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diff --git a/cphidgetservo.h b/cphidgetservo.h
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+#ifndef __CPHIDGETSERVO
+#define __CPHIDGETSERVO
+#include "cphidget.h"
+#include "cphidgetadvancedservo.h"
+
+/** \defgroup phidservo Phidget Servo 
+ * \ingroup phidgets
+ * Calls specific to the Phidget Servo. See the product manual for more specific API details, supported functionality, units, etc.
+ * @{
+ */
+
+DPHANDLE(Servo)
+CHDRSTANDARD(Servo)
+
+/**
+ * Gets the number of motors supported by this controller.
+ * @param phid An attached phidget servo handle.
+ * @param count The motor count.
+ */
+CHDRGET(Servo,MotorCount,int *count)
+
+/**
+ * Gets the current position of a motor.
+ * @param phid An attached phidget servo handle.
+ * @param index The motor index.
+ * @param position The motor position.
+ */
+CHDRGETINDEX(Servo,Position,double *position)
+/**
+ * Sets the current position of a motor.
+ * @param phid An attached phidget servo handle.
+ * @param index The motor index.
+ * @param position The motor position.
+ */
+CHDRSETINDEX(Servo,Position,double position)
+/**
+ * Gets the maximum position that a motor can be set to.
+ * @param phid An attached phidget servo handle.
+ * @param index The motor index.
+ * @param max The maximum position.
+ */
+CHDRGETINDEX(Servo,PositionMax,double *max)
+/**
+ * Gets the minimum position that a motor can be set to.
+ * @param phid An attached phidget servo handle.
+ * @param index The motor index.
+ * @param min The minimum position.
+ */
+CHDRGETINDEX(Servo,PositionMin,double *min)
+/**
+ * Sets a position change event handler. This is called when the position changes.
+ * @param phid An attached phidget servo handle
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(Servo,PositionChange,double position)
+/**
+ * Gets the engaged state of a motor. This is whether the motor is powered or not.
+ * @param phid An attached phidget servo handle
+ * @param index The motor index.
+ * @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE.
+ */
+CHDRGETINDEX(Servo,Engaged,int *engagedState)
+/**
+ * Sets the engaged state of a motor. This is whether the motor is powered or not.
+ * @param phid An attached phidget servo handle
+ * @param index The motor index.
+ * @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE.
+ */
+CHDRSETINDEX(Servo,Engaged,int engagedState)
+/**
+ * Gets the servo type of a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param servoType The servo type.
+ */
+CHDRGETINDEX(Servo,ServoType,CPhidget_ServoType *servoType)
+/**
+ * Sets the servo type of a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param servoType The servo type.
+ */
+CHDRSETINDEX(Servo,ServoType,CPhidget_ServoType servoType)
+/**
+ * Sets the servo parameters of a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param min_us The minimum supported PCM in microseconds.
+ * @param max_us The maximum supported PCM in microseconds.
+ * @param degrees The degrees of rotation defined by the given PCM range.
+ */
+CHDRSETINDEX(Servo,ServoParameters,double min_us,double max_us,double degrees)
+
+#ifndef REMOVE_DEPRECATED
+DEP_CHDRGET("Deprecated - use CPhidgetServo_getMotorCount",Servo,NumMotors,int *)
+DEP_CHDRSETINDEX("Deprecated - use CPhidgetServo_setPosition",Servo,MotorPosition,double)
+DEP_CHDRGETINDEX("Deprecated - use CPhidgetServo_getPosition",Servo,MotorPosition,double *)
+DEP_CHDRGETINDEX("Deprecated - use CPhidgetServo_getPositionMax",Servo,MotorPositionMax,double *)
+DEP_CHDRGETINDEX("Deprecated - use CPhidgetServo_getPositionMin",Servo,MotorPositionMin,double *)
+DEP_CHDREVENTINDEX("Deprecated - use CPhidgetServo_set_OnPositionChange_Handler",Servo,MotorPositionChange,double motorPosition)
+DEP_CHDRSETINDEX("Deprecated - use CPhidgetServo_setEngaged",Servo,MotorOn,int)
+DEP_CHDRGETINDEX("Deprecated - use CPhidgetServo_getEngaged",Servo,MotorOn,int *)
+#endif
+
+#ifndef EXTERNALPROTO
+
+PHIDGET21_API int CCONV setupNewServoParams(CPhidgetServoHandle phid, int Index, CPhidgetServoParameters params);
+
+#define SERVO_MAXSERVOS 4
+struct _CPhidgetServo {
+	CPhidget phid;
+
+	int (CCONV *fptrPositionChange)(CPhidgetServoHandle, void *, int, double);           
+	void *fptrPositionChangeptr;
+
+	//Deprecated
+	int (CCONV *fptrMotorPositionChange)(CPhidgetServoHandle, void *, int, double);           
+	void *fptrMotorPositionChangeptr;
+
+	double motorPositionEcho[SERVO_MAXSERVOS];
+	unsigned char motorEngagedStateEcho[SERVO_MAXSERVOS];
+
+	double motorPosition[SERVO_MAXSERVOS];
+	unsigned char motorEngagedState[SERVO_MAXSERVOS];
+
+	unsigned char fullStateEcho;
+
+	double motorPositionMax[SERVO_MAXSERVOS], motorPositionMin[SERVO_MAXSERVOS];
+	double motorPositionMaxLimit, motorPositionMinLimit;
+
+	CPhidgetServoParameters servoParams[ADVSERVO_MAXSERVOS];
+	char *servoParamString[ADVSERVO_MAXSERVOS];
+
+	unsigned char outputPacket[8];
+	unsigned int outputPacketLen;
+} typedef CPhidgetServoInfo;
+#endif
+
+/** @} */
+
+#endif