HOME/fresh-cache   
+   - rm -f $HOME/fresh-cache
 install:
-   - make deps
+   - dep ensure
 before_script:
    - export DISPLAY=:99.0
    - sh -e /etc/init.d/xvfb start
 script:
-   - export CGO_CPPFLAGS="-I${HOME}/usr/include"
-   - export CGO_LDFLAGS="-L${HOME}/usr/lib -lopencv_core -lopencv_videoio -lopencv_imgproc -lopencv_highgui -lopencv_imgcodecs -lopencv_objdetect -lopencv_calib3d -lopencv_video"
-   - echo "Ensuring code is well formatted"; ! gofmt -s -d . | read
-   - bash -c 'set -e; echo "" > coverage.txt; for d in $(go list ./...); do go test -covermode=set -coverprofile=p.out $d; if [ -f p.out ]; then cat p.out >> coverage.txt; rm p.out; fi; done'
+   - echo "Running tests"
+   - make test_with_coverage
+   - echo "Checking that code is well-formatted"
+   - make fmt_check
 after_success:
    - bash <(curl -s https://codecov.io/bash)
 branches:
diff --git a/Gopkg.lock b/Gopkg.lock
new file mode 100644
index 00000000..54eb8cee
--- /dev/null
+++ b/Gopkg.lock
@@ -0,0 +1,171 @@
+# This file is autogenerated, do not edit; changes may be undone by the next 'dep ensure'.
+
+
+[[projects]]
+  branch = "master"
+  name = "github.com/bmizerany/pat"
+  packages = ["."]
+  revision = "6226ea591a40176dd3ff9cd8eff81ed6ca721a00"
+
+[[projects]]
+  name = "github.com/codegangsta/cli"
+  packages = ["."]
+  revision = "cfb38830724cc34fedffe9a2a29fb54fa9169cd1"
+  version = "v1.20.0"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/creack/goselect"
+  packages = ["."]
+  revision = "1bd5ca702c6154bccc56ecd598932ee8b295cab2"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/donovanhide/eventsource"
+  packages = ["."]
+  revision = "3ed64d21fb0b6bd8b49bcfec08f3004daee8723d"
+
+[[projects]]
+  name = "github.com/eclipse/paho.mqtt.golang"
+  packages = [".","packets"]
+  revision = "aff15770515e3c57fc6109da73d42b0d46f7f483"
+  version = "v1.1.0"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/go-ble/ble"
+  packages = [".","darwin","linux","linux/adv","linux/att","linux/gatt","linux/hci","linux/hci/cmd","linux/hci/evt","linux/hci/socket"]
+  revision = "788214691384e85e345bff9fd5eeb046f5983594"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/hashicorp/errwrap"
+  packages = ["."]
+  revision = "7554cd9344cec97297fa6649b055a8c98c2a1e55"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/hashicorp/go-multierror"
+  packages = ["."]
+  revision = "83588e72410abfbe4df460eeb6f30841ae47d4c4"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/hybridgroup/go-ardrone"
+  packages = ["client","client/commands","client/navdata"]
+  revision = "b9750d8d7b78f9638e5fdd899835e99d46b5a56c"
+
+[[projects]]
+  name = "github.com/mattn/go-colorable"
+  packages = ["."]
+  revision = "167de6bfdfba052fa6b2d3664c8f5272e23c9072"
+  version = "v0.0.9"
+
+[[projects]]
+  name = "github.com/mattn/go-isatty"
+  packages = ["."]
+  revision = "0360b2af4f38e8d38c7fce2a9f4e702702d73a39"
+  version = "v0.0.3"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/mgutz/ansi"
+  packages = ["."]
+  revision = "9520e82c474b0a04dd04f8a40959027271bab992"
+
+[[projects]]
+  name = "github.com/mgutz/logxi"
+  packages = ["v1"]
+  revision = "aebf8a7d67ab4625e0fd4a665766fef9a709161b"
+  version = "v1"
+
+[[projects]]
+  name = "github.com/nats-io/go-nats"
+  packages = ["encoders/builtin","util"]
+  revision = "29f9728a183bf3fa7e809e14edac00b33be72088"
+  version = "v1.3.0"
+
+[[projects]]
+  name = "github.com/nats-io/nats"
+  packages = ["."]
+  revision = "29f9728a183bf3fa7e809e14edac00b33be72088"
+  version = "v1.3.0"
+
+[[projects]]
+  name = "github.com/nats-io/nuid"
+  packages = ["."]
+  revision = "289cccf02c178dc782430d534e3c1f5b72af807f"
+  version = "v1.0.0"
+
+[[projects]]
+  name = "github.com/pkg/errors"
+  packages = ["."]
+  revision = "645ef00459ed84a119197bfb8d8205042c6df63d"
+  version = "v0.8.0"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/raff/goble"
+  packages = ["xpc"]
+  revision = "b12b34f940c4cf4363660073539b5fa9fd96bd16"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/sigurn/crc8"
+  packages = ["."]
+  revision = "e55481d6f45c5a8f040343bace9013571dae103e"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/sigurn/utils"
+  packages = ["."]
+  revision = "f19e41f79f8f006116f682c1af454591bc278ad4"
+
+[[projects]]
+  branch = "master"
+  name = "github.com/tarm/serial"
+  packages = ["."]
+  revision = "794054cb266296569307c08d1b475f44505dfab1"
+
+[[projects]]
+  name = "github.com/veandco/go-sdl2"
+  packages = ["sdl"]
+  revision = "30f30965227962032c13bd0b12a89e6a5107c768"
+  version = "v0.2"
+
+[[projects]]
+  branch = "master"
+  name = "go.bug.st/serial.v1"
+  packages = [".","unixutils"]
+  revision = "eae1344f9f90101f887b08d13391c34399f97873"
+
+[[projects]]
+  name = "gocv.io/x/gocv"
+  packages = ["."]
+  revision = "db20428799339d78526356473b0f5f00dccf075b"
+  version = "v0.3.1"
+
+[[projects]]
+  branch = "master"
+  name = "golang.org/x/exp"
+  packages = ["io/spi","io/spi/driver"]
+  revision = "be09b602c40b1028d91bf805b38a6f54741fc34d"
+
+[[projects]]
+  branch = "master"
+  name = "golang.org/x/net"
+  packages = ["proxy","websocket"]
+  revision = "01c190206fbdffa42f334f4b2bf2220f50e64920"
+
+[[projects]]
+  branch = "master"
+  name = "golang.org/x/sys"
+  packages = ["unix","windows"]
+  revision = "8eb05f94d449fdf134ec24630ce69ada5b469c1c"
+
+[solve-meta]
+  analyzer-name = "dep"
+  analyzer-version = 1
+  inputs-digest = "0a749d34ff067c74d2473ddacb9a8e0036294d5fcb64e656bd5c552b983b3c72"
+  solver-name = "gps-cdcl"
+  solver-version = 1
diff --git a/Gopkg.toml b/Gopkg.toml
new file mode 100644
index 00000000..d124d0c8
--- /dev/null
+++ b/Gopkg.toml
@@ -0,0 +1,86 @@
+
+# Gopkg.toml example
+#
+# Refer to https://github.com/golang/dep/blob/master/docs/Gopkg.toml.md
+# for detailed Gopkg.toml documentation.
+#
+# required = ["github.com/user/thing/cmd/thing"]
+# ignored = ["github.com/user/project/pkgX", "bitbucket.org/user/project/pkgA/pkgY"]
+#
+# [[constraint]]
+#   name = "github.com/user/project"
+#   version = "1.0.0"
+#
+# [[constraint]]
+#   name = "github.com/user/project2"
+#   branch = "dev"
+#   source = "github.com/myfork/project2"
+#
+# [[override]]
+#  name = "github.com/x/y"
+#  version = "2.4.0"
+
+
+[[constraint]]
+  branch = "master"
+  name = "github.com/bmizerany/pat"
+
+[[constraint]]
+  name = "github.com/codegangsta/cli"
+  version = "1.20.0"
+
+[[constraint]]
+  branch = "master"
+  name = "github.com/donovanhide/eventsource"
+
+[[constraint]]
+  name = "github.com/eclipse/paho.mqtt.golang"
+  version = "1.1.0"
+
+[[constraint]]
+  branch = "master"
+  name = "github.com/go-ble/ble"
+
+[[constraint]]
+  branch = "master"
+  name = "github.com/hashicorp/go-multierror"
+
+[[constraint]]
+  branch = "master"
+  name = "github.com/hybridgroup/go-ardrone"
+
+[[constraint]]
+  name = "github.com/nats-io/nats"
+  version = "1.3.0"
+
+[[constraint]]
+  name = "github.com/pkg/errors"
+  version = "0.8.0"
+
+[[constraint]]
+  branch = "master"
+  name = "github.com/sigurn/crc8"
+
+[[constraint]]
+  branch = "master"
+  name = "github.com/tarm/serial"
+
+[[constraint]]
+  name = "github.com/veandco/go-sdl2"
+  version = "0.2.0"
+
+[[constraint]]
+  branch = "master"
+  name = "go.bug.st/serial.v1"
+
+[[constraint]]
+  name = "gocv.io/x/gocv"
+  version = "0.3.1"
+
+[[constraint]]
+  branch = "master"
+  name = "golang.org/x/exp"
+
+[[constraint]]
+  branch = "master"
+  name = "golang.org/x/net"
diff --git a/Makefile b/Makefile
index a0753118..581a6450 100644
--- a/Makefile
+++ b/Makefile
@@ -1,20 +1,29 @@
-.PHONY: test race cover robeaux examples deps
+.PHONY: test race cover robeaux examples deps test_with_coverage fmt_check
 
+excluding_vendor := $(shell go list ./... | grep -v /vendor/)
+
+# Run tests on all non-vendor directories
 test:
-	go test ./...
+	go test -v $(excluding_vendor)
 
+# Run tests with race detection on all non-vendor directories
 race:
-	go test ./... -race
+	go test -race $(excluding_vendor)
+
+# Check for code well-formedness
+fmt_check:
+	./ci/format.sh
+
+# Test and generate coverage
+test_with_coverage:
+	./ci/test.sh
+
+deps:
+ifeq (,$(shell which dep))
+	$(error dep tool not found! https://github.com/golang/dep is required to install Gobot deps)
+endif
+	dep ensure
 
-cover:
-	echo "" > profile.cov
-	for package in $$(go list ./...) ; do \
-		go test -covermode=count -coverprofile=tmp.cov $$package ; \
-		if [ -f tmp.cov ]; then \
-			cat tmp.cov >> profile.cov ; \
-			rm tmp.cov ; \
-		fi ; \
-	done
 
 robeaux:
 ifeq (,$(shell which go-bindata))
@@ -40,22 +49,3 @@ examples:
 	for example in $(EXAMPLES) ; do \
 		go build -o /tmp/$$example examples/$$example ; \
 	done ; \
-
-deps:
-	go get -d -v \
-		github.com/bmizerany/pat \
-		github.com/codegangsta/cli \
-		github.com/go-ble/ble \
-		github.com/donovanhide/eventsource \
-		github.com/eclipse/paho.mqtt.golang \
-		github.com/hashicorp/go-multierror \
-		github.com/hybridgroup/go-ardrone/client \
-		gocv.io/x/gocv \
-		github.com/mgutz/logxi/v1 \
-		github.com/nats-io/nats \
-		github.com/sigurn/crc8 \
-		go.bug.st/serial.v1 \
-		github.com/veandco/go-sdl2/sdl \
-		golang.org/x/net/websocket \
-		golang.org/x/exp/io/spi \
-		golang.org/x/sys/unix
diff --git a/ci/format.sh b/ci/format.sh
new file mode 100755
index 00000000..5fc93243
--- /dev/null
+++ b/ci/format.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+## Only uncomment the below for debugging
+#set -euxo pipefail
+
+pushd $PWD/..
+  GO_FILES_EXCLUDING_VENDOR=$(find . -type f -name '*.go' -not -path "./vendor/*")
+  FMT_RESULTS=$(gofmt -l $GO_FILES_EXCLUDING_VENDOR)
+  FMT_RESULTS_COUNT=$(echo $FMT_RESULTS | wc -l) # returns one empty line when everything passes
+  if [ "$FMT_RESULTS_COUNT" -gt 1 ]; then
+    # some files have formatting errors
+    echo "--- gofmt found errors found in the following files:"
+    echo $FMT_RESULTS
+    exit 1
+  else
+    # no files have formatting errors
+    exit 0
+  fi
+popd
diff --git a/ci/test.sh b/ci/test.sh
new file mode 100755
index 00000000..02553769
--- /dev/null
+++ b/ci/test.sh
@@ -0,0 +1,58 @@
+#!/bin/bash
+
+## Only uncomment the below for debugging
+#set -euxo pipefail
+
+LOCAL_GO_VERSION=$(go version | awk -F' ' '{print $3}' | tr -d '[:space:]')
+GO_VERSION="${TRAVIS_GO_VERSION:=$LOCAL_GO_VERSION}"
+TIP_VERSION_IDENTIFIER="tip"
+echo $GO_VERSION
+
+# Hold the package names that contain failures
+FAIL_PACKAGES=()
+
+# OpenCV components to link in CGO compile
+OPENCV_LDFLAGS="-lopencv_core -lopencv_videoio -lopencv_imgproc -lopencv_highgui -lopencv_imgcodecs -lopencv_objdetect -lopencv_calib3d -lopencv_video"
+
+# Use $HOME on Travis
+# Use /usr/local on local
+if [[ $TRAVIS == "true" ]]; then
+  export CGO_CPPFLAGS="-I${HOME}/usr/include"
+  export CGO_LDFLAGS="-L${HOME}/usr/lib $OPENCV_LDFLAGS"
+else
+  export CGO_CPPFLAGS="-I/usr/local/include"
+  export CGO_LDFLAGS="-L/usr/local/lib $OPENCV_LDFLAGS"
+fi
+
+
+pushd $PWD/..
+	# Set up coverage report file
+	COVERAGE_REPORT_LOCATION="./profile.cov"
+	echo "" > $COVERAGE_REPORT_LOCATION
+
+	# Exclude vendor in the same way as Makefile does
+	EXCLUDING_VENDOR=$(go list ./... | grep -v /vendor/)
+
+	# Iterate over all non-vendor packages and run tests with coverage
+	for package in $EXCLUDING_VENDOR; do \
+    if [ $GO_VERSION == $TIP_VERSION_IDENTIFIER ]; then
+		# `go test` runs a vet subset as of this Change https://go-review.googlesource.com/c/go/+/74356
+		  result=$(go test -vet=off -covermode=count -coverprofile=tmp.cov $package)
+    else
+		  result=$(go test -covermode=count -coverprofile=tmp.cov $package)
+    fi
+		if [ $? -ne 0 ]; then
+			FAIL_PACKAGES+=($package);
+		fi;
+			echo "$result"
+		if [ -f tmp.cov ]; then
+			cat tmp.cov >> profile.cov;
+			rm tmp.cov;
+		fi;
+	done
+
+	# exit 1 if there have been any test failures
+	if [ ${#FAIL_PACKAGES[@]} -ne 0 ]; then
+		exit 1
+	fi;
+popd