diff --git a/Makefile b/Makefile
index 993acd26..3f6b6284 100644
--- a/Makefile
+++ b/Makefile
@@ -1,7 +1,9 @@
 PACKAGES := "github.com/hybridgroup/gobot" "github.com/hybridgroup/gobot/api" "github.com/hybridgroup/gobot/platforms/ardrone" "github.com/hybridgroup/gobot/platforms/beaglebone" "github.com/hybridgroup/gobot/platforms/digispark" "github.com/hybridgroup/gobot/platforms/firmata" "github.com/hybridgroup/gobot/platforms/gpio" "github.com/hybridgroup/gobot/platforms/i2c"  "github.com/hybridgroup/gobot/platforms/leap" "github.com/hybridgroup/gobot/platforms/neurosky"  "github.com/hybridgroup/gobot/platforms/pebble" "github.com/hybridgroup/gobot/platforms/spark" "github.com/hybridgroup/gobot/platforms/sphero" "github.com/hybridgroup/gobot/platforms/opencv" "github.com/hybridgroup/gobot/platforms/joystick"
 
 test:
-	go test ./...
+	for package in $(PACKAGES) ; do \
+		go test $$package ; \
+	done ; \
  
 cover:
 	echo "mode: count" > profile.cov ; \
diff --git a/examples/firmata_led_brightness_with_analog_input.go b/examples/firmata_led_brightness_with_analog_input.go
index 1b7494b7..a2362719 100644
--- a/examples/firmata_led_brightness_with_analog_input.go
+++ b/examples/firmata_led_brightness_with_analog_input.go
@@ -5,7 +5,6 @@ import (
 	"github.com/hybridgroup/gobot"
 	"github.com/hybridgroup/gobot/platforms/firmata"
 	"github.com/hybridgroup/gobot/platforms/gpio"
-	"time"
 )
 
 func main() {
@@ -15,10 +14,9 @@ func main() {
 	led := gpio.NewLedDriver(firmataAdaptor, "led", "3")
 
 	work := func() {
-		gobot.Every(100*time.Millisecond, func() {
-			val := sensor.Read()
-			brightness := uint8(gobot.ToScale(gobot.FromScale(float64(val), 0, 1024), 0, 255))
-			fmt.Println("sensor", val)
+		gobot.On(sensor.Events["data"], func(data interface{}) {
+			brightness := uint8(gobot.ToScale(gobot.FromScale(float64(data.(int)), 0, 1024), 0, 255))
+			fmt.Println("sensor", data)
 			fmt.Println("brightness", brightness)
 			led.Brightness(brightness)
 		})
diff --git a/platforms/firmata/firmata.go b/platforms/firmata/firmata.go
index 2f944356..60240214 100644
--- a/platforms/firmata/firmata.go
+++ b/platforms/firmata/firmata.go
@@ -249,12 +249,12 @@ func (b *board) process(data []byte) {
 		if err != nil {
 			break
 		}
-		switch messageType {
-		case ReportVersion:
+		switch {
+		case ReportVersion == messageType:
 			b.MajorVersion, _ = buf.ReadByte()
 			b.MinorVersion, _ = buf.ReadByte()
 			b.Events = append(b.Events, event{Name: "report_version"})
-		case AnalogMessage:
+		case AnalogMessageRangeStart <= messageType && AnalogMessageRangeEnd >= messageType:
 			leastSignificantByte, _ := buf.ReadByte()
 			mostSignificantByte, _ := buf.ReadByte()
 
@@ -264,7 +264,7 @@ func (b *board) process(data []byte) {
 			b.Pins[b.AnalogPins[pin]].Value = int(value)
 			b.Events = append(b.Events, event{Name: fmt.Sprintf("analog_read_%v", pin), Data: []byte{byte(value >> 24), byte(value >> 16), byte(value >> 8), byte(value & 0xff)}})
 
-		case DigitalMessage:
+		case DigitalMessageRangeStart <= messageType && DigitalMessageRangeEnd >= messageType:
 			port := messageType & 0x0F
 			firstBitmask, _ := buf.ReadByte()
 			secondBitmask, _ := buf.ReadByte()
@@ -279,7 +279,7 @@ func (b *board) process(data []byte) {
 				}
 			}
 
-		case StartSysex:
+		case StartSysex == messageType:
 			currentBuffer := []byte{messageType}
 			for {
 				b, err := buf.ReadByte()
diff --git a/platforms/gpio/analog_sensor_driver.go b/platforms/gpio/analog_sensor_driver.go
index d3996f89..d7299714 100644
--- a/platforms/gpio/analog_sensor_driver.go
+++ b/platforms/gpio/analog_sensor_driver.go
@@ -11,8 +11,11 @@ type AnalogSensorDriver struct {
 func NewAnalogSensorDriver(a AnalogReader, name string, pin string) *AnalogSensorDriver {
 	d := &AnalogSensorDriver{
 		Driver: gobot.Driver{
-			Name:     name,
-			Pin:      pin,
+			Name: name,
+			Pin:  pin,
+			Events: map[string]*gobot.Event{
+				"data": gobot.NewEvent(),
+			},
 			Commands: make(map[string]func(map[string]interface{}) interface{}),
 			Adaptor:  a.(gobot.AdaptorInterface),
 		},
@@ -27,9 +30,19 @@ func (a *AnalogSensorDriver) adaptor() AnalogReader {
 	return a.Driver.Adaptor.(AnalogReader)
 }
 
-func (a *AnalogSensorDriver) Start() bool { return true }
-func (a *AnalogSensorDriver) Init() bool  { return true }
-func (a *AnalogSensorDriver) Halt() bool  { return true }
+func (a *AnalogSensorDriver) Start() bool {
+	value := 0
+	gobot.Every(a.Interval, func() {
+		newValue := a.Read()
+		if newValue != value && newValue != -1 {
+			value = newValue
+			gobot.Publish(a.Events["data"], value)
+		}
+	})
+	return true
+}
+func (a *AnalogSensorDriver) Init() bool { return true }
+func (a *AnalogSensorDriver) Halt() bool { return true }
 
 func (a *AnalogSensorDriver) Read() int {
 	return a.adaptor().AnalogRead(a.Pin)
diff --git a/version.go b/version.go
new file mode 100644
index 00000000..9fca3f56
--- /dev/null
+++ b/version.go
@@ -0,0 +1,7 @@
+package gobot
+
+const version = "0.5.1"
+
+func Version() string {
+	return version
+}