diff --git a/platforms/joystick/joystick_adaptor.go b/platforms/joystick/joystick_adaptor.go
index 55f723c3..57faa0d1 100644
--- a/platforms/joystick/joystick_adaptor.go
+++ b/platforms/joystick/joystick_adaptor.go
@@ -40,15 +40,13 @@ func (j *Adaptor) Name() string { return j.name }
 func (j *Adaptor) SetName(n string) { j.name = n }
 
 // Connect connects to the joystick
-func (j *Adaptor) Connect() (errs []error) {
-	if err := j.connect(j); err != nil {
-		return []error{err}
-	}
+func (j *Adaptor) Connect() (err error) {
+	err = j.connect(j)
 	return
 }
 
 // Finalize closes connection to joystick
-func (j *Adaptor) Finalize() (errs []error) {
+func (j *Adaptor) Finalize() (err error) {
 	j.joystick.Close()
 	return
 }
diff --git a/platforms/joystick/joystick_adaptor_test.go b/platforms/joystick/joystick_adaptor_test.go
index 8dd38d0c..0968ff9a 100644
--- a/platforms/joystick/joystick_adaptor_test.go
+++ b/platforms/joystick/joystick_adaptor_test.go
@@ -21,14 +21,14 @@ func initTestAdaptor() *Adaptor {
 
 func TestAdaptorConnect(t *testing.T) {
 	a := initTestAdaptor()
-	gobottest.Assert(t, len(a.Connect()), 0)
+	gobottest.Assert(t, a.Connect(), nil)
 
 	a = NewAdaptor()
-	gobottest.Assert(t, a.Connect()[0], errors.New("No joystick available"))
+	gobottest.Assert(t, a.Connect(), errors.New("No joystick available"))
 }
 
 func TestAdaptorFinalize(t *testing.T) {
 	a := initTestAdaptor()
 	a.Connect()
-	gobottest.Assert(t, len(a.Finalize()), 0)
+	gobottest.Assert(t, a.Finalize(), nil)
 }
diff --git a/platforms/joystick/joystick_driver.go b/platforms/joystick/joystick_driver.go
index 151de20e..c9ccc263 100644
--- a/platforms/joystick/joystick_driver.go
+++ b/platforms/joystick/joystick_driver.go
@@ -94,10 +94,10 @@ func (j *Driver) adaptor() *Adaptor {
 //		[button]_press
 //		[button]_release
 //		[axis]
-func (j *Driver) Start() (errs []error) {
-	file, err := ioutil.ReadFile(j.configPath)
-	if err != nil {
-		return []error{err}
+func (j *Driver) Start() (err error) {
+	file, e := ioutil.ReadFile(j.configPath)
+	if e != nil {
+		return e
 	}
 
 	var jsontype joystickConfig
@@ -118,8 +118,8 @@ func (j *Driver) Start() (errs []error) {
 	go func() {
 		for {
 			for event := j.poll(); event != nil; event = j.poll() {
-				if err = j.handleEvent(event); err != nil {
-					j.Publish(j.Event("error"), err)
+				if errs := j.handleEvent(event); errs != nil {
+					j.Publish(j.Event("error"), errs)
 				}
 			}
 			select {
@@ -133,7 +133,7 @@ func (j *Driver) Start() (errs []error) {
 }
 
 // Halt stops joystick driver
-func (j *Driver) Halt() (errs []error) {
+func (j *Driver) Halt() (err error) {
 	j.halt <- true
 	return
 }
diff --git a/platforms/joystick/joystick_driver_test.go b/platforms/joystick/joystick_driver_test.go
index b4edaea0..19d0c4e9 100644
--- a/platforms/joystick/joystick_driver_test.go
+++ b/platforms/joystick/joystick_driver_test.go
@@ -28,8 +28,8 @@ func initTestDriver() *Driver {
 func TestDriverStart(t *testing.T) {
 	d := initTestDriver()
 	d.interval = 1 * time.Millisecond
-	gobottest.Assert(t, len(d.Start()), 0)
-	<-time.After(2 * time.Millisecond)
+	gobottest.Assert(t, d.Start(), nil)
+	time.Sleep(2 * time.Millisecond)
 }
 
 func TestDriverHalt(t *testing.T) {
@@ -37,7 +37,7 @@ func TestDriverHalt(t *testing.T) {
 	go func() {
 		<-d.halt
 	}()
-	gobottest.Assert(t, len(d.Halt()), 0)
+	gobottest.Assert(t, d.Halt(), nil)
 }
 
 func TestDriverHandleEvent(t *testing.T) {