diff --git a/examples/connect_spheros.js b/examples/connect_spheros.js
new file mode 100755
index 0000000..a9f3789
--- /dev/null
+++ b/examples/connect_spheros.js
@@ -0,0 +1,115 @@
+#!/usr/bin/env node
+/**
+ * Creates virtual serial ports in /tmp for each Sphero port and holds the
+ * bluetooth ones open. This is helpful for avoiding connection errors and
+ * interference from iOS devices when connecting multiple Spheros. 
+ *
+ * Requires the 'socat' command-line tool to create the virtual serial ports.
+ */
+var spawn = require('child_process').spawn;
+var extname = require('path').extname;
+
+// where to store the virtual ports while running
+var virtual_port_dir = '/tmp/';
+
+// socat displays this when successfully connected
+var success_str = 'starting data transfer loop';
+
+// socat binary
+//var socat = './testsocat.sh';
+var socat = 'socat';
+
+// terminal colors
+red   = '\033[31m';
+blue  = '\033[34m';
+green  = '\033[32m';
+reset = '\033[0m';
+
+var paths = process.argv.slice(2);
+var numPaths = paths.length;
+if(paths.length === 0) {
+  console.log('usage connectSpheros.js [sphero serial port paths]');
+  process.exit(1);
+}
+console.log('Connecting ' + numPaths + ' paired Spheros');
+
+var connectPort = function(index, path, callback) {
+  var self;
+  var virtual_port = virtual_port_dir + extname(path).slice(1);
+  console.log('Starting connection to ' + path + ' at ' + virtual_port);
+
+  // Run socat to connect virtual serial port to real one
+  child = spawn(socat, [
+    '-d','-d','-d', // Extra debugging
+    'pty,link=' + virtual_port + ',raw,echo=0', // Create virtual serial port
+    'file:' + path // Connect to Sphero serial port
+    ]);
+
+  child.on('exit', function() {
+    if(index in activeStreams) {
+      // We lost an active connection
+      console.log(red + 'Connection lost for ' + path + reset);
+    } else {
+      console.log('Failed to connect to ' + path);
+    }
+
+    delete activeStreams[index];
+
+    // Restart self
+    children[self.index] = connectPort(index, path, callback);
+  });
+
+  var handleOutput = function(buffer) {
+    var data = buffer.toString();
+    //console.log(index + ' stdout: ' + data);
+
+    if(data.search('starting data transfer loop') !== -1) {
+      self.ready = true;
+
+      console.log(self.path, ': stream is now active at ' + self.port);
+      callback();
+
+      activeStreams[index] = true;
+      if(Object.keys(activeStreams).length === numPaths) {
+        console.log('\n' + green + 'READY TO GO!!!' + reset + '\n');
+      }
+    }
+  };
+  child.stdout.on('data', handleOutput);
+  child.stderr.on('data', handleOutput);
+
+  self = {
+    index: index,
+    path: path,
+    port: virtual_port,
+    child: child,
+    ready: false
+  };
+  return self;
+};
+
+var children = Object.create(null);
+var activeStreams = Object.create(null);
+
+// connect one at a time, waiting for callback
+var i = 0;
+var connectNext = function() {
+  if(!paths.length) { return; }
+
+  i = i + 1;
+  var path = paths.shift();
+
+  children[i] = connectPort(i, path, connectNext);
+};
+connectNext();
+
+process.on('SIGINT', function() {
+  process.exit();
+});
+process.on('exit', function() {
+  for(var i=0; i<numPaths; i++) {
+    console.log('Killing ' + i);
+    children[i].child.kill();
+  }
+});
+
diff --git a/examples/orient_spheros.js b/examples/orient_spheros.js
new file mode 100755
index 0000000..1b57e94
--- /dev/null
+++ b/examples/orient_spheros.js
@@ -0,0 +1,71 @@
+#!/usr/bin/env node
+/**
+ * Allows you to re-orient multiple spheros by temporarily disabling the
+ * auto-stabilization and turning it back on again after a keypress.
+ */
+var Sphero = require("../lib/sphero.js").Sphero;
+
+var paths = process.argv.slice(2);
+if(paths.length === 0) {
+  console.log('usage orientSpheros.js [paths to sphero ports]');
+  process.exit(1);
+}
+console.log('Orienting ' + paths.length + ' paired Spheros');
+
+var orient = function(path) {
+  var sphero = new Sphero(path);
+  var deviceName;
+
+  sphero.getBluetoothInfo(function(name, id) {
+    console.log("Device name is " + name + ' / ' + id);
+    deviceName = name;
+  })
+  // Turn off stabilization
+  .setStabilization(0x00, function() {
+    console.log(deviceName + ': stabilization turned off');
+  })
+  // Turn on back led
+  .setBackLED(255, function() {
+    console.log(deviceName + ': back LED on');
+  })
+  .setColor(0, 255, 0, function() {
+    console.log(deviceName + ' : set color to green');
+  })
+  ;
+
+  return sphero;
+};
+
+var numReset = 0;
+var reset = function(sphero) {
+  // Turn sphero to heading 0 so it reorients to the same place as the others
+  sphero.setHeading(0, function() {
+
+    // Turn on stabilization
+    sphero.setStabilization(0x01, function() {
+      console.log('Reset sphero ' + numReset);
+      sphero.disconnect();
+
+      numReset = numReset + 1;
+
+      if(numReset === paths.length) {
+        console.log("Finished orientation.");
+        process.exit(0);
+      }
+    });
+  });
+};
+
+var spheros = [];
+paths.forEach(function(path) {
+  spheros.push(orient(path));
+});
+
+console.log('Press any key to complete orientation. > ');
+var stdin = process.openStdin();
+stdin.once('data', function() {
+  spheros.forEach(function(sphero) {
+    reset(sphero);
+  });
+});
+
diff --git a/examples/setup_sphero.js b/examples/setup_sphero.js
new file mode 100755
index 0000000..a95a0e8
--- /dev/null
+++ b/examples/setup_sphero.js
@@ -0,0 +1,36 @@
+#!/usr/bin/env node
+var Sphero = require("../lib/sphero.js").Sphero;
+
+var run = function(sphero) {
+
+  sphero.getBluetoothInfo(function(name, id) {
+    console.log("Device name is " + name + ' / ' + id);
+  })
+  .setAutoReconnect(false, 5, function() {
+    console.log("Turned off auto reconnect");
+  })
+  .send({
+    device: sphero.devices.core,
+    command: 0x25,
+    data: new Buffer([0xFF, 0xFF]),
+    success: function(packet) {
+      console.log("Set timeout to 65535 seconds");
+      sphero.disconnect();
+      process.exit(0);
+    }
+  });
+};
+
+
+var sphero;
+if(process.argv.length === 2) {
+  sphero = new Sphero();
+}
+else if(process.argv.length === 3) {
+  sphero = new Sphero(process.argv[2]);
+} else {
+  console.log('usage: setup_sphero.js [path to sphero port]');
+  process.exit(1);
+}
+
+run(sphero);
diff --git a/lib/core.js b/lib/core.js
new file mode 100644
index 0000000..086a270
--- /dev/null
+++ b/lib/core.js
@@ -0,0 +1,196 @@
+// NodeJS Sphero SDK
+
+module.exports = function (Sphero) {
+
+  Sphero.prototype.ping = function(cb) {
+    var options = {
+      device: this.devices.core,
+      command: 0x01
+    };
+    if (cb) {
+      options.success = function() {
+        cb();
+      };
+    }
+    this.send(options);
+    return this;
+  };
+  
+  Sphero.prototype.getVersioning = function(cb) {
+    var options = {
+      device: this.devices.core,
+      command: 0x02
+    };
+    if (cb) {
+      var self = this;
+      options.success = function(packet) {
+        cb(self.parseData(packet));
+      };
+    }
+    this.send(options);
+    return this;
+  };
+  
+  Sphero.prototype.setDeviceName = function(name, cb) {
+    if (typeof(name) === "string") {
+      name = name.split("");
+    }
+    var options = {
+      device: this.devices.core,
+      command: 0x10,
+      data: name
+    };
+    if (cb) {
+      var self = this;
+      options.success = function(packet) {
+        cb(self.parseData(packet));
+      };
+    }
+    this.send(options);
+    return this;  
+  };
+
+  Sphero.prototype.getBluetoothInfo = function(cb) {
+    var options = {
+      device: this.devices.core,
+      command: 0x11
+    };
+    if (cb) {
+      var self = this;
+      options.success = function(packet) {
+        var data = self.parseData(packet);
+        var name = data.slice(0, 15).toString();
+        var id = data.slice(16).toString();
+        cb(name, id);
+      };
+    }
+    this.send(options);
+    return this;
+  };
+  
+  Sphero.prototype.setAutoReconnect = function(enable, time, cb) {
+    // Allow user to pass callback without time for disabling
+    if (typeof time === "function") {
+      cb = time;
+      time = 0;
+    }
+    if (enable && typeof time !== "number") {
+      throw new Error("Reconnect time is required");
+    }
+    var options = {
+      device: this.devices.core,
+      command: 0x12,
+      // Default time to 30 to be safe
+      data: new Buffer([enable ? 0x01 : 0x00, time])
+    };
+    if (cb) {
+      var self = this;
+      options.success = function() {
+        cb();
+      };
+    }
+    this.send(options);
+    return this;
+  };
+  
+  Sphero.prototype.getAutoReconnect = function(cb) {
+    var options = {
+      device: this.devices.core,
+      command: 0x13
+    };
+    if (cb) {
+      var self = this;
+      options.success = function(packet) {
+        cb(self.parseData(packet));
+      };
+    }
+    this.send(options);
+    return this;
+  };
+
+  Sphero.prototype.getPowerState = function(cb) {
+    var options = {
+      device: this.device.core,
+      command: 0x20
+    };
+    if (cb) {
+      var self = this;
+      options.success = function(packet) {
+        cb(self.parseData(packet));
+      };
+    }
+    this.send(options);
+    return this;
+  };
+
+  Sphero.prototype.setPowerNotification = function(flag, cb) {
+    var options = {
+      device: this.device.core,
+      command: 0x21,
+      success: cb,
+      data: [flag]
+    };
+    this.send(options);
+    return this;
+  };
+  
+  Sphero.prototype.sleep = function(time, macro, orbBasic, cb) {
+    var options = {
+      device: this.device.core,
+      command: 0x22,
+      success: cb,
+      data: [time/256, time%256, macro, orbBasic]
+    };
+    this.send(options);
+    return this;
+  };
+  
+  Sphero.prototype.getVoltageTripPoints = function(cb) {
+    var options = {
+      device: this.device.core,
+      command: 0x23
+    };
+    if (cb) {
+      var self = this;
+      options.success = function(packet) {
+        cb(packet[5]*256 + packet[6], packet[7]*256 + packet[8]);
+      };
+    }
+    this.send(options);
+    return this;
+  };
+
+  Sphero.prototype.setVoltageTripPoints = function(vLow, vCrit, cb) {
+    var options = {
+      device: this.device.core,
+      command: 0x24,
+      success: cb,
+      data: [vLow/256, vLow%256, vCrit/256, vCrit%256]
+    };
+    this.send(options);
+    return this;
+  };
+
+  Sphero.prototype.setInactivityTimeout = function(time, cb) {
+    var options = {
+      device: this.device.core,
+      command: 0x25,
+      success: cb,
+      data: [time/256, time%256]
+    };
+    this.send(options);
+    return this;
+  };
+
+  Sphero.prototype.jumpToBootloader = function(cb) {
+    var options = {
+      device: this.device.core,
+      command: 0x30,
+      success: cb
+    };
+    this.send(options);
+    return this;
+  };
+
+  return Sphero;
+};
diff --git a/lib/sphero.js b/lib/sphero.js
index 67c51a8..999a1e4 100644
--- a/lib/sphero.js
+++ b/lib/sphero.js
@@ -1,59 +1,68 @@
 // NodeJS Sphero SDK
 
-var SerialPort = require("serialport").SerialPort;
+var SerialPort = require("serialport").SerialPort,
+    glob = require('glob');
 
 // Constant values
 
 // Buffer positions for packet fields
-var COMMAND_SOP1 = 0
-  , COMMAND_SOP2 = 1
-  , COMMAND_DID = 2
-  , COMMAND_CID = 3
-  , COMMAND_SEQ = 4
-  , COMMAND_DLEN = 5
-  // First data position
-  , COMMAND_DATA = 6
-  // CHK will be variable position if data is set
-  , COMMAND_CHK = 6
-
-  // Response packet fields
-  , RESPONSE_SOP1 = 0
-  , RESPONSE_SOP2 = 1
-  , RESPONSE_MRSP = 2
-  , RESPONSE_SEQ = 3
-  , RESPONSE_DLEN = 4
-  // First data position
-  , RESPONSE_DATA = 5
-  // CHK will be variable position if data is set
-  , RESPONSE_CHK = 5
-
-  // Async
-  , RESPONSE_ID = 2
-  , RESPONSE_DLEN_MSB = 3
-  , RESPONSE_DLEN_LSB = 4
-
-  // Message response codes
-  , RSP_CODE_OK = 0x00
-  , RSP_CODE_EGEN = 0x01
-  , RSP_CODE_ECHKSUM = 0x02
-  , RSP_CODE_EFRAG = 0x03
-  , RSP_CODE_EBAD_CMD = 0x04
-  , RSP_CODE_EUNSUPP = 0x05
-  , RSP_CODE_EBAD_MSG = 0x06
-  , RSP_CODE_EPARAM = 0x07
-  , RSP_CODE_EEXEC = 0x08
-  , RSP_CODE_EBAD_DID = 0x09
-  , RSP_CODE_POWER_NOGOOD = 0x31
-  , RSP_CODE_PAGE_ILLEGAL = 0x32
-  , RSP_CODE_FLASH_FAIL = 0x33
-  , RSP_CODE_MA_CORRUPT = 0x34
-  , RSP_CODE_MSG_TIMEOUT = 0x35;
+var COMMAND_SOP1 = 0,
+    COMMAND_SOP2 = 1,
+    COMMAND_DID = 2,
+    COMMAND_CID = 3,
+    COMMAND_SEQ = 4,
+    COMMAND_DLEN = 5,
+    // First data position
+    COMMAND_DATA = 6,
+    // CHK will be variable position if data is set
+    COMMAND_CHK = 6,
+
+    // Response packet fields
+    RESPONSE_SOP1 = 0,
+    RESPONSE_SOP2 = 1,
+    RESPONSE_MRSP = 2,
+    RESPONSE_SEQ = 3,
+    RESPONSE_DLEN = 4,
+    // First data position
+    RESPONSE_DATA = 5,
+    // CHK will be variable position if data is set
+    RESPONSE_CHK = 5,
+
+    // Async
+    RESPONSE_ID = 2,
+    RESPONSE_DLEN_MSB = 3,
+    RESPONSE_DLEN_LSB = 4,
+
+    // Message response codes
+    RSP_CODE_OK = 0x00,
+    RSP_CODE_EGEN = 0x01,
+    RSP_CODE_ECHKSUM = 0x02,
+    RSP_CODE_EFRAG = 0x03,
+    RSP_CODE_EBAD_CMD = 0x04,
+    RSP_CODE_EUNSUPP = 0x05,
+    RSP_CODE_EBAD_MSG = 0x06,
+    RSP_CODE_EPARAM = 0x07,
+    RSP_CODE_EEXEC = 0x08,
+    RSP_CODE_EBAD_DID = 0x09,
+    RSP_CODE_POWER_NOGOOD = 0x31,
+    RSP_CODE_PAGE_ILLEGAL = 0x32,
+    RSP_CODE_FLASH_FAIL = 0x33,
+    RSP_CODE_MA_CORRUPT = 0x34,
+    RSP_CODE_MSG_TIMEOUT = 0x35,
+
+    // Glob expression for Sphero serial ports
+    DEFAULT_SPHERO_PORT = '/dev/tty.Sphero*';
 
 var Sphero = function(path) {
   var self = this;
 
-  // Path to port Sphero is on
-  path = path || "/dev/tty.Sphero";
+  // Path to port Sphero is on - use glob to find default port
+  if(typeof path === 'undefined') {
+    path = glob.sync(DEFAULT_SPHERO_PORT)[0];
+    if(typeof path === 'undefined') {
+      throw new Error('No Sphero found matching ' + DEFAULT_SPHERO_PORT);
+    }
+  }
 
   // Command sequence number
   this.seq = 0x00;
@@ -115,18 +124,39 @@ var Sphero = function(path) {
         var packet = self.buffer.slice(0, end);
         self.buffer = self.buffer.slice(end);
 
-        // Do the callback
-        if (packet[RESPONSE_MRSP] == RSP_CODE_OK) {
-          // Success!
-          if (self.calls[packet[RESPONSE_SEQ]].success) {
-            self.calls[packet[RESPONSE_SEQ]].success(packet);
+        if(typeof self.calls[packet[RESPONSE_SEQ]] !== 'undefined') {
+          // Do the callback
+          if (packet[RESPONSE_MRSP] == RSP_CODE_OK) {
+            // Success!
+            if (self.calls[packet[RESPONSE_SEQ]].success) {
+              self.calls[packet[RESPONSE_SEQ]].success(packet);
+            }
           }
-        } else {
-          // Error :(
-          if (self.calls[packet[RESPONSE_SEQ]].error) {
-            self.calls[packet[RESPONSE_SEQ]].error(packet);
+          else if (self.onHit && packet[RESPONSE_MRSP] == 0x07) {
+            // Collision Detection Async Response
+            packet = packet.slice(5, packet.length - 1);
+            var object = {
+              x: packet[0]*256 + packet[1],
+              y: packet[2]*256 + packet[3],
+              z: packet[4]*256 + packet[5],
+              axis: ((packet[6]-1) && 'Y') || 'X',
+              xMagnitude: packet[7]*256 + packet[8],
+              yMagnitude: packet[9]*256 + packet[10],
+              speed: packet[11],
+              timeStamp: packet[12]*256*256*256 + packet[13]*256*256 + packet[14]*256 + packet[15]
+            };
+
+            self.onHit(object);
+          } else {
+            console.log('Error packet: ');
+            console.log(packet);
+            // Error :(
+            if (self.calls[packet[RESPONSE_SEQ]].error) {
+              self.calls[packet[RESPONSE_SEQ]].error(packet);
+            }
           }
         }
+
         // Remove the saved options, no longer needed
         delete self.calls[packet[RESPONSE_SEQ]];
 
@@ -136,7 +166,7 @@ var Sphero = function(path) {
         }
       }
     }
-  }
+  };
   this.port.on("data", processData);
 };
 
@@ -159,6 +189,9 @@ Sphero.prototype.send = function(options) {
   }
 
   // Determine length of data. Length is always data length + 1 (for checksum)
+  if(typeof options.data === 'number') {
+    options.data = [options.data];
+  }
   var dataLength = options.data.length > 254 ? 0xFF : options.data.length + 0x01;
 
   // Construct the packet (minus checksum)
@@ -182,7 +215,8 @@ Sphero.prototype.send = function(options) {
   this.calls[this.seq] = options;
 
   this.port.write(packet);
-  this.seq++;
+
+  this.seq = (this.seq + 1) % 256;
 };
 
 // Returns new Buffer of result data (if any) out of a response packet buffer
@@ -197,101 +231,10 @@ Sphero.prototype.parseData = function(packet) {
   return result;
 };
 
-/**
- * These are the helper functions that make sending raw calls easy.
- */
-
-Sphero.prototype.ping = function(cb) {
-  var options = {
-    device: this.devices.core,
-    command: 0x01
-  };
-  if (cb) {
-    options.success = function() {
-      cb();
-    }
-  }
-  this.send(options);
-  return this;
+Sphero.prototype.disconnect = function() {
+  this.port.close();
 };
 
-Sphero.prototype.getVersioning = function(cb) {
-  var options = {
-    device: this.devices.core,
-    command: 0x02
-  };
-  if (cb) {
-    var self = this;
-    options.success = function(packet) {
-      cb(self.parseData(packet));
-    }
-  }
-  this.send(options);
-  return this;
-};
-
-// setDeviceName here
-
-Sphero.prototype.getBluetoothInfo = function(cb) {
-  var options = {
-    device: this.devices.core,
-    command: 0x11
-  };
-  if (cb) {
-    var self = this;
-    options.success = function(packet) {
-      var data = self.parseData(packet);
-      var name = data.slice(0, 15).toString();
-      var id = data.slice(16).toString();
-      cb(name, id);
-    };
-  }
-  this.send(options);
-  return this;
-};
-
-Sphero.prototype.setAutoReconnect = function(enable, time, cb) {
-  // Allow user to pass callback without time for disabling
-  if (typeof time === "function") {
-    cb = time;
-    time = 0;
-  }
-  if (enable && typeof time !== "number") {
-    throw new Error("Reconnect time is required");
-  }
-  var options = {
-    device: this.devices.core,
-    command: 0x12,
-    // Default time to 30 to be safe
-    data: new Buffer([enable ? 0x01 : 0x00, time])
-  };
-  if (cb) {
-    var self = this;
-    options.success = function() {
-      cb();
-    }
-  }
-  this.send(options);
-  return this;
-};
-
-Sphero.prototype.getAutoReconnect = function(cb) {
-  var options = {
-    device: this.devices.core,
-    command: 0x13
-  };
-  if (cb) {
-    var self = this;
-    options.success = function(packet) {
-      cb(self.parseData(packet));
-    };
-  }
-  this.send(options);
-  return this;
-};
-
-// Bunch of missing features go here
-
 /**
  * Sphero commands
  */
@@ -307,22 +250,22 @@ Sphero.prototype.setHeading = function(heading, cb) {
   if (cb) {
     options.success = function() {
       cb();
-    }
+    };
   }
   this.send(options);
   return this;
 };
 
-Sphero.prototype.setStabilization = function(enable, cb) {
+Sphero.prototype.setStabilization = function(data, cb) {
   var options = {
     device: this.devices.sphero,
     command: 0x02,
-    data: enable ? 0x01 : 0x00
+    data: data
   };
   if (cb) {
     options.success = function() {
       cb();
-    }
+    };
   }
   this.send(options);
   return this;
@@ -337,14 +280,12 @@ Sphero.prototype.setRotationRate = function(rate, cb) {
   if (cb) {
     options.success = function() {
       cb();
-    }
+    };
   }
   this.send(options);
   return this;
 };
 
-// More missing functions here
-
 Sphero.prototype.roll = function(speed, heading, timeout, cb) {
   var self = this;
 
@@ -376,7 +317,7 @@ Sphero.prototype.roll = function(speed, heading, timeout, cb) {
   } else if (cb) {
     options.success = function(packet) {
       cb(packet);
-    }
+    };
   }
   this.send(options);
   return this;
@@ -391,10 +332,47 @@ Sphero.prototype.stop = function(cb) {
   if (cb) {
     options.success = function() {
       cb();
-    }
+    };
   }
   this.send(options);
   return this;
 };
 
+Sphero.prototype.setCollisionDetection = function (options, onHit) {
+  options.device	= this.devices.sphero;
+  options.command	= 0x12;
+  options.success	= options.success	|| function() { return; },
+  options.error		= options.error		|| function() { return; },
+  options.data		= options.data		|| [0x01, 120, 120, 120, 120, 120];
+  this.onHit = onHit || function() { return; };
+  this.send(options);
+  return this;
+};
+
+Sphero.prototype.setColor = function(red, green, blue, cb) {
+  var options = {
+    device: this.devices.sphero,
+    command: 0x20,
+    success: cb,
+    data: [red, green, blue]
+  };
+  this.send(options);
+  return this;
+};
+
+Sphero.prototype.setBackLED = function(val, cb) {
+  var options = {
+    device: this.devices.sphero,
+    command: 0x21,
+    data: [val],
+    success: function(packet) { 
+      cb(packet);
+    }
+  };
+  this.send(options);
+  return this;
+};
+
+require('./core')(Sphero);
+
 exports.Sphero = Sphero;
diff --git a/package.json b/package.json
index e9a3588..a7662e5 100644
--- a/package.json
+++ b/package.json
@@ -18,7 +18,8 @@
     "node": "~0.6.2"
   },
   "dependencies": {
-    "serialport": "0.6.3"
+    "serialport": "0.6.3",
+    "glob": "3.1.x"
   },
   "devDependencies": {}
 }