diff --git a/.gitignore b/.gitignore
index 8e4c252..f4c0dfb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,4 +4,9 @@
 /*.mov
 /gh-pages/*
 /screenshots/*
-/*.png
\ No newline at end of file
+/*.png
+/out/*
+/gen/*
+/.idea/*
+*.apk
+*.iml
\ No newline at end of file
diff --git a/AndroidManifest.xml b/AndroidManifest.xml
index 7f4572c..44a609a 100644
--- a/AndroidManifest.xml
+++ b/AndroidManifest.xml
@@ -20,6 +20,7 @@
     <uses-permission android:name="android.permission.BLUETOOTH" />
     <uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
     <uses-permission android:name="android.permission.INTERNET" />
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
 
     <uses-feature
         android:name="android.hardware.sensor.accelerometer"
@@ -59,6 +60,11 @@
             android:label="Touch Control"
             android:screenOrientation="portrait" >
         </activity>
+        <activity
+            android:name=".activities.Keyframes"
+            android:label="Keyframes"
+            android:screenOrientation="portrait" >
+        </activity>
         <activity
             android:name=".activities.VoiceControl"
             android:label="Voice Control"
diff --git a/README.md b/README.md
index d443125..b8d4caa 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,8 @@
 
 # Blueberry: Bluetooth Remote Control Application for Android
 
+## APK download available under [releases](https://github.com/CalebJ2/Android-Bluetooth-Remote-Control/releases)
+
 Blueberry is an [Android application](https://play.google.com/store/apps/details?id=com.bluetooth) that uses the phone's Bluetooth feature to connect to a Bluetooth enabled device. It is mainly intended to control mobile platforms such as an Arduino with a Bluetooth shield mounted on a platform with two motorized wheels. Additionally it uses the phone's camera, internet connection and sensors to interact with the mobile platform.
 
 [![Video](https://raw.github.com/Nurgak/Android-Bluetooth-Remote-Control/master/images/video.png "Blueberry demonstration video")](http://youtu.be/ukssaDaPI5s)
diff --git a/gen/com/bluetooth/BuildConfig.java b/gen/com/bluetooth/BuildConfig.java
index f2e4568..97a6c74 100644
--- a/gen/com/bluetooth/BuildConfig.java
+++ b/gen/com/bluetooth/BuildConfig.java
@@ -1,6 +1,8 @@
-/** Automatically generated file. DO NOT MODIFY */
+/*___Generated_by_IDEA___*/
+
 package com.bluetooth;
 
+/* This stub is only used by the IDE. It is NOT the BuildConfig class actually packed into the APK */
 public final class BuildConfig {
-    public final static boolean DEBUG = true;
+  public final static boolean DEBUG = Boolean.parseBoolean(null);
 }
\ No newline at end of file
diff --git a/res/layout/keyframes.xml b/res/layout/keyframes.xml
new file mode 100644
index 0000000..eac99d5
--- /dev/null
+++ b/res/layout/keyframes.xml
@@ -0,0 +1,368 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="match_parent"
+    android:orientation="vertical">
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal">
+
+        <TextView
+            android:id="@+id/textView2"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="9"
+            android:padding="5dp"
+            android:gravity="center_vertical"
+            android:text="@string/keyframes" />
+
+        <Button
+            android:id="@+id/insertBtn"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:minHeight="0dp"
+            android:text="@string/insert"
+            android:textSize="16sp"
+            android:onClick="insertBtnClick"/>
+        <Button
+            android:id="@+id/deleteBtn"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:minHeight="0dp"
+            android:text="@string/delete"
+            android:textSize="16sp"
+            android:onClick="deleteBtnClick"/>
+
+    </LinearLayout>
+
+    <View
+        android:id="@+id/view"
+        android:layout_width="match_parent"
+        android:layout_height="1dp"
+        android:background="#555555" />
+
+    <HorizontalScrollView
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:fillViewport="false">
+
+        <RadioGroup
+            android:id="@+id/frameList"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal">
+
+            <RadioButton
+                android:id="@+id/radioButton1"
+                android:layout_height="wrap_content"
+                android:layout_width="wrap_content"
+                android:checked="true"
+                android:text="1" />
+
+        </RadioGroup>
+    </HorizontalScrollView>
+
+    <View
+        android:layout_width="match_parent"
+        android:layout_height="1dp"
+        android:background="#555555" />
+
+    <ScrollView
+        android:layout_width="match_parent"
+        android:layout_height="0dp"
+        android:layout_weight="1">
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="vertical">
+
+            <LinearLayout
+                style="@style/settingsRow"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal">
+
+                <TextView
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:text="1"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+
+                <SeekBar
+                    android:id="@+id/sb1"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="7"
+                    android:max="255" />
+
+                <TextView
+                    android:id="@+id/tv1"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+            </LinearLayout>
+
+            <LinearLayout
+                style="@style/settingsRow"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal">
+
+                <TextView
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:text="2"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+
+                <SeekBar
+                    android:id="@+id/sb2"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="7"
+                    android:max="255" />
+
+                <TextView
+                    android:id="@+id/tv2"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+            </LinearLayout>
+
+            <LinearLayout
+                style="@style/settingsRow"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal">
+
+                <TextView
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:text="3"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+
+                <SeekBar
+                    android:id="@+id/sb3"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="7"
+                    android:max="255" />
+
+                <TextView
+                    android:id="@+id/tv3"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+            </LinearLayout>
+
+            <LinearLayout
+                style="@style/settingsRow"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal">
+
+                <TextView
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:text="4"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+
+                <SeekBar
+                    android:id="@+id/sb4"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="7"
+                    android:max="255" />
+
+                <TextView
+                    android:id="@+id/tv4"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+            </LinearLayout>
+
+            <LinearLayout
+                style="@style/settingsRow"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal">
+
+                <TextView
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:text="5"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+
+                <SeekBar
+                    android:id="@+id/sb5"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="7"
+                    android:max="255" />
+
+                <TextView
+                    android:id="@+id/tv5"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+            </LinearLayout>
+
+            <LinearLayout
+                style="@style/settingsRow"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal">
+
+                <TextView
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:text="6"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+
+                <SeekBar
+                    android:id="@+id/sb6"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="7"
+                    android:max="255" />
+
+                <TextView
+                    android:id="@+id/tv6"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1"
+                    android:gravity="center_vertical"
+                    android:textAppearance="?android:attr/textAppearanceLarge" />
+            </LinearLayout>
+        </LinearLayout>
+    </ScrollView>
+
+    <View
+        android:layout_width="match_parent"
+        android:layout_height="1dp"
+        android:background="#555555" />
+
+    <LinearLayout
+        style="@style/settingsRow"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:padding="5dp"
+        android:orientation="horizontal">
+
+        <TextView
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="3"
+            android:text="@string/interpolate" />
+
+        <Spinner
+            android:id="@+id/interpolateSpinner"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="7"
+            android:entries="@array/interpolateOpts" />
+
+    </LinearLayout>
+
+    <View
+        android:layout_width="match_parent"
+        android:layout_height="1dp"
+        android:background="#555555" />
+
+    <TextView
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:gravity="center_vertical"
+        android:padding="5dp"
+        android:text="@string/timeDelay" />
+
+    <LinearLayout
+        style="@style/settingsRow"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:padding="0dp"
+        android:orientation="horizontal">
+
+        <SeekBar
+            android:id="@+id/sbTimeDelay"
+            android:layout_width="0dp"
+            android:layout_height="match_parent"
+            android:layout_weight="7"
+            android:max="4900" />
+
+        <TextView
+            android:id="@+id/tvTimeDelay"
+            android:layout_width="0dp"
+            android:layout_height="match_parent"
+            android:layout_weight="2"
+            android:gravity="center_vertical"
+            android:textAppearance="?android:attr/textAppearanceLarge" />
+    </LinearLayout>
+
+    <ProgressBar
+        android:id="@+id/progressBar"
+        style="?android:attr/progressBarStyleHorizontal"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content" />
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal">
+
+        <ToggleButton
+            android:id="@+id/bPlay"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:checked="false"
+            android:onClick="playBtnClick"
+            android:textOn="@string/play"
+            android:textOff="@string/play" />
+
+        <ToggleButton
+            android:id="@+id/bPreview"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:onClick="previewBtnClick"
+            android:textOn="@string/livePreview"
+            android:textOff="@string/livePreview" />
+        <ToggleButton
+            android:id="@+id/bInterpolate"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:onClick="interpolateBtnClick"
+            android:textOn="@string/interpolate"
+            android:textOff="@string/interpolate" />
+
+    </LinearLayout>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/res/layout/save_prompt.xml b/res/layout/save_prompt.xml
new file mode 100644
index 0000000..5e80305
--- /dev/null
+++ b/res/layout/save_prompt.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/layout_root"
+    android:layout_width="fill_parent"
+    android:layout_height="fill_parent"
+    android:orientation="vertical"
+    android:padding="10dp" >
+
+    <TextView
+        android:id="@+id/textView1"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="@string/savePromptText"
+        android:textAppearance="?android:attr/textAppearanceLarge" />
+
+    <EditText
+        android:id="@+id/savePromptInput"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:digits="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz1234567890-_"
+        android:inputType="textFilter" >
+        <requestFocus />
+
+    </EditText>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/res/layout/touch_control.xml b/res/layout/touch_control.xml
index 1ebd14f..38fa490 100644
--- a/res/layout/touch_control.xml
+++ b/res/layout/touch_control.xml
@@ -64,12 +64,25 @@
         android:layout_width="match_parent"
         android:layout_height="0dp"
         android:layout_weight="1" />
-
-    <Button
-        android:id="@+id/bToggle"
+    <LinearLayout
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:onClick="buttonClick"
-        android:text="@string/start" />
+        android:orientation="horizontal" >
 
+        <Button
+            android:id="@+id/bToggle"
+            android:layout_height="wrap_content"
+            android:layout_width="0dp"
+            android:layout_weight="0.4"
+            android:onClick="startButtonClick"
+            android:text="@string/start" />
+
+        <Button
+            android:id="@+id/coordMode"
+            android:layout_height="wrap_content"
+            android:layout_width="0dp"
+            android:layout_weight="0.6"
+            android:onClick="xyButtonClick"
+            android:text="@string/LRMode" />
+    </LinearLayout>
 </LinearLayout>
\ No newline at end of file
diff --git a/res/menu/keyframes_menu.xml b/res/menu/keyframes_menu.xml
new file mode 100644
index 0000000..f2eae02
--- /dev/null
+++ b/res/menu/keyframes_menu.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<menu xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:id="@+id/bSave"
+        android:title="@string/save"
+        android:showAsAction="ifRoom|withText"/>
+    <item android:id="@+id/bLoad"
+        android:title="@string/load"
+        android:showAsAction="ifRoom|withText" />
+    <item android:id="@+id/bInfo"
+        android:title="@string/info"
+        android:showAsAction="ifRoom|withText" />
+</menu>
\ No newline at end of file
diff --git a/res/values/strings.xml b/res/values/strings.xml
index c94e4ce..fbd1c06 100644
--- a/res/values/strings.xml
+++ b/res/values/strings.xml
@@ -23,12 +23,42 @@
     <string name="leftStop">L: 0</string>
     <string name="rightStop">R: 0</string>
     <string name="touchPosition">Touch position</string>
+    <string name="LRMode">Sending touch position</string>
+    <string name="XYMode">Sending wheel speeds</string>
     <string name="speak">Speak</string>
     <string name="data">Data</string>
     <string name="clients">Clients</string>
     <string name="ip">IP:</string>
     <string name="serverStart">Start server</string>
     <string name="serverStop">Stop server</string>
+    <string name="timeDelay">Time delay (milliseconds)</string>
+    <string name="play">Play</string>
+    <string name="livePreview">Live preview</string>
+    <string name="stopPreview">Stop preview</string>
+    <string name="keyframes">Keyframes</string>
+    <string name="insert">Insert</string>
+    <string name="delete">Delete</string>
+    <string name="pickFile">Pick a keyframe file</string>
+    <string name="info">Info</string>
+    <string name="saveSuccess">Keyframes saved to "blueberry remote/keyframes"</string>
+    <string name="save">Save</string>
+    <string name="load">Load</string>
+    <string name="interpolate">Interpolate</string>
+    <string-array name="interpolateOpts">
+        <item>Linear</item>
+        <item>Accelerate</item>
+        <item>Decelerate</item>
+        <item>Accelerate, Decelerate</item>
+    </string-array>
+    <string name="storageFolder">BlueberryRemote</string>
+    <string name="savePromptText">File name (file will be overwritten is it exists)</string>
+    <string name="keyframesInfo">
+        Allows creation of keyframe animations. Sends commands in the format of \"k,time,ch1,ch2,ch3\" and so on, where time and ch values are integers as displayed next to the sliders. Time is milliseconds before next command should be expected.\n\n
+        Interpolation method determines how it will transition to the next keyframe. Accelerate starts slowly and accelerates, decelerate starts at speed and slows down, linear stays at a constant speed.\n\n
+        Enabling "Play" plays the keyframes in a loop.\n\n
+        "Live preview" sends the current keyframe as changes are made. time is set to 0.\n\n
+        Commands are sent at 20hz. If the app stutters or the Arduino receives mangled messages, it is probably because the bluetooth module can\'t keep up. Configure it to have a higher baud rate.
+    </string>
 
     <style name="listItem">
         <item name="android:paddingTop">5dp</item>
diff --git a/src/com/bluetooth/ActionListActivity.java b/src/com/bluetooth/ActionListActivity.java
index 0624838..e69551b 100644
--- a/src/com/bluetooth/ActionListActivity.java
+++ b/src/com/bluetooth/ActionListActivity.java
@@ -50,6 +50,7 @@ protected void onCreate(Bundle savedInstanceState)
 		activityList.add(new Action("Touch Control", "Control robot's movements by touch", "TouchControl"));
 		//activityList.add(new Action("Arrow Control", "Simplistic control with arrows", "ArrowControl"));
 		activityList.add(new Action("Voice Control", "Control robot with oral instructions", "VoiceControl"));
+		activityList.add(new Action("Keyframes", "Create and replay a set of instructions", "Keyframes"));
 		//activityList.add(new Action("Program", "Save and replay a set of instructions", "Program"));
 		//activityList.add(new Action("Keypad", "Send numbers from 1 to 9 for custom actions", "Keypad"));
 		activityList.add(new Action("Wi-Fi Control", "Use a computer to remotely control from a browser", "WiFiControl"));
diff --git a/src/com/bluetooth/BluetoothRemoteControlApp.java b/src/com/bluetooth/BluetoothRemoteControlApp.java
index 821830b..9b120a7 100644
--- a/src/com/bluetooth/BluetoothRemoteControlApp.java
+++ b/src/com/bluetooth/BluetoothRemoteControlApp.java
@@ -18,6 +18,7 @@
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.OutputStream;
+import java.lang.reflect.Method;
 import java.util.UUID;
 import android.app.Application;
 import android.bluetooth.BluetoothDevice;
@@ -46,7 +47,7 @@ public class BluetoothRemoteControlApp extends Application
 {
 	private final static String TAG = "Blueberry";
 	// Debug flag
-	public final static boolean D = false;
+	public final static boolean D = true;
 
 	// Time between sending the idle filler to confirm communication, must be smaller than the timeout constant.
 	private final int minCommInterval = 900;
@@ -175,60 +176,87 @@ public synchronized void connect(BluetoothDevice device)
 	 */
 	private class BluetoothThread extends Thread
 	{
-		private final BluetoothSocket socket;
+		private BluetoothSocket socket;
 		private InputStream inStream;
 		private OutputStream outStream;
 
 		public BluetoothThread(BluetoothDevice device)
 		{
-			BluetoothSocket tmp = null;
 			try
 			{
 				// General purpose UUID
-				tmp = device.createInsecureRfcommSocketToServiceRecord(UUID.fromString("00001101-0000-1000-8000-00805F9B34FB"));
+				socket = device.createInsecureRfcommSocketToServiceRecord(UUID.fromString("00001101-0000-1000-8000-00805F9B34FB"));
+				if(D)
+					Log.i(TAG, "Creating to socket");
 			}
-			catch(IOException e)
-			{
+			catch(IOException e) {
+				if (D)
+					Log.e(TAG, "Could not create socket.");
 				e.printStackTrace();
+				disconnect();
 			}
-			socket = tmp;
 		}
-
 		public void run()
 		{
-			// Connect to the socket
 			try
 			{
-				// Blocking function, needs the timeout
 				if(D)
 					Log.i(TAG, "Connecting to socket");
-				socket.connect();
+				socket.connect(); // Blocking function, needs the timeout
 			}
-			catch(IOException e)
-			{
-				// If the user didn't cancel the connection then it has failed (timeout)
-				if(!stoppingConnection)
+			catch(IOException e) {
+				if (D)
+					Log.e(TAG, "Could not connect to socket. Retrying.");
+				e.printStackTrace();
+				try
+				{
+					// workaround for bluetooth 4.0 https://stackoverflow.com/questions/18657427
+					Class<?> clazz = socket.getRemoteDevice().getClass();
+					Class<?>[] paramTypes = new Class<?>[] {Integer.TYPE};
+
+					Method m = clazz.getMethod("createRfcommSocket", paramTypes);
+					Object[] params = new Object[] {Integer.valueOf(1)};
+
+					socket = (BluetoothSocket) m.invoke(socket.getRemoteDevice(), params);
+					socket.connect();
+				}
+				catch(IOException e1)
 				{
 					if(D)
-						Log.e(TAG, "Cound not connect to socket");
-					e.printStackTrace();
-					try
-					{
-						socket.close();
-					}
-					catch(IOException e1)
-					{
-						if(D)
-							Log.e(TAG, "Cound not close the socket");
-						e1.printStackTrace();
-					}
+						Log.e(TAG, "Could not create fallback socket");
+					e1.printStackTrace();
 					disconnect();
+					return;
+				}
+				catch(java.lang.NoSuchMethodException e1)
+				{
+					if(D)
+						Log.e(TAG, "Backup socket reflection failed. Could not create socket.");
+					e1.printStackTrace();
+					disconnect();
+					return;
+				}
+				catch(java.lang.IllegalAccessException e1)
+				{
+					if(D)
+						Log.e(TAG, "Backup socket reflection failed. Could not create socket");
+					e1.printStackTrace();
+					disconnect();
+					return;
+				}
+				catch(java.lang.reflect.InvocationTargetException e1)
+				{
+					if(D)
+						Log.e(TAG, "Backup socket reflection failed. Could not create socket");
+					e1.printStackTrace();
+					disconnect();
+					return;
 				}
-				return;
 			}
 
 			// Connected
 			setState(STATE_CONNECTED);
+			updateLastComm();
 			// Send message to activity to inform of success
 			sendMessage(MSG_CONNECTED, null);
 
@@ -351,6 +379,8 @@ public void cancel()
 			}
 			catch(IOException e)
 			{
+				if(D)
+					Log.e(TAG, "Couldn't cancel bluetoothThread");
 				e.printStackTrace();
 			}
 		}
@@ -383,8 +413,8 @@ public void run()
 						write(null);
 					}
 
-					// Communication timed out
-					if(System.currentTimeMillis() - lastComm > timeout)
+					// Communication timed out. Extra big when connecting.
+					if(System.currentTimeMillis() - lastComm > (state == STATE_CONNECTED ? timeout : timeout*4))
 					{
 						if(D)
 							Log.e(TAG, "Timeout");
diff --git a/src/com/bluetooth/DeviceSelectActivity.java b/src/com/bluetooth/DeviceSelectActivity.java
index e8a56e6..045743a 100644
--- a/src/com/bluetooth/DeviceSelectActivity.java
+++ b/src/com/bluetooth/DeviceSelectActivity.java
@@ -116,6 +116,9 @@ public void onClick(View v)
 	{
 		public void onItemClick(AdapterView<?> parent, View view, int position, long id)
 		{
+			if (!checkBlueToothState()) {
+				return;
+			}
 			// Cancel discovery because it's costly and we're about to connect
 			bluetoothAdapter.cancelDiscovery();
 
@@ -188,7 +191,6 @@ public void startDiscovery()
 		// Prevent phones without Bluetooth from using this application
 		if(!checkBlueToothState())
 		{
-			finish();
 			return;
 		}
 
diff --git a/src/com/bluetooth/activities/Keyframes.java b/src/com/bluetooth/activities/Keyframes.java
new file mode 100644
index 0000000..e271167
--- /dev/null
+++ b/src/com/bluetooth/activities/Keyframes.java
@@ -0,0 +1,692 @@
+package com.bluetooth.activities;
+
+import android.animation.Animator;
+import android.animation.ValueAnimator;
+import android.app.AlertDialog;
+import android.app.Dialog;
+import android.content.Context;
+import android.content.DialogInterface;
+import android.os.Bundle;
+import android.os.Environment;
+import android.util.Log;
+import android.view.LayoutInflater;
+import android.view.Menu;
+import android.view.MenuInflater;
+import android.view.MenuItem;
+import android.view.View;
+import android.view.ViewGroup;
+import android.view.animation.AccelerateDecelerateInterpolator;
+import android.view.animation.AccelerateInterpolator;
+import android.view.animation.DecelerateInterpolator;
+import android.view.animation.LinearInterpolator;
+import android.widget.AdapterView;
+import android.widget.Button;
+import android.widget.CompoundButton;
+import android.widget.EditText;
+import android.widget.ProgressBar;
+import android.widget.RadioButton;
+import android.widget.RadioGroup;
+import android.widget.SeekBar;
+import android.widget.Spinner;
+import android.widget.TextView;
+import android.widget.Toast;
+import android.widget.ToggleButton;
+
+import com.bluetooth.BluetoothActivity;
+import com.bluetooth.R;
+
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileNotFoundException;
+import java.io.FileOutputStream;
+import java.io.FilenameFilter;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Timer;
+import java.util.TimerTask;
+import java.util.regex.Pattern;
+
+import static java.lang.Math.min;
+
+/**
+ * This activity allows creation of keyframe animations.
+ *
+ * Sends commands in the format of \"k,time,ch1,ch2,ch\3" and so on, where time and ch values are integers as displayed next to the sliders.
+ * Time is milliseconds before next command should be expected.
+ * Enabling "Play" plays the keyframes in a loop.
+ * "Live preview" sends the current keyframe as changes are made. time is set to 0.
+ * Commands are sent at 20hz, keyframes are linearly interpolated.
+ */
+public class Keyframes extends BluetoothActivity implements SeekBar.OnSeekBarChangeListener, RadioButton.OnCheckedChangeListener, AdapterView.OnItemSelectedListener {
+    private final int animLimit = 1000; // used for interpolating
+    private final int minDelay = 100; // min keyframe length
+    private int defaultDelay = 500; // default keyframe length
+    private int delayMillis = 100; // time between commands
+    private int numChannels;
+    private int currentFrame; // index to frames
+    private int nextFrame;
+    private boolean play = false;
+    private boolean preview = false;
+    private boolean interpolate = false;
+    private boolean timerRunning = false;
+    private ProgressBar pbar;
+    private Spinner interpolateSpinner;
+    private ArrayList<SeekBar> seekBars;
+    private ArrayList<TextView> textViews;
+    private ArrayList<int[]> frames;
+    private List<Integer> framesInterpolate; // 0=linear, 1=accel, 2=decel, 3=accel+decel
+    private String fileName;
+    private String[] mFileList;
+    private String mChosenFile;
+    private final String FTYPE = ".txt"; // extension of saved files
+    private Context c;
+    private Timer t = new Timer(); // for sending updates in preview mode
+    private TimerTask tt;
+    private ValueAnimator animation;
+    private ToggleButton bPlay;
+    private ToggleButton bPreview;
+    private ToggleButton bInterpolate;
+
+    @Override
+    public void onCreate(Bundle savedInstanceState)
+    {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.keyframes);
+        c = getApplicationContext();
+        interpolateSpinner = (Spinner) findViewById(R.id.interpolateSpinner);
+        interpolateSpinner.setOnItemSelectedListener(this);
+        framesInterpolate = new ArrayList<Integer>();
+        // populate seekBars and textViews arrays
+        pbar = (ProgressBar) findViewById(R.id.progressBar);
+        // channel 0 is time delay
+        seekBars = new ArrayList<SeekBar>();
+        seekBars.add((SeekBar) findViewById(R.id.sbTimeDelay));
+        seekBars.get(0).setOnSeekBarChangeListener(this);
+        textViews = new ArrayList<TextView>();
+        textViews.add((TextView) findViewById(R.id.tvTimeDelay));
+        // add rest of channels
+        numChannels = 1;
+        int seekBarId;
+        while ( (seekBarId = getResources().getIdentifier("sb" + numChannels, "id", getPackageName())) != 0 ) {
+            SeekBar seekBar = (SeekBar) findViewById(seekBarId);
+            seekBar.setOnSeekBarChangeListener(this);
+            seekBars.add(seekBar);
+            TextView textView = (TextView) findViewById(getResources().getIdentifier("tv" + numChannels, "id", getPackageName()));
+            textViews.add(textView);
+            numChannels++;
+        }
+        // set up frames lists and default 1st frame
+        frames = new ArrayList<int[]>();
+        frames.add(new int[numChannels]);
+        frames.get(0)[0] = defaultDelay;
+        framesInterpolate.add(0);
+        createFrameList();
+        selectKeyframe(0);
+
+        bPlay = (ToggleButton) findViewById(R.id.bPlay);
+        bPreview = (ToggleButton) findViewById(R.id.bPreview);
+        bInterpolate = (ToggleButton) findViewById(R.id.bInterpolate);
+    }
+
+    // set up menu
+    @Override
+    public boolean onCreateOptionsMenu(Menu menu) {
+        MenuInflater inflater = getMenuInflater();
+        inflater.inflate(R.menu.keyframes_menu, menu);
+        return true;
+    }
+
+    @Override
+    public boolean onOptionsItemSelected(MenuItem item) {
+        // Handle menu button clicks
+        switch (item.getItemId()) {
+            case R.id.bSave:
+                saveKeyframes();
+                return true;
+            case R.id.bLoad:
+                if (play && animation != null) {
+                    animation.end();
+                    bPlay.setChecked(false);
+                }
+                loadFileList();
+                createLoadDialog();
+                return true;
+            case R.id.bInfo:
+                createInfoDialog();
+                return true;
+            default:
+                return super.onOptionsItemSelected(item);
+        }
+    }
+
+    // handle activity losing focus
+    @Override
+    protected void onPause()
+    {
+        if (animation != null) animation.end();
+        handleTimer(false);
+        super.onPause();
+    }
+
+    @Override
+    protected void onResume()
+    {
+        super.onResume();
+    }
+
+    /**
+     * Opens an input dialog and saves keyframes in a text file in the external storage root /BlueberryRemote/keyframes
+     */
+    public void saveKeyframes() {
+        // prompt for file name
+        AlertDialog.Builder builder = new AlertDialog.Builder(this);
+        //builder.setTitle("File name");
+
+        // set content of dialog to save_prompt.xml
+        View promptView = LayoutInflater.from(c).inflate(R.layout.save_prompt, null);
+        builder.setView(promptView);
+
+        final EditText userInput = (EditText) promptView.findViewById(R.id.savePromptInput);
+        userInput.setText(fileName);
+
+        // Set up the buttons
+        builder.setPositiveButton("Save", new DialogInterface.OnClickListener() {
+            @Override
+            public void onClick(DialogInterface dialog, int which) {
+                // save file
+                // check length of input
+                String fileNameTmp = userInput.getText().toString();
+                if (fileNameTmp.length() == 0) {
+                    Toast.makeText(c, "Save failed. Name cannot be blank.", Toast.LENGTH_SHORT).show();
+                    return;
+                }
+                // check if storage is available to read and write
+                if (!Environment.MEDIA_MOUNTED.equals(Environment.getExternalStorageState())) {
+                    Toast.makeText(c, "Save failed. Storage not available.", Toast.LENGTH_SHORT).show();
+                    return;
+                }
+                try {
+                    // get output file and create if needed
+                    File f = new File(Environment.getExternalStorageDirectory() + "/" + getString(R.string.storageFolder) + "/keyframes/" + fileNameTmp + ".txt");
+                    if (!f.exists()) {
+                        // create parent directory is needed
+                        if (!f.getParentFile().exists() && !f.getParentFile().mkdirs()){
+                            Toast.makeText(c, "Save failed. Couldn't make save directory.", Toast.LENGTH_SHORT).show();
+                            Log.d("keyframes", "Attempted path failed: " + Environment.getExternalStorageDirectory() + "/" + getString(R.string.storageFolder) + "/keyframes/" + fileNameTmp + ".txt");
+                            return;
+                        }
+                        if (!f.exists()) {
+                            f.createNewFile();
+                        }
+                    }
+                    // write file
+                    FileOutputStream fOut = new FileOutputStream(f);
+                    fOut.write(keyframesToStr().getBytes());
+                }
+                catch (IOException e) {
+                    Toast.makeText(c, "Save failed. " + e.toString(), Toast.LENGTH_SHORT).show();
+                    return;
+                }
+                fileName = fileNameTmp;
+                Toast.makeText(c, getString(R.string.saveSuccess) + "/" + fileName + ".txt", Toast.LENGTH_SHORT).show();
+            }
+        });
+        builder.setNegativeButton("Cancel", new DialogInterface.OnClickListener() {
+            @Override
+            public void onClick(DialogInterface dialog, int which) {
+                dialog.cancel();
+            }
+        });
+        builder.show();
+    }
+
+    /**
+     * Convert keyframes to string.
+     * Delimits frames by a newline, delimits values in each frame by comma.
+     * First is interpolate method, second value is time, next values are channels in ascending order.
+     * @return Keyframes converted to string format.
+     */
+    private String keyframesToStr() {
+        StringBuilder sb = new StringBuilder();
+        int numFrames = frames.size();
+        for (int i = 0; i < numFrames; i++) {
+            sb.append(framesInterpolate.get(i));
+            sb.append(',');
+            int[] frame = frames.get(i);
+            for (int j = 0; j < numChannels; j++) {
+                sb.append(frame[j]);
+                if (j < numChannels-1)
+                    sb.append(',');
+            }
+            if (i < numFrames-1)
+                sb.append('\n');
+        }
+        return sb.toString();
+    }
+
+    /**
+     * Populate a list of available keyframe files
+     */
+    protected void loadFileList() {
+        File mPath = new File(Environment.getExternalStorageDirectory() + "/" + getString(R.string.storageFolder) + "/keyframes/");
+        if(mPath.exists()) {
+            FilenameFilter filter = new FilenameFilter() {
+
+                @Override
+                public boolean accept(File dir, String filename) {
+                    File sel = new File(dir, filename);
+                    return filename.contains(FTYPE) || sel.isDirectory();
+                }
+
+            };
+            mFileList = mPath.list(filter);
+        }
+        else {
+            mFileList= new String[0];
+        }
+    }
+
+
+    protected Dialog createLoadDialog() {
+        Dialog dialog;
+        AlertDialog.Builder builder = new AlertDialog.Builder(this);
+        builder.setTitle(getString(R.string.pickFile));
+        if(mFileList == null) {
+            dialog = builder.create();
+            return dialog;
+        }
+        builder.setItems(mFileList, new DialogInterface.OnClickListener() {
+            public void onClick(DialogInterface dialog, int which) {
+                mChosenFile = mFileList[which];
+                loadKeyframes(mChosenFile);
+            }
+        });
+        dialog = builder.show();
+        return dialog;
+    }
+
+    // Create the menu info button dialog
+    protected Dialog createInfoDialog() {
+        Dialog dialog;
+        AlertDialog.Builder builder = new AlertDialog.Builder(this);
+        builder.setTitle(getString(R.string.info));
+        builder.setMessage(R.string.keyframesInfo);
+        dialog = builder.show();
+        return dialog;
+    }
+
+    /**
+     * Parses a keyframes file and populates the frames ArrayList.
+     * @param fName File name not including path of file to open.
+     */
+    public void loadKeyframes(String fName) {
+        Log.d("keyframes", "Opening keyframes at " + fName);
+        frames.clear();
+        framesInterpolate.clear();
+        File f = new File(Environment.getExternalStorageDirectory() + "/" + getString(R.string.storageFolder) + "/keyframes/" + fName);
+        try {
+            InputStream inputStream = new FileInputStream(f);
+
+            if ( inputStream != null ) {
+                InputStreamReader inputStreamReader = new InputStreamReader(inputStream);
+                BufferedReader bufferedReader = new BufferedReader(inputStreamReader);
+                String receiveString = "";
+                while ( (receiveString = bufferedReader.readLine()) != null && receiveString.length() > 0 ) {
+                    parseKeyframe(receiveString);
+                }
+                createFrameList();
+                selectKeyframe(0);
+                inputStream.close();
+            } else {
+                Toast.makeText(c, "Couldn't find and/or open file.", Toast.LENGTH_SHORT).show();
+            }
+        }
+        catch (FileNotFoundException e) {
+            Log.d("keyframes", "File not found: " + e.toString());
+            Toast.makeText(c, "File not found.", Toast.LENGTH_SHORT).show();
+            return;
+        }
+        catch (IOException e) {
+            Log.d("keyframes", "Can't read file: " + e.toString());
+            Toast.makeText(c, "Can't read file: " + e.toString(), Toast.LENGTH_SHORT).show();
+            return;
+        }
+        catch (NumberFormatException e) {
+            Log.d("keyframes", "Invalid keyframe format.");
+            Toast.makeText(c, e.toString(), Toast.LENGTH_SHORT).show();
+            return;
+        }
+        // delete .txt extension
+        fileName = fName.substring(0, fName.length() - 4);;
+    }
+
+    /**
+     * Parses frame string
+     * @param frameStr The string in format time,ch1,ch2..., all integers.
+     * @return int[] with values in same order as input string
+     */
+    private void parseKeyframe(String frameStr) {
+        // check if string is parsable
+        Pattern doublePattern = Pattern.compile("^[0-9,]*$");
+        if (!doublePattern.matcher(frameStr).matches() || frameStr.length() == 0) {
+            Log.d("keyframes", frameStr);
+            throw new NumberFormatException("Invalid keyframe format.");
+        }
+
+        String[] frameSplit = frameStr.split(",");
+
+        int[] frame = new int[numChannels];
+        for(int i = 0; i < numChannels; i++) {
+            if (i < frameSplit.length-1 && frameSplit[i+1].length() > 0)
+                frame[i] = Integer.parseInt(frameSplit[i+1]);
+            else
+                frame[i] = 0;
+        }
+        framesInterpolate.add(Integer.parseInt(frameSplit[0]));
+        frames.add(frame);
+    }
+
+    /**
+     * Populate the keyframe RadioButtons
+     */
+    private void createFrameList() {
+        ViewGroup linearLayout = (ViewGroup) findViewById(R.id.frameList);
+        linearLayout.removeAllViews();
+        for (int i = 0; i < frames.size(); i++) {
+            RadioButton bt = new RadioButton(c);
+            bt.setText(Integer.toString(i + 1));
+            bt.setOnCheckedChangeListener(this);
+            linearLayout.addView(bt);
+        }
+        selectKeyframe(currentFrame);
+    }
+
+    /**
+     * Updates currentFrame, checks appropriate RadioButton and populates sliders
+     * @param frameIndex Index of frame in frames ArrayList
+     */
+    private void selectKeyframe(int frameIndex) {
+        currentFrame = frameIndex;
+        setSliderValues(frames.get(frameIndex));
+        interpolateSpinner.setSelection(framesInterpolate.get(frameIndex));
+        // update radio buttons
+        RadioGroup frameList = (RadioGroup) findViewById(R.id.frameList);
+        frameList.clearCheck();
+        RadioButton btn = (RadioButton) frameList.getChildAt(frameIndex);
+        btn.setChecked(true);
+    }
+
+    /**
+     * Update slider values and text.
+     * @param frame Array of values. frame[0] is time.
+     */
+    private void setSliderValues(int[] frame) {
+        seekBars.get(0).setProgress(frame[0] - minDelay);
+        textViews.get(0).setText(Integer.toString(frame[0]));
+        for (int i=1; i < min(numChannels, frame.length); i++) {
+            seekBars.get(i).setProgress(frame[i]);
+            textViews.get(i).setText(Integer.toString(frame[i]));
+        }
+    }
+
+    /**
+     * Set up ValueAnimator animation and listeners to interpolate between keyframes.
+     * Call animation.start() to start animation, animation.end() to end.
+     * Animation plays in an infinite loop until stopped. Animation is modified on each repeat to play next frame.
+     */
+    private void setupAnimation() {
+        animation = ValueAnimator.ofInt(0, animLimit);
+        animation.setFrameDelay(delayMillis);
+        animation.setRepeatCount(animation.INFINITE);
+        animation.addUpdateListener(new ValueAnimator.AnimatorUpdateListener() {
+            @Override
+            public void onAnimationUpdate(ValueAnimator anim) {
+                int val = (int)anim.getAnimatedValue();
+                int[] currentFrameArr = frames.get(currentFrame);
+                int[] nextFrameArr = frames.get(nextFrame);
+                int[] tmpFrameArr = new int[numChannels];
+                // time
+                tmpFrameArr[0] = delayMillis;
+                // Interpolate between frames
+                for (int i = 1; i < numChannels; i++) {
+                    tmpFrameArr[i] = currentFrameArr[i] * (animLimit - val) / animLimit + nextFrameArr[i] * val / animLimit;
+                }
+                // sometimes the animation gets messed up after a repeat, skip writing frame if that happens
+                if (animation.getCurrentPlayTime() < delayMillis/2 && val > animLimit/2) return;
+                if (interpolate) {
+                    writeKeyframe(tmpFrameArr);
+                }
+                tmpFrameArr[0] = currentFrameArr[0];
+                setSliderValues(tmpFrameArr);
+                pbar.setProgress(val * 100 / animLimit);
+
+            }
+        });
+        animation.addListener(new ValueAnimator.AnimatorListener() {
+            @Override
+            public void onAnimationEnd(Animator anim) {
+                play = false;
+                selectKeyframe(currentFrame);
+                pbar.setProgress(0);
+                handleTimer(true);
+            }
+            @Override
+            public void onAnimationCancel(Animator anim) {
+            }
+            @Override
+            public void onAnimationRepeat(Animator anim) {
+                currentFrame = nextFrame;
+                selectKeyframe(currentFrame);
+                updateAnimation();
+                if (!interpolate)
+                    writeKeyframe(frames.get(nextFrame));
+            }
+            @Override
+            public void onAnimationStart(Animator anim) {
+                play = true;
+                handleTimer(false);
+                updateAnimation();
+                if (!interpolate)
+                    writeKeyframe(frames.get(nextFrame));
+            }
+        });
+    }
+
+    /**
+     * Helper function for animation listeners. Sets up animation for next frame.
+     */
+    private void updateAnimation() {
+        // if next index > last index, restart
+        nextFrame = (currentFrame + 1 > frames.size() - 1) ? 0 : currentFrame + 1;
+        animation.setCurrentPlayTime(0);
+        animation.setDuration(frames.get(currentFrame)[0]);
+        switch(framesInterpolate.get(currentFrame)) {
+            case 0:
+                animation.setInterpolator(new LinearInterpolator());
+                break;
+            case 1:
+                animation.setInterpolator(new AccelerateInterpolator());
+                break;
+            case 2:
+                animation.setInterpolator(new DecelerateInterpolator());
+                break;
+            case 3:
+                animation.setInterpolator(new AccelerateDecelerateInterpolator());
+                break;
+            default:
+                animation.setInterpolator(new LinearInterpolator());
+        }
+    }
+
+    /**
+     * Turns live preview command sending on and off.
+     * Turns on only when not playing animation and in preview mode, and okToStart is true.
+     * Sends commands at 20hz when timer is running.
+     * @param okToStart Boolean. Gives timer permission to run. False always turns off timer.
+     */
+    private void handleTimer(boolean okToStart) {
+        if (tt != null && (play || !preview || !okToStart)) {
+            tt.cancel();
+            t.purge();
+            timerRunning = false;
+        } else if (preview && !play && okToStart && !timerRunning) {
+            tt = new TimerTask() {
+                @Override
+                public void run() {
+                    int[] tmpFrame = new int[numChannels];
+                    System.arraycopy(frames.get(currentFrame), 0, tmpFrame, 0, frames.get(currentFrame).length);
+                    tmpFrame[0] = delayMillis;
+                    writeKeyframe(tmpFrame);
+                }
+            };
+            t.schedule(tt, 0, delayMillis); //turn on timer to send command every delayMillis milliseconds
+            timerRunning = true;
+        }
+    }
+
+    /**
+     * Send frame command via bluetooth. Format k,time,values...
+     * @param frame int[] of values consisting of time and all channel values
+     * @return Boolean success
+     */
+    private boolean writeKeyframe(int[] frame) {
+        StringBuilder sb = new StringBuilder();
+        sb.append("k,");
+        for (int j = 0; j < numChannels; j++) {
+            sb.append(frame[j]);
+            if (j < numChannels-1)
+                sb.append(',');
+        }
+        return write(sb.toString());
+    }
+
+    // Handle slider changes
+    @Override
+    public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser)
+    {
+        if (play || !fromUser) return;
+        int channel;
+        switch(seekBar.getId()) {
+            case R.id.sbTimeDelay:
+                channel = 0;
+                break;
+            case R.id.sb1:
+                channel = 1;
+                break;
+            case R.id.sb2:
+                channel = 2;
+                break;
+            case R.id.sb3:
+                channel = 3;
+                break;
+            case R.id.sb4:
+                channel = 4;
+                break;
+            case R.id.sb5:
+                channel = 5;
+                break;
+            case R.id.sb6:
+                channel = 6;
+                break;
+            default:
+                return;
+        }
+        textViews.get(channel).setText(Integer.toString(progress + (channel==0 ? minDelay : 0)));
+        frames.get(currentFrame)[channel] = progress + (channel==0 ? minDelay : 0);
+    }
+
+    @Override
+    public void onStartTrackingTouch(SeekBar seekBar)
+    {
+        // While slider is being changed, enable preview timer
+        handleTimer(true);
+    }
+
+    @Override
+    public void onStopTrackingTouch(SeekBar seekBar)
+    {
+        // When slider has stopped being changed, disable preview timer
+        handleTimer(false);
+    }
+
+    // handle interpolate method change
+    public void onItemSelected(AdapterView<?> parent, View view, int pos, long id) {
+        if (parent.getId() == R.id.interpolateSpinner) {
+            framesInterpolate.set(currentFrame, pos);
+        }
+    }
+
+    public void onNothingSelected(AdapterView<?> parent) {
+        if (parent.getId() == R.id.interpolateSpinner) {
+            framesInterpolate.set(currentFrame, 0);
+        }
+    }
+
+    // Handle keyframe RadioButton clicks
+    @Override
+    public void onCheckedChanged(CompoundButton btn, boolean checked) {
+        if (checked && !play) {
+            selectKeyframe(Integer.parseInt(btn.getText().toString()) - 1);
+        }
+    }
+
+    public void playBtnClick(View v)
+    {
+        if(((ToggleButton) v).isChecked())
+        {
+            if (animation == null) {
+                setupAnimation();
+            }
+            animation.start();
+        }
+        else
+        {
+            animation.end();
+        }
+        bPreview.setEnabled(!play);
+        Button btn = (Button) findViewById(R.id.insertBtn);
+        btn.setEnabled(!play);
+        btn = (Button) findViewById(R.id.deleteBtn);
+        btn.setEnabled(!play);
+        interpolateSpinner.setEnabled(!play);
+    }
+
+    public void interpolateBtnClick(View v) { interpolate = ((ToggleButton) v).isChecked(); }
+
+    public void insertBtnClick(View v) {
+        int[] frame = new int[numChannels];
+        frame[0] = defaultDelay;
+        // ArrayList.add(int, arr) inserts to the left but add button should add to the right
+        // so just add(arr) if adding next to last frame
+        if (currentFrame == frames.size() - 1) {
+            frames.add(frame);
+            framesInterpolate.add(0);
+        }
+        else {
+            frames.add(currentFrame + 1, frame);
+            framesInterpolate.add(currentFrame + 1, 0);
+        }
+        currentFrame += 1;
+        createFrameList();
+    }
+
+    public void deleteBtnClick(View v) {
+        // delete current frame
+        if (frames.size() > 1) {
+            frames.remove(currentFrame);
+            framesInterpolate.remove(currentFrame);
+            if (currentFrame != 0) currentFrame -= 1;
+            createFrameList();
+        }
+    }
+
+    public void previewBtnClick(View v)
+    {
+        preview = ((ToggleButton) v).isChecked();
+        handleTimer(true);
+    }
+}
diff --git a/src/com/bluetooth/activities/TouchControl.java b/src/com/bluetooth/activities/TouchControl.java
index 82c8cb7..7f059c3 100644
--- a/src/com/bluetooth/activities/TouchControl.java
+++ b/src/com/bluetooth/activities/TouchControl.java
@@ -32,16 +32,23 @@
 import android.widget.Button;
 import android.widget.TextView;
 
+import java.util.Timer;
+import java.util.TimerTask;
+
 public class TouchControl extends BluetoothActivity implements OnTouchListener, SurfaceHolder.Callback
 {
 	private TextView tvTouchX, tvTouchY, tvWheelLeft, tvWheelRight;
 	private Button bToggle;
+    private Button bXY;
 	private SurfaceView svTouchArea;
 	private SurfaceHolder svTouchAreaHolder;
 	private Canvas canvas;
 	private Bitmap joystick;
 	private int touchX, touchY, wheelLeft, wheelRight;
-	private boolean running;
+	private boolean running = false;
+	private boolean xyMode = false;
+	private Timer t = new Timer(); //for sending commands with consistent timing
+	private TimerTask tt;
 
 	@Override
 	public void onCreate(Bundle savedInstanceState)
@@ -69,6 +76,7 @@ public void onCreate(Bundle savedInstanceState)
 		joystick = BitmapFactory.decodeResource(getResources(), R.drawable.joystick);
 
 		bToggle = (Button) findViewById(R.id.bToggle);
+        bXY = (Button) findViewById(R.id.coordMode);
 	}
 
 	@Override
@@ -91,8 +99,25 @@ public boolean onTouch(View v, MotionEvent event)
 			wheelRight = 0;
 			drawJoystick(v.getWidth() / 2, v.getHeight() / 2);
 			write("s,0,0");
+			if(running) {
+				tt.cancel();
+				t.purge();//maybe not required
+			}
 			break;
 		case MotionEvent.ACTION_DOWN:
+			if(running) {
+				tt = new TimerTask() {
+					@Override
+					public void run() {
+					if (xyMode) {
+						write("s," + touchX + "," + touchY); // output x y coordinates
+					} else {
+						write("s," + wheelLeft + "," + wheelRight); // output left right wheel speeds like for tank
+					}
+				}
+				};
+				t.schedule(tt, 0, 50); //turn on timer to send command every 0.05 seconds
+			}
 		case MotionEvent.ACTION_MOVE:
 			touchX = (int) (100 * (2 * (float) event.getX() / v.getWidth() - 1));
 			touchY = (int) (100 * (1 - 2 * (float) event.getY() / v.getHeight()));
@@ -119,11 +144,6 @@ else if(wheelRight < -100)
 			{
 				wheelRight = -100;
 			}
-
-			if(running)
-			{
-				write("s," + wheelLeft + "," + wheelRight);
-			}
 			break;
 		}
 		tvTouchX.setText("X: " + touchX);
@@ -134,7 +154,7 @@ else if(wheelRight < -100)
 		return true;
 	}
 
-	public void buttonClick(View v)
+	public void startButtonClick(View v)
 	{
 		running = !running;
 		if(running)
@@ -144,6 +164,19 @@ public void buttonClick(View v)
 		else
 		{
 			bToggle.setText(R.string.start);
+			write("s,0,0");
+		}
+	}
+	public void xyButtonClick(View v)
+	{
+		xyMode = !xyMode;
+		if(xyMode)
+		{
+			bXY.setText(getString(R.string.XYMode));
+		}
+		else
+		{
+            bXY.setText(getString(R.string.LRMode));
 		}
 	}