diff --git a/Adafruit_MotorShield/Adafruit_DCMotor.py b/Adafruit_MotorShield/Adafruit_DCMotor.py
new file mode 100644
index 00000000..1edd0808
--- /dev/null
+++ b/Adafruit_MotorShield/Adafruit_DCMotor.py
@@ -0,0 +1,35 @@
+#!/usr/bin/python
+
+import time
+
+class Adafruit_DCMotor :
+	
+	FORWARD = 1
+	BACKWARD = 2
+	BRAKE = 3
+	RELEASE = 4
+	
+	LOW = 0
+	HIGH = 1
+	
+	def __init__(self, debug=False):
+		self.debug = debug
+		self.MC = None
+		self.motornum = None
+		self.PWMpin = 0
+		self.IN1pin = 0
+		self.IN2pin = 0
+		
+	def setSpeed(self, speed):
+		self.MC.setPWM(self.PWMpin, speed*16);
+		
+	def run(self, cmd):
+		if cmd == self.FORWARD:
+			self.MC.setPin(self.IN2pin, self.LOW)  # take low first to avoid 'break'
+			self.MC.setPin(self.IN1pin, self.HIGH)
+		elif cmd == self.BACKWARD:
+			self.MC.setPin(self.IN1pin, self.LOW)  # take low first to avoid 'break'
+			self.MC.setPin(self.IN2pin, self.HIGH)
+		elif cmd == self.RELEASE:
+			self.MC.setPin(self.IN1pin, self.LOW)
+			self.MC.setPin(self.IN2pin, self.LOW)
diff --git a/Adafruit_MotorShield/Adafruit_I2C.py b/Adafruit_MotorShield/Adafruit_I2C.py
new file mode 100644
index 00000000..77f06164
--- /dev/null
+++ b/Adafruit_MotorShield/Adafruit_I2C.py
@@ -0,0 +1 @@
+../Adafruit_I2C/Adafruit_I2C.py
\ No newline at end of file
diff --git a/Adafruit_MotorShield/Adafruit_MotorShield.py b/Adafruit_MotorShield/Adafruit_MotorShield.py
new file mode 100644
index 00000000..04ae54eb
--- /dev/null
+++ b/Adafruit_MotorShield/Adafruit_MotorShield.py
@@ -0,0 +1,100 @@
+#!/usr/bin/python
+
+from Adafruit_StepperMotor import Adafruit_StepperMotor
+from Adafruit_DCMotor import Adafruit_DCMotor
+from Adafruit_PWM_Servo_Driver import PWM
+
+class Adafruit_MotorShield :
+	
+	LOW = 0
+	HIGHT = 1
+		
+	def __init__(self, address=0x60, debug=False):
+		self.address = address
+		self.pwm = PWM(address, debug)
+		self.steppers = [Adafruit_StepperMotor(debug), Adafruit_StepperMotor(debug)]
+		self.dcmotors = [Adafruit_DCMotor(debug), Adafruit_DCMotor(debug), Adafruit_DCMotor(debug), Adafruit_DCMotor(debug)]
+	
+	def begin(self, freq=1600):
+		self.pwm.begin()
+		self.freq = freq
+		self.pwm.setPWMFreq(freq);  # This is the maximum PWM frequency
+		for i in range(0, 16):
+			self.pwm.setPWM(i, 0, 0);
+
+	def setPWM(self, pin, value):
+		if value > 4095:
+			self.pwm.setPWM(pin, 4096, 0)
+		else:
+			self.pwm.setPWM(pin, 0, value);
+		
+	def setPin(self, pin, value):
+		if value == self.LOW:
+			self.pwm.setPWM(pin, 0, 0)
+		else:
+			self.pwm.setPWM(pin, 4096, 0)
+	
+	def getMotor(self, num):
+		if num > 4:
+			return
+		
+		num -= 1
+		if (self.dcmotors[num].motornum is None):
+			# not init'd yet!
+			self.dcmotors[num].motornum = num;
+			self.dcmotors[num].MC = self;
+			if (num == 0):
+				pwm = 8
+				in2 = 9
+				in1 = 10
+			elif (num == 1):
+				pwm = 13
+				in2 = 12
+				in1 = 11
+			elif (num == 2):
+				pwm = 2
+				in2 = 3
+				in1 = 4
+			elif (num == 3):
+				pwm = 7
+				in2 = 6
+				in1 = 5
+			self.dcmotors[num].PWMpin = pwm;
+			self.dcmotors[num].IN1pin = in1;
+			self.dcmotors[num].IN2pin = in2;
+		
+		return self.dcmotors[num];
+			
+	def getStepper(self, steps, num):
+		if num > 2:
+			return
+		
+		num -= 1
+		if self.steppers[num].steppernum is None:
+			# not init'd yet!
+			self.steppers[num].steppernum = num;
+			self.steppers[num].revsteps = steps;
+			self.steppers[num].MC = self
+
+			if num == 0:
+				pwma = 8
+				ain2 = 9
+				ain1 = 10
+				pwmb = 13
+				bin2 = 12
+				bin1 = 11
+			elif num == 1:
+				pwma = 2
+				ain2 = 3
+				ain1 = 4
+				pwmb = 7
+				bin2 = 6
+				bin1 = 5		
+			self.steppers[num].PWMApin = pwma
+			self.steppers[num].PWMBpin = pwmb
+			self.steppers[num].AIN1pin = ain1
+			self.steppers[num].AIN2pin = ain2
+			self.steppers[num].BIN1pin = bin1
+			self.steppers[num].BIN2pin = bin2
+		
+		return self.steppers[num]
diff --git a/Adafruit_MotorShield/Adafruit_PWM_Servo_Driver.py b/Adafruit_MotorShield/Adafruit_PWM_Servo_Driver.py
new file mode 100644
index 00000000..99674220
--- /dev/null
+++ b/Adafruit_MotorShield/Adafruit_PWM_Servo_Driver.py
@@ -0,0 +1,81 @@
+#!/usr/bin/python
+
+import time
+import math
+from Adafruit_I2C import Adafruit_I2C
+
+# ============================================================================
+# Adafruit PCA9685 16-Channel PWM Servo Driver
+# ============================================================================
+
+class PWM :
+  # Registers/etc.
+  __MODE1              = 0x00
+  __SUBADR1            = 0x02
+  __SUBADR2            = 0x03
+  __SUBADR3            = 0x04
+  __PRESCALE           = 0xFE
+  __LED0_ON_L          = 0x06
+  __LED0_ON_H          = 0x07
+  __LED0_OFF_L         = 0x08
+  __LED0_OFF_H         = 0x09
+  __ALL_LED_ON_L       = 0xFA
+  __ALL_LED_ON_H       = 0xFB
+  __ALL_LED_OFF_L      = 0xFC
+  __ALL_LED_OFF_H      = 0xFD
+
+  # Bits
+  __RESTART            = 0x80
+  __SLEEP              = 0x10
+  __ALLCALL            = 0x01
+  __INVRT              = 0x10
+  __OUTDRV             = 0x04
+
+  #general_call_i2c = Adafruit_I2C(0x00)
+
+  def __init__(self, address=0x40, debug=False):
+    self.i2c = Adafruit_I2C(address)
+    self.i2c.debug = debug
+    self.address = address
+    self.debug = debug
+  
+  def begin(self):
+    self.reset()
+    
+  def reset(self):
+	self.i2c.write8(self.__MODE1, 0x0)       
+	
+  def setPWMFreq(self, freq):
+    "Sets the PWM frequency"
+    prescaleval = 25000000.0    # 25MHz
+    prescaleval /= 4096.0       # 12-bit
+    prescaleval /= float(freq)
+    prescaleval -= 1.0
+    if (self.debug):
+      print "Setting PWM frequency to %d Hz" % freq
+      print "Estimated pre-scale: %d" % prescaleval
+    prescale = math.floor(prescaleval + 0.5)
+    if (self.debug):
+      print "Final pre-scale: %d" % prescale
+
+    oldmode = self.i2c.readU8(self.__MODE1);
+    newmode = (oldmode & 0x7F) | 0x10             # sleep
+    self.i2c.write8(self.__MODE1, newmode)        # go to sleep
+    self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
+    self.i2c.write8(self.__MODE1, oldmode)
+    time.sleep(0.005)
+    self.i2c.write8(self.__MODE1, oldmode | 0x80)
+
+  def setPWM(self, channel, on, off):
+    "Sets a single PWM channel"
+    self.i2c.write8(self.__LED0_ON_L+4*channel, on & 0xFF)
+    self.i2c.write8(self.__LED0_ON_H+4*channel, on >> 8)
+    self.i2c.write8(self.__LED0_OFF_L+4*channel, off & 0xFF)
+    self.i2c.write8(self.__LED0_OFF_H+4*channel, off >> 8)
+
+  def setAllPWM(self, on, off):
+    "Sets a all PWM channels"
+    self.i2c.write8(self.__ALL_LED_ON_L, on & 0xFF)
+    self.i2c.write8(self.__ALL_LED_ON_H, on >> 8)
+    self.i2c.write8(self.__ALL_LED_OFF_L, off & 0xFF)
+    self.i2c.write8(self.__ALL_LED_OFF_H, off >> 8)
diff --git a/Adafruit_MotorShield/Adafruit_StepperMotor.py b/Adafruit_MotorShield/Adafruit_StepperMotor.py
new file mode 100644
index 00000000..7c5ef38c
--- /dev/null
+++ b/Adafruit_MotorShield/Adafruit_StepperMotor.py
@@ -0,0 +1,208 @@
+#!/usr/bin/python
+
+import time
+
+class Adafruit_StepperMotor :
+	
+	__MICROSTEPCURVE = [0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255]
+	#__MICROSTEPCURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255] #with MICROSTEPS = 8
+	MICROSTEPS = 16         #8 or 16
+	
+	FORWARD = 1
+	BACKWARD = 2
+	BRAKE = 3
+	RELEASE = 4
+
+	SINGLE = 1
+	DOUBLE = 2
+	INTERLEAVE = 3
+	MICROSTEP = 4
+	
+	LOW = 0
+	HIGH = 1
+	
+	def __init__(self, debug=False):
+		self.debug = debug
+		self.revsteps = 0
+		self.steppernum = None
+		self.currentstep = 0
+		
+	def setSpeed(self, rpm):
+		#Serial.println("steps per rev: "); Serial.println(revsteps);
+		#Serial.println("RPM: "); Serial.println(rpm);
+
+		self.usperstep = 60000000.0 / (self.revsteps * rpm)
+		self.steppingcounter = 0
+	
+	def release(self):
+		self.MC.setPin(self.AIN1pin, self.LOW)
+		self.MC.setPin(self.AIN2pin, self.LOW)
+		self.MC.setPin(self.BIN1pin, self.LOW)
+		self.MC.setPin(self.BIN2pin, self.LOW)
+		self.MC.setPWM(self.PWMApin, 0)
+		self.MC.setPWM(self.PWMBpin, 0)
+		
+	def step(self, steps, dir, style):
+		uspers = self.usperstep
+		ret = 0
+		if style == self.INTERLEAVE:
+			uspers /= 2
+		elif style == self.MICROSTEP:
+			uspers /= self.MICROSTEPS
+			steps *= self.MICROSTEPS
+			if self.debug:
+				print "steps = %d" % steps
+		
+		while steps > 0:
+			steps -= 1;
+			#if self.debug:
+			#	print "step! %d uspers: %d" % (steps, uspers)
+			ret = self.onestep(dir, style);
+			time.sleep(uspers/1000000); # in seconde (uspers/1000 in ms)
+			self.steppingcounter += (uspers % 1000)
+			if self.steppingcounter >= 1000:
+				time.sleep(0.001) # 1 ms
+				self.steppingcounter -= 1000
+				
+				
+		if style == self.MICROSTEP:
+			while ((ret != 0) and (ret != self.MICROSTEPS)):
+				ret = self.onestep(dir, style)
+				time.sleep(uspers/1000000); # in seconde (uspers/1000 in ms)
+				self.steppingcounter += (uspers % 1000)
+				if self.steppingcounter >= 1000:
+					time.sleep(0.001); # 1 ms
+					self.steppingcounter -= 1000
+
+	def onestep(self, dir, style):
+		ocra = 255
+		ocrb = 255
+
+		# next determine what sort of stepping procedure we're up to
+		if style == self.SINGLE:
+			if ((self.currentstep/(self.MICROSTEPS/2)) % 2) > 0: # we're at an odd step, weird
+				if (dir == self.FORWARD):
+					self.currentstep += self.MICROSTEPS/2
+				else:
+					self.currentstep -= self.MICROSTEPS/2
+			else:           # go to the next even step
+				if (dir == self.FORWARD):
+					self.currentstep += self.MICROSTEPS
+				else:
+					self.currentstep -= self.MICROSTEPS
+				
+		elif (style == self.DOUBLE):
+			if ((self.currentstep/(self.MICROSTEPS/2) % 2) == 0): # we're at an even step, weird
+				if (dir == self.FORWARD):
+					self.currentstep += self.MICROSTEPS/2
+				else:
+					self.currentstep -= self.MICROSTEPS/2
+			else:           # go to the next odd step
+				if (dir == self.FORWARD):
+					self.currentstep += self.MICROSTEPS
+				else:
+					self.currentstep -= self.MICROSTEPS
+
+		elif (style == self.INTERLEAVE):
+			if (dir == self.FORWARD):
+				self.currentstep += self.MICROSTEPS/2
+			else:
+				self.currentstep -= self.MICROSTEPS/2
+
+		elif (style == self.MICROSTEP):
+			if (dir == self.FORWARD):
+				self.currentstep += 1
+			else:
+				# BACKWARDS
+				self.currentstep -= 1
+			
+			self.currentstep += self.MICROSTEPS*4;
+			self.currentstep %= self.MICROSTEPS*4;
+
+			ocra = 0
+			ocrb = 0
+					
+			if ( (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS)):
+				ocra = self.__MICROSTEPCURVE[self.MICROSTEPS - self.currentstep]
+				ocrb = self.__MICROSTEPCURVE[self.currentstep]
+			elif ( (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2)):
+				ocra = self.__MICROSTEPCURVE[self.currentstep - self.MICROSTEPS]
+				ocrb = self.__MICROSTEPCURVE[self.MICROSTEPS*2 - self.currentstep]
+			elif ( (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3)):
+				ocra = self.__MICROSTEPCURVE[self.MICROSTEPS*3 - self.currentstep]
+				ocrb = self.__MICROSTEPCURVE[self.currentstep - self.MICROSTEPS*2]
+			elif ( (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4)):
+				ocra = self.__MICROSTEPCURVE[self.currentstep - self.MICROSTEPS*3]
+				ocrb = self.__MICROSTEPCURVE[self.MICROSTEPS*4 - self.currentstep]
+			
+  
+		self.currentstep += self.MICROSTEPS*4
+		self.currentstep %= self.MICROSTEPS*4
+
+		if self.debug:
+			print "current step: %d" % self.currentstep
+			print " pwmA = %d pwmB = %d" % (ocra, ocrb) 
+	
+		self.MC.setPWM(self.PWMApin, ocra*16)
+		self.MC.setPWM(self.PWMBpin, ocrb*16)
+  
+		# release all
+		latch_state = 0 # all motor pins to 0
+
+		#Serial.println(step, DEC);
+		if (style == self.MICROSTEP):
+			if ((self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS)):
+				latch_state |= 0x03
+			if ((self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2)):
+				latch_state |= 0x06
+			if ((self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3)):
+				latch_state |= 0x0C
+			if ((self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4)):
+				latch_state |= 0x09
+		else:
+			switchValue = (self.currentstep/(self.MICROSTEPS/2))
+			if switchValue == 0:
+				latch_state |= 0x1; # energize coil 1 only
+			elif switchValue ==  1:
+				latch_state |= 0x3; # energize coil 1+2
+			elif switchValue ==  2:
+				latch_state |= 0x2; # energize coil 2 only
+			elif switchValue ==  3:
+				latch_state |= 0x6; # energize coil 2+3
+			elif switchValue ==  4:
+				latch_state |= 0x4; # energize coil 3 only
+			elif switchValue ==  5:
+				latch_state |= 0xC; # energize coil 3+4
+			elif switchValue ==  6:
+				latch_state |= 0x8; # energize coil 4 only
+			elif switchValue ==  7:
+				latch_state |= 0x9; # energize coil 1+4
+		
+		if self.debug:
+			print "Latch: 0x%x" % latch_state
+  
+		if (latch_state & 0x1):
+			# Serial.println(self.AIN2pin)
+			self.MC.setPin(self.AIN2pin, self.HIGH)
+		else:
+			self.MC.setPin(self.AIN2pin, self.LOW)
+		
+		if (latch_state & 0x2):
+			self.MC.setPin(self.BIN1pin, self.HIGH)
+			# Serial.println(self.BIN1pin)
+		else:
+			self.MC.setPin(self.BIN1pin, self.LOW)
+		
+		if (latch_state & 0x4):
+			self.MC.setPin(self.AIN1pin, self.HIGH)
+			# Serial.println(self.AIN1pin)
+		else:
+			self.MC.setPin(self.AIN1pin, self.LOW)
+		
+		if (latch_state & 0x8):
+			self.MC.setPin(self.BIN2pin, self.HIGH)
+			# Serial.println(self.BIN2pin)
+		else:
+			self.MC.setPin(self.BIN2pin, self.LOW)
+		
+		return self.currentstep
diff --git a/Adafruit_MotorShield/DCMotorTest_Example.py b/Adafruit_MotorShield/DCMotorTest_Example.py
new file mode 100644
index 00000000..7e489e99
--- /dev/null
+++ b/Adafruit_MotorShield/DCMotorTest_Example.py
@@ -0,0 +1,70 @@
+#!/usr/bin/python
+
+''' 
+For Motor Shield for Arduino V2 use with Raspberry Pi and level converter for i2c
+
+This is a test script for the Adafruit assembled Motor Shield for Arduino v2
+It won't work with v1.x motor shields! Only for the v2's with built in PWM
+control
+
+For use with the Adafruit Motor Shield v2 
+---->	http://www.adafruit.com/products/1438
+'''
+
+
+from Adafruit_MotorShield import Adafruit_MotorShield
+from Adafruit_DCMotor import Adafruit_DCMotor
+import time
+
+# Create the motor shield object with the default I2C address
+AFMS = Adafruit_MotorShield()
+# Or, create it with a different I2C address (say for stacking)
+# AFMS = Adafruit_MotorShield(0x61); 
+
+# Select which 'port' M1, M2, M3 or M4. In this case, M1
+myMotor = AFMS.getMotor(1)
+
+AFMS.begin() # create with the default frequency 1.6KHz
+#AFMS.begin(1000);  // OR with a different frequency, say 1KHz
+
+# Set the speed to start, from 0 (off) to 255 (max speed)
+myMotor.setSpeed(150);  # 10 rpm
+myMotor.run(Adafruit_DCMotor.FORWARD)
+# turn on motor
+myMotor.run(Adafruit_DCMotor.RELEASE)
+
+try:
+	while (True):
+
+		print "tick";
+
+		myMotor.run(Adafruit_DCMotor.FORWARD);
+		for i in range(0, 255):
+			myMotor.setSpeed(i)
+			time.sleep(0.01)			
+
+		for i in range(254, -1):
+			myMotor.setSpeed(i)
+			time.sleep(0.01)
+
+
+		print "tock";
+
+		myMotor.run(Adafruit_DCMotor.BACKWARD);
+		for i in range(0, 255):
+			myMotor.setSpeed(i)  
+			time.sleep(0.01)
+
+		for i in range(254, -1):
+			myMotor.setSpeed(i) 
+			time.sleep(0.01)
+
+
+		print "tech";
+		myMotor.run(Adafruit_DCMotor.RELEASE);
+		time.sleep(1)
+	
+except KeyboardInterrupt:
+	myMotor.run(Adafruit_DCMotor.RELEASE)
+	print "Clean "
+  
diff --git a/Adafruit_MotorShield/StepperTest_Example.py b/Adafruit_MotorShield/StepperTest_Example.py
new file mode 100644
index 00000000..8cdc2694
--- /dev/null
+++ b/Adafruit_MotorShield/StepperTest_Example.py
@@ -0,0 +1,55 @@
+#!/usr/bin/python
+
+''' 
+For Motor Shield for Arduino V2 use with Raspberry Pi and level converter for i2c
+
+This is a test script for the Adafruit assembled Motor Shield for Arduino v2
+It won't work with v1.x motor shields! Only for the v2's with built in PWM
+control
+
+For use with the Adafruit Motor Shield v2 
+---->	http://www.adafruit.com/products/1438
+'''
+
+
+from Adafruit_MotorShield import Adafruit_MotorShield
+from Adafruit_StepperMotor import Adafruit_StepperMotor
+import time
+
+# Create the motor shield object with the default I2C address
+AFMS = Adafruit_MotorShield()
+# Or, create it with a different I2C address (say for stacking)
+# AFMS = Adafruit_MotorShield(0x61); 
+
+# Connect a stepper motor with 200 steps per revolution (1.8 degree)
+# to motor port #2 (M3 and M4)
+myMotor = AFMS.getStepper(200, 2)
+
+AFMS.begin() # create with the default frequency 1.6KHz
+#AFMS.begin(1000);  // OR with a different frequency, say 1KHz
+
+myMotor.setSpeed(10);  # 10 rpm
+
+try:
+	while (True):
+
+		print "Single coil steps"
+		myMotor.step(100, Adafruit_StepperMotor.FORWARD, Adafruit_StepperMotor.SINGLE); 
+		myMotor.step(100, Adafruit_StepperMotor.BACKWARD, Adafruit_StepperMotor.SINGLE); 
+
+		print "Double coil steps"
+		myMotor.step(100, Adafruit_StepperMotor.FORWARD, Adafruit_StepperMotor.DOUBLE)
+		myMotor.step(100, Adafruit_StepperMotor.BACKWARD, Adafruit_StepperMotor.DOUBLE)
+
+		print "Interleave coil steps"
+		myMotor.step(100, Adafruit_StepperMotor.FORWARD, Adafruit_StepperMotor.INTERLEAVE); 
+		myMotor.step(100, Adafruit_StepperMotor.BACKWARD, Adafruit_StepperMotor.INTERLEAVE); 
+
+		print "Microstep steps"
+		myMotor.step(50, Adafruit_StepperMotor.FORWARD, Adafruit_StepperMotor.MICROSTEP); 
+		myMotor.step(50, Adafruit_StepperMotor.BACKWARD, Adafruit_StepperMotor.MICROSTEP);
+	  
+except KeyboardInterrupt:
+	myMotor.release()
+	print "Clean "
+