diff --git a/wpilibc/wpilibC++/include/ADXL345_I2C.h b/wpilibc/wpilibC++/include/ADXL345_I2C.h
index b9f588436b..4bd20baaa3 100644
--- a/wpilibc/wpilibC++/include/ADXL345_I2C.h
+++ b/wpilibc/wpilibC++/include/ADXL345_I2C.h
@@ -11,7 +11,7 @@ class I2C;
 
 /**
  * ADXL345 Accelerometer on I2C.
- * 
+ *
  * This class alows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus.
  * This class assumes the default (not alternate) sensor address of 0x3A (8-bit address).
  */
@@ -38,7 +38,7 @@ public:
 	};
 
 public:
-	explicit ADXL345_I2C(uint8_t moduleNumber, DataFormat_Range range=kRange_2G);
+	explicit ADXL345_I2C(DataFormat_Range range=kRange_2G);
 	virtual ~ADXL345_I2C();
 	virtual double GetAcceleration(Axes axis);
 	virtual AllAxes GetAccelerations();
diff --git a/wpilibc/wpilibC++/include/ADXL345_SPI.h b/wpilibc/wpilibC++/include/ADXL345_SPI.h
index f48811432f..f47f4da3d2 100644
--- a/wpilibc/wpilibC++/include/ADXL345_SPI.h
+++ b/wpilibc/wpilibC++/include/ADXL345_SPI.h
@@ -13,7 +13,7 @@ class SPI;
 
 /**
  * ADXL345 Accelerometer on SPI.
- * 
+ *
  * This class alows access to an Analog Devices ADXL345 3-axis accelerometer via SPI.
  * This class assumes the sensor is wired in 4-wire SPI mode.
  */
@@ -44,7 +44,7 @@ public:
 		DigitalOutput &cs, DataFormat_Range range=kRange_2G);
 	ADXL345_SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *miso,
 		DigitalOutput *cs, DataFormat_Range range=kRange_2G);
-	ADXL345_SPI(uint8_t moduleNumber, uint32_t clk, uint32_t mosi, uint32_t miso, uint32_t cs,
+	ADXL345_SPI(uint32_t clk, uint32_t mosi, uint32_t miso, uint32_t cs,
 		DataFormat_Range range=kRange_2G);
 	virtual ~ADXL345_SPI();
 	virtual double GetAcceleration(Axes axis);
diff --git a/wpilibc/wpilibC++/include/Accelerometer.h b/wpilibc/wpilibC++/include/Accelerometer.h
index 87bfd01459..dc3b5feba3 100644
--- a/wpilibc/wpilibC++/include/Accelerometer.h
+++ b/wpilibc/wpilibC++/include/Accelerometer.h
@@ -10,7 +10,7 @@
 #include "PIDSource.h"
 #include "LiveWindow/LiveWindowSendable.h"
 
-/** 
+/**
  * Handle operation of the accelerometer.
  * The accelerometer reads acceleration directly through the sensor. Many sensors have
  * multiple axis and can be treated as multiple devices. Each is calibrated by finding
@@ -19,7 +19,6 @@
 class Accelerometer : public SensorBase, public PIDSource, public LiveWindowSendable {
 public:
 	explicit Accelerometer(uint32_t channel);
-	Accelerometer(uint8_t moduleNumber, uint32_t channel);
 	explicit Accelerometer(AnalogInput *channel);
 	virtual ~Accelerometer();
 
@@ -42,6 +41,6 @@ private:
 	float m_voltsPerG;
 	float m_zeroGVoltage;
 	bool m_allocatedChannel;
-	
+
 	ITable *m_table;
 };
diff --git a/wpilibc/wpilibC++/include/AnalogInput.h b/wpilibc/wpilibC++/include/AnalogInput.h
index cc18272f29..be0dc77662 100644
--- a/wpilibc/wpilibC++/include/AnalogInput.h
+++ b/wpilibc/wpilibC++/include/AnalogInput.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
@@ -9,12 +9,11 @@
 #include "SensorBase.h"
 #include "PIDSource.h"
 #include "LiveWindow/LiveWindowSendable.h"
-
-class AnalogModule;
+#include "AnalogModule.h"
 
 /**
  * Analog input class.
- * 
+ *
  * Connected to each analog channel is an averaging and oversampling engine.  This engine accumulates
  * the specified ( by SetAverageBits() and SetOversampleBits() ) number of samples before returning a new
  * value.  This is not a sliding window average.  The only difference between the oversampled samples and
@@ -29,11 +28,10 @@ public:
 	static const uint32_t kAccumulatorNumChannels = 2;
 	static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];
 
-	AnalogInput(uint8_t moduleNumber, uint32_t channel);
 	explicit AnalogInput(uint32_t channel);
 	virtual ~AnalogInput();
 
-	AnalogModule *GetModule();
+    AnalogModule *GetModule() { return AnalogModule::GetInstance(1); }
 
 	int16_t GetValue();
 	int32_t GetAverageValue();
@@ -41,7 +39,6 @@ public:
 	float GetVoltage();
 	float GetAverageVoltage();
 
-	uint8_t GetModuleNumber();
 	uint32_t GetChannel();
 
 	void SetAverageBits(uint32_t bits);
@@ -72,8 +69,8 @@ public:
 	ITable * GetTable();
 
 private:
-	void InitAnalogInput(uint8_t moduleNumber, uint32_t channel);
-	uint32_t m_channel, m_module;
+	void InitAnalogInput(uint32_t channel);
+	uint32_t m_channel;
 	void* m_port;
 	int64_t m_accumulatorOffset;
 
diff --git a/wpilibc/wpilibC++/include/AnalogPotentiometer.h b/wpilibc/wpilibC++/include/AnalogPotentiometer.h
index be6fbaf825..dbdf91c803 100644
--- a/wpilibc/wpilibC++/include/AnalogPotentiometer.h
+++ b/wpilibc/wpilibC++/include/AnalogPotentiometer.h
@@ -1,7 +1,7 @@
 
 #include "AnalogInput.h"
 #include "interfaces/Potentiometer.h"
-#include "LiveWindow/LiveWindowSendable.h" 
+#include "LiveWindow/LiveWindowSendable.h"
 
 /**
  * Class for reading analog potentiometers. Analog potentiometers read
@@ -13,23 +13,6 @@
  */
 class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
 public:
-    /**
-     * AnalogPotentiometer constructor.
-     *
-     * Use the scaling and offset values so that the output produces
-     * meaningful values. I.E: you have a 270 degree potentiometer and
-     * you want the output to be degrees with the halfway point as 0
-     * degrees. The scale value is 270.0(degrees)/5.0(volts) and the
-     * offset is -135.0 since the halfway point after scaling is 135
-     * degrees.
-     *
-     * @param slot The analog module this potentiometer is plugged into.
-     * @param channel The analog channel this potentiometer is plugged into.
-     * @param scale The scaling to multiply the voltage by to get a meaningful unit.
-     * @param offset The offset to add to the scaled value for controlling the zero value
-     */
-    AnalogPotentiometer(int slot, int channel, double scale, double offset);
-
     /**
      * AnalogPotentiometer constructor.
      *
@@ -82,7 +65,7 @@ public:
      * @return The current reading.
      */
     virtual double PIDGet();
-    
+
     /*
      * Live Window code, only does anything if live window is activated.
      */
@@ -95,14 +78,14 @@ public:
      * AnalogPotentiometers don't have to do anything special when entering the LiveWindow.
      */
     virtual void StartLiveWindowMode() {}
-    
+
     /**
      * AnalogPotentiometers don't have to do anything special when exiting the LiveWindow.
      */
     virtual void StopLiveWindowMode() {}
-  
+
 private:
-    int m_module, m_channel;
+    int m_channel;
     double m_scale, m_offset;
     AnalogInput* m_analog_channel;
     ITable* m_table;
@@ -110,5 +93,5 @@ private:
     /**
      * Common initialization code called by all constructors.
      */
-    void initPot(int slot, int channel, double scale, double offset);
+    void initPot(int channel, double scale, double offset);
 };
diff --git a/wpilibc/wpilibC++/include/AnalogTrigger.h b/wpilibc/wpilibC++/include/AnalogTrigger.h
index 2083c40bf0..1dc34feab2 100644
--- a/wpilibc/wpilibC++/include/AnalogTrigger.h
+++ b/wpilibc/wpilibC++/include/AnalogTrigger.h
@@ -16,7 +16,6 @@ class AnalogTrigger : public SensorBase
 {
 	friend class AnalogTriggerOutput;
 public:
-	AnalogTrigger(uint8_t moduleNumber, uint32_t channel);
 	explicit AnalogTrigger(uint32_t channel);
 	explicit AnalogTrigger(AnalogInput *channel);
 	virtual ~AnalogTrigger();
@@ -31,7 +30,7 @@ public:
 	AnalogTriggerOutput *CreateOutput(AnalogTriggerType type);
 
 private:
-	void InitTrigger(uint8_t moduleNumber, uint32_t channel);
+	void InitTrigger(uint32_t channel);
 
 	uint8_t m_index;
 	void* m_trigger;
diff --git a/wpilibc/wpilibC++/include/Compressor.h b/wpilibc/wpilibC++/include/Compressor.h
index 9a695a1393..6e6cc7e3e7 100644
--- a/wpilibc/wpilibC++/include/Compressor.h
+++ b/wpilibc/wpilibC++/include/Compressor.h
@@ -1,6 +1,8 @@
-/*
- * Compressor.h
- */
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
 
 #ifndef Compressor_H_
 #define Compressor_H_
@@ -11,24 +13,20 @@
 #include "LiveWindow/LiveWindowSendable.h"
 
 /**
- * CAN pneumatic control module compressor
- *
- *  Created on: May 28, 2014
- *      Author: Thomas Clark
- *
+ * PCM compressor
  */
 class Compressor: public SensorBase, public LiveWindowSendable, public ITableListener {
 public:
-	Compressor(uint8_t module);
+	explicit Compressor(uint8_t pcmID);
 	Compressor();
-	~Compressor();
+	virtual ~Compressor();
 
 	void Start();
 	void Stop();
 	bool Enabled();
 
 	bool GetPressureSwitchValue();
-	
+
 	float GetCompressorCurrent();
 
 	void SetClosedLoopControl(bool on);
diff --git a/wpilibc/wpilibC++/include/Counter.h b/wpilibc/wpilibC++/include/Counter.h
index dd6685dc89..5241e30da6 100644
--- a/wpilibc/wpilibC++/include/Counter.h
+++ b/wpilibc/wpilibC++/include/Counter.h
@@ -23,7 +23,6 @@ public:
 
 	Counter();
 	explicit Counter(uint32_t channel);
-	Counter(uint8_t moduleNumber, uint32_t channel);
 	explicit Counter(DigitalSource *source);
 	explicit Counter(DigitalSource &source);
 	explicit Counter(AnalogTrigger *trigger);
@@ -33,7 +32,6 @@ public:
 	virtual ~Counter();
 
 	void SetUpSource(uint32_t channel);
-	void SetUpSource(uint8_t moduleNumber, uint32_t channel);
 	void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
 	void SetUpSource(AnalogTrigger &analogTrigger, AnalogTriggerType triggerType);
 	void SetUpSource(DigitalSource *source);
@@ -42,7 +40,6 @@ public:
 	void ClearUpSource();
 
 	void SetDownSource(uint32_t channel);
-	void SetDownSource(uint8_t moduleNumber, uint32_t channel);
 	void SetDownSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
 	void SetDownSource(AnalogTrigger &analogTrigger, AnalogTriggerType triggerType);
 	void SetDownSource(DigitalSource *source);
@@ -73,7 +70,7 @@ public:
 	{
 		return m_index;
 	}
-	
+
 	void UpdateTable();
 	void StartLiveWindowMode();
 	void StopLiveWindowMode();
@@ -83,13 +80,13 @@ public:
 protected:
 	DigitalSource *m_upSource;		///< What makes the counter count up.
 	DigitalSource *m_downSource;	///< What makes the counter count down.
-	void* m_counter;				///< The FPGA counter object.	
+	void* m_counter;				///< The FPGA counter object.
 private:
 	void InitCounter(Mode mode = kTwoPulse);
 
 	bool m_allocatedUpSource;		///< Was the upSource allocated locally?
 	bool m_allocatedDownSource;	///< Was the downSource allocated locally?
 	uint32_t m_index;					///< The index of this counter.
-	
+
 	ITable *m_table;
 };
diff --git a/wpilibc/wpilibC++/include/DigitalInput.h b/wpilibc/wpilibC++/include/DigitalInput.h
index 9d8cc547ec..0aecae8c2a 100644
--- a/wpilibc/wpilibC++/include/DigitalInput.h
+++ b/wpilibc/wpilibC++/include/DigitalInput.h
@@ -21,7 +21,6 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable
 {
 public:
 	explicit DigitalInput(uint32_t channel);
-	DigitalInput(uint8_t moduleNumber, uint32_t channel);
 	virtual ~DigitalInput();
 	uint32_t Get();
 	uint32_t GetChannel();
@@ -44,7 +43,7 @@ public:
 	ITable * GetTable();
 
 private:
-	void InitDigitalInput(uint8_t moduleNumber, uint32_t channel);
+	void InitDigitalInput(uint32_t channel);
 	uint32_t m_channel;
 	DigitalModule *m_module;
 	bool m_lastValue;
diff --git a/wpilibc/wpilibC++/include/DigitalOutput.h b/wpilibc/wpilibC++/include/DigitalOutput.h
index 636fd559a3..081766b1e0 100644
--- a/wpilibc/wpilibC++/include/DigitalOutput.h
+++ b/wpilibc/wpilibC++/include/DigitalOutput.h
@@ -20,7 +20,6 @@ class DigitalOutput : public DigitalSource, public ITableListener, public LiveWi
 {
 public:
 	explicit DigitalOutput(uint32_t channel);
-	DigitalOutput(uint8_t moduleNumber, uint32_t channel);
 	virtual ~DigitalOutput();
 	void Set(uint32_t value);
 	uint32_t GetChannel();
@@ -49,7 +48,7 @@ public:
 	ITable * GetTable();
 
 private:
-	void InitDigitalOutput(uint8_t moduleNumber, uint32_t channel);
+	void InitDigitalOutput(uint32_t channel);
 
 	uint32_t m_channel;
 	uint32_t m_pwmGenerator;
diff --git a/wpilibc/wpilibC++/include/DriverStation.h b/wpilibc/wpilibC++/include/DriverStation.h
index 5e282792ab..115e7b01c9 100644
--- a/wpilibc/wpilibC++/include/DriverStation.h
+++ b/wpilibc/wpilibC++/include/DriverStation.h
@@ -29,7 +29,6 @@ public:
 	virtual ~DriverStation();
 	static DriverStation *GetInstance();
 
-	static const uint32_t kBatteryModuleNumber = 1;
 	static const uint32_t kBatteryChannel = 7;
 	static const uint32_t kJoystickPorts = 4;
 	static const uint32_t kJoystickAxes = 6;
diff --git a/wpilibc/wpilibC++/include/Encoder.h b/wpilibc/wpilibC++/include/Encoder.h
index 10caa70670..a4b6389d95 100644
--- a/wpilibc/wpilibC++/include/Encoder.h
+++ b/wpilibc/wpilibC++/include/Encoder.h
@@ -21,7 +21,7 @@ class DigitalSource;
  * reverse direction counting. When creating QuadEncoders, a direction is supplied that changes the
  * sense of the output to make code more readable if the encoder is mounted such that forward movement
  * generates negative values. Quadrature encoders have two digital outputs, an A Channel and a B Channel
- * that are out of phase with each other to allow the FPGA to do direction sensing. 
+ * that are out of phase with each other to allow the FPGA to do direction sensing.
  */
 class Encoder : public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
 {
@@ -29,8 +29,6 @@ public:
 
 	Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
 			EncodingType encodingType = k4X);
-	Encoder(uint8_t aModuleNumber, uint32_t aChannel, uint8_t bModuleNumber, uint32_t _bChannel,
-			bool reverseDirection = false, EncodingType encodingType = k4X);
 	Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection = false,
 			EncodingType encodingType = k4X);
 	Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection = false,
@@ -77,6 +75,6 @@ private:
 	Counter *m_counter;				// Counter object for 1x and 2x encoding
 	EncodingType m_encodingType;	// Encoding type
 	PIDSourceParameter m_pidSource;	// Encoder parameter that sources a PID controller
-	
+
 	ITable *m_table;
 };
diff --git a/wpilibc/wpilibC++/include/GearTooth.h b/wpilibc/wpilibC++/include/GearTooth.h
index 7ca82924cd..2df3c765ca 100644
--- a/wpilibc/wpilibC++/include/GearTooth.h
+++ b/wpilibc/wpilibC++/include/GearTooth.h
@@ -19,7 +19,6 @@ public:
 	/// 55 uSec for threshold
 	static constexpr double kGearToothThreshold = 55e-6;
 	GearTooth(uint32_t channel, bool directionSensitive = false);
-	GearTooth(uint8_t moduleNumber, uint32_t channel, bool directionSensitive = false);
 	GearTooth(DigitalSource *source, bool directionSensitive = false);
 	GearTooth(DigitalSource &source, bool directionSensitive = false);
 	virtual ~GearTooth();
diff --git a/wpilibc/wpilibC++/include/Gyro.h b/wpilibc/wpilibC++/include/Gyro.h
index 0f777bc750..36e529be4d 100644
--- a/wpilibc/wpilibC++/include/Gyro.h
+++ b/wpilibc/wpilibC++/include/Gyro.h
@@ -10,7 +10,6 @@
 #include "LiveWindow/LiveWindowSendable.h"
 
 class AnalogInput;
-class AnalogModule;
 
 /**
  * Use a rate gyro to return the robots heading relative to a starting position.
@@ -18,7 +17,7 @@ class AnalogModule;
  * rotates the new heading is computed by integrating the rate of rotation returned
  * by the sensor. When the class is instantiated, it does a short calibration routine
  * where it samples the gyro while at rest to determine the default offset. This is
- * subtracted from each sample to determine the heading. This gyro class must be used 
+ * subtracted from each sample to determine the heading. This gyro class must be used
  * with a channel that is assigned one of the Analog accumulators from the FPGA. See
  * AnalogInput for the current accumulator assignments.
  */
@@ -31,7 +30,6 @@ public:
 	static constexpr float kCalibrationSampleTime = 5.0;
 	static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
 
-	Gyro(uint8_t moduleNumber, uint32_t channel);
 	explicit Gyro(uint32_t channel);
 	explicit Gyro(AnalogInput *channel);
 	explicit Gyro(AnalogInput &channel);
diff --git a/wpilibc/wpilibC++/include/HiTechnicColorSensor.h b/wpilibc/wpilibC++/include/HiTechnicColorSensor.h
index fc6d017dfe..fbcb350ec1 100644
--- a/wpilibc/wpilibC++/include/HiTechnicColorSensor.h
+++ b/wpilibc/wpilibC++/include/HiTechnicColorSensor.h
@@ -36,7 +36,7 @@ public:
 		uint16_t blue;
 		uint16_t green;
 	};
-	explicit HiTechnicColorSensor(uint8_t moduleNumber);
+	HiTechnicColorSensor();
 	virtual ~HiTechnicColorSensor();
 	uint8_t GetColor();
 	uint8_t GetRed();
diff --git a/wpilibc/wpilibC++/include/HiTechnicCompass.h b/wpilibc/wpilibC++/include/HiTechnicCompass.h
index 6aedba6dce..f0474e4d3d 100644
--- a/wpilibc/wpilibC++/include/HiTechnicCompass.h
+++ b/wpilibc/wpilibC++/include/HiTechnicCompass.h
@@ -12,23 +12,23 @@ class I2C;
 
 /**
  * HiTechnic NXT Compass.
- * 
+ *
  * This class alows access to a HiTechnic NXT Compass on an I2C bus.
  * These sensors to not allow changing addresses so you cannot have more
  *   than one on a single bus.
- * 
+ *
  * Details on the sensor can be found here:
  *   http://www.hitechnic.com/index.html?lang=en-us&target=d17.html
- * 
+ *
  * @todo Implement a calibration method for the sensor.
  */
 class HiTechnicCompass : public SensorBase, public LiveWindowSendable
 {
 public:
-	explicit HiTechnicCompass(uint8_t moduleNumber);
+	HiTechnicCompass();
 	virtual ~HiTechnicCompass();
 	float GetAngle();
-	
+
 	void UpdateTable();
 	void StartLiveWindowMode();
 	void StopLiveWindowMode();
@@ -45,6 +45,6 @@ private:
 	static const uint8_t kHeadingRegister = 0x44;
 
 	I2C* m_i2c;
-	
+
 	ITable *m_table;
 };
diff --git a/wpilibc/wpilibC++/include/Jaguar.h b/wpilibc/wpilibC++/include/Jaguar.h
index d562f4bfd1..51ac4fe8c8 100644
--- a/wpilibc/wpilibC++/include/Jaguar.h
+++ b/wpilibc/wpilibC++/include/Jaguar.h
@@ -16,7 +16,6 @@ class Jaguar : public SafePWM, public SpeedController
 {
 public:
 	explicit Jaguar(uint32_t channel);
-	Jaguar(uint8_t moduleNumber, uint32_t channel);
 	virtual ~Jaguar();
 	virtual void Set(float value, uint8_t syncGroup = 0);
 	virtual float Get();
diff --git a/wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h b/wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h
index ca05c1b964..93f9cca4cd 100644
--- a/wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h
+++ b/wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h
@@ -35,9 +35,10 @@ public:
 	void Run();
 	void AddSensor(const char *subsystem, const char *name, LiveWindowSendable *component);
 	void AddActuator(const char *subsystem, const char *name, LiveWindowSendable *component);
-	void AddSensor(std::string type, int module, int channel, LiveWindowSendable *component);
+	void AddSensor(std::string type, int channel, LiveWindowSendable *component);
+	void AddActuator(std::string type, int channel, LiveWindowSendable *component);
 	void AddActuator(std::string type, int module, int channel, LiveWindowSendable *component);
-	
+
 	bool IsEnabled() { return m_enabled; }
 	void SetEnabled(bool enabled);
 
@@ -49,19 +50,18 @@ private:
 	void UpdateValues();
 	void Initialize();
 	void InitializeLiveWindowComponents();
-	
+
 	std::vector<LiveWindowSendable *> m_sensors;
 	std::map<LiveWindowSendable *, LiveWindowComponent> m_components;
-	
+
 	static LiveWindow *m_instance;
 	ITable *m_liveWindowTable;
 	ITable *m_statusTable;
-	
+
 	Scheduler *m_scheduler;
-	
+
 	bool m_enabled;
 	bool m_firstTime;
 };
 
 #endif
-
diff --git a/wpilibc/wpilibC++/include/PWM.h b/wpilibc/wpilibC++/include/PWM.h
index b7696a3b3e..4c72c416cc 100644
--- a/wpilibc/wpilibC++/include/PWM.h
+++ b/wpilibc/wpilibC++/include/PWM.h
@@ -13,12 +13,12 @@ class DigitalModule;
 
 /**
  * Class implements the PWM generation in the FPGA.
- * 
+ *
  * The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped
  * to the hardware dependent values, in this case 0-255 for the FPGA.
  * Changes are immediately sent to the FPGA, and the update occurs at the next
  * FPGA cycle. There is no delay.
- * 
+ *
  * As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-255 values as follows:
  *   - 255 = full "forward"
  *   - 254 to 129 = linear scaling from "full forward" to "center"
@@ -39,7 +39,6 @@ public:
 	};
 
 	explicit PWM(uint32_t channel);
-	PWM(uint8_t moduleNumber, uint32_t channel);
 	virtual ~PWM();
 	virtual void SetRaw(unsigned short value);
 	virtual unsigned short GetRaw();
@@ -52,7 +51,6 @@ public:
 	{
 		return m_channel;
 	}
-	uint32_t GetModuleNumber();
 
 protected:
 	/**
@@ -105,7 +103,7 @@ protected:
 	ITable *m_table;
 
 private:
-	void InitPWM(uint8_t moduleNumber, uint32_t channel);
+	void InitPWM(uint32_t channel);
 	uint32_t m_channel;
 	DigitalModule *m_module;
 	int32_t GetMaxPositivePwm()
diff --git a/wpilibc/wpilibC++/include/Relay.h b/wpilibc/wpilibC++/include/Relay.h
index f018a8fe9d..4a5ef4dba0 100644
--- a/wpilibc/wpilibC++/include/Relay.h
+++ b/wpilibc/wpilibC++/include/Relay.h
@@ -16,7 +16,7 @@ class DigitalModule;
  * Class for Spike style relay outputs.
  * Relays are intended to be connected to spikes or similar relays. The relay channels controls
  * a pair of pins that are either both off, one on, the other on, or both on. This translates into
- * two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two 
+ * two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two
  * spike outputs at 12V. This allows off, full forward, or full reverse control of motors without
  * variable speed.  It also allows the two channels (forward and reverse) to be used independently
  * for something that does not care about voltage polatiry (like a solenoid).
@@ -39,7 +39,6 @@ public:
 	};
 
 	Relay(uint32_t channel, Direction direction = kBothDirections);
-	Relay(uint8_t moduleNumber, uint32_t channel, Direction direction = kBothDirections);
 	virtual ~Relay();
 
 	void Set(Value value);
@@ -56,7 +55,7 @@ public:
 	ITable *m_table;
 
 private:
-	void InitRelay(uint8_t moduleNumber);
+	void InitRelay();
 
 	uint32_t m_channel;
 	Direction m_direction;
diff --git a/wpilibc/wpilibC++/include/SafePWM.h b/wpilibc/wpilibC++/include/SafePWM.h
index cc303b14fe..bed5c214f5 100644
--- a/wpilibc/wpilibC++/include/SafePWM.h
+++ b/wpilibc/wpilibC++/include/SafePWM.h
@@ -21,7 +21,6 @@ class SafePWM : public PWM, public MotorSafety
 {
 public:
 	explicit SafePWM(uint32_t channel);
-	SafePWM(uint8_t moduleNumber, uint32_t channel);
 	~SafePWM();
 
 	void SetExpiration(float timeout);
diff --git a/wpilibc/wpilibC++/include/SensorBase.h b/wpilibc/wpilibC++/include/SensorBase.h
index 29d1de7c9f..eaecc44b15 100644
--- a/wpilibc/wpilibC++/include/SensorBase.h
+++ b/wpilibc/wpilibC++/include/SensorBase.h
@@ -20,22 +20,12 @@ public:
 	SensorBase();
 	virtual ~SensorBase();
 	static void DeleteSingletons();
-	static uint32_t GetDefaultAnalogModule()
+
+    static uint32_t GetDefaultSolenoidModule()
 	{
 		return 1;
 	}
-	static uint32_t GetDefaultDigitalModule()
-	{
-		return 1;
-	}
-	static uint32_t GetDefaultSolenoidModule()
-	{
-		return 1;
-	}
-	static bool CheckAnalogModule(uint8_t moduleNumber);
-	static bool CheckDigitalModule(uint8_t moduleNumber);
-	static bool CheckPWMModule(uint8_t moduleNumber);
-	static bool CheckRelayModule(uint8_t moduleNumber);
+
 	static bool CheckSolenoidModule(uint8_t moduleNumber);
 	static bool CheckDigitalChannel(uint32_t channel);
 	static bool CheckRelayChannel(uint32_t channel);
@@ -48,8 +38,6 @@ public:
 	static const uint32_t kDigitalChannels = 20;
 	static const uint32_t kAnalogInputs = 8;
     static const uint32_t kAnalogOutputs = 2;
-	static const uint32_t kAnalogModules = 2;
-	static const uint32_t kDigitalModules = 2;
 	static const uint32_t kSolenoidChannels = 8;
 	static const uint32_t kSolenoidModules = 2;
 	static const uint32_t kPwmChannels = 20;
diff --git a/wpilibc/wpilibC++/include/Servo.h b/wpilibc/wpilibC++/include/Servo.h
index 0107e32e1b..01cba943da 100644
--- a/wpilibc/wpilibC++/include/Servo.h
+++ b/wpilibc/wpilibC++/include/Servo.h
@@ -10,7 +10,7 @@
 
 /**
  * Standard hobby style servo.
- * 
+ *
  * The range parameters default to the appropriate values for the Hitec HS-322HD servo provided
  * in the FIRST Kit of Parts in 2008.
  */
@@ -18,7 +18,6 @@ class Servo : public SafePWM
 {
 public:
 	explicit Servo(uint32_t channel);
-	Servo(uint8_t moduleNumber, uint32_t channel);
 	virtual ~Servo();
 	void Set(float value);
 	void SetOffline();
diff --git a/wpilibc/wpilibC++/include/SolenoidBase.h b/wpilibc/wpilibC++/include/SolenoidBase.h
index 741ecae696..78bb67d37f 100644
--- a/wpilibc/wpilibC++/include/SolenoidBase.h
+++ b/wpilibc/wpilibC++/include/SolenoidBase.h
@@ -21,7 +21,7 @@ public:
 	uint8_t GetAll();
 
 protected:
-	explicit SolenoidBase(uint8_t moduleNumber);
+	explicit SolenoidBase(uint8_t pcmID);
 	void Set(uint8_t value, uint8_t mask);
 	virtual void InitSolenoid() = 0;
 
diff --git a/wpilibc/wpilibC++/include/Talon.h b/wpilibc/wpilibC++/include/Talon.h
index 3279d17a3a..d9fb0ef12d 100644
--- a/wpilibc/wpilibC++/include/Talon.h
+++ b/wpilibc/wpilibC++/include/Talon.h
@@ -16,7 +16,6 @@ class Talon : public SafePWM, public SpeedController
 {
 public:
 	explicit Talon(uint32_t channel);
-	Talon(uint8_t moduleNumber, uint32_t channel);
 	virtual ~Talon();
 	virtual void Set(float value, uint8_t syncGroup = 0);
 	virtual float Get();
diff --git a/wpilibc/wpilibC++/include/Ultrasonic.h b/wpilibc/wpilibC++/include/Ultrasonic.h
index de7d3785ec..c595b1e69d 100644
--- a/wpilibc/wpilibC++/include/Ultrasonic.h
+++ b/wpilibc/wpilibC++/include/Ultrasonic.h
@@ -36,8 +36,6 @@ public:
 	Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel, DistanceUnit units = kInches);
 	Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel, DistanceUnit units = kInches);
 	Ultrasonic(uint32_t pingChannel, uint32_t echoChannel, DistanceUnit units = kInches);
-	Ultrasonic(uint8_t pingModuleNumber, uint32_t pingChannel, uint8_t echoModuleNumber,
-			uint32_t echoChannel, DistanceUnit units = kInches);
 	virtual ~Ultrasonic();
 
 	void Ping();
@@ -53,7 +51,7 @@ public:
 	{
 		m_enabled = enable;
 	}
-	
+
 	double PIDGet();
 	void SetDistanceUnits(DistanceUnit units);
 	DistanceUnit GetDistanceUnits();
@@ -90,4 +88,3 @@ private:
 
 	ITable *m_table;
 };
-
diff --git a/wpilibc/wpilibC++/include/Victor.h b/wpilibc/wpilibC++/include/Victor.h
index e1d8a2e190..fce4139f05 100644
--- a/wpilibc/wpilibC++/include/Victor.h
+++ b/wpilibc/wpilibC++/include/Victor.h
@@ -16,7 +16,6 @@ class Victor : public SafePWM, public SpeedController
 {
 public:
 	explicit Victor(uint32_t channel);
-	Victor(uint8_t moduleNumber, uint32_t channel);
 	virtual ~Victor();
 	virtual void Set(float value, uint8_t syncGroup = 0);
 	virtual float Get();
diff --git a/wpilibc/wpilibC++/lib/ADXL345_I2C.cpp b/wpilibc/wpilibC++/lib/ADXL345_I2C.cpp
index e9c3640cc2..7ed3371aaf 100644
--- a/wpilibc/wpilibC++/lib/ADXL345_I2C.cpp
+++ b/wpilibc/wpilibC++/lib/ADXL345_I2C.cpp
@@ -17,14 +17,13 @@ constexpr double ADXL345_I2C::kGsPerLSB;
 
 /**
  * Constructor.
- * 
- * @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
+ *
  * @param range The range (+ or -) that the accelerometer will measure.
  */
-ADXL345_I2C::ADXL345_I2C(uint8_t moduleNumber, ADXL345_I2C::DataFormat_Range range)
+ADXL345_I2C::ADXL345_I2C(ADXL345_I2C::DataFormat_Range range)
 	: m_i2c (NULL)
 {
-	DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
+	DigitalModule *module = DigitalModule::GetInstance(1);
 	if (module)
 	{
 		m_i2c = module->GetI2C(kAddress);
@@ -34,7 +33,7 @@ ADXL345_I2C::ADXL345_I2C(uint8_t moduleNumber, ADXL345_I2C::DataFormat_Range ran
 		// Specify the data format to read
 		m_i2c->Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
 
-		HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, moduleNumber - 1);
+		HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, 0);
 	}
 }
 
@@ -49,7 +48,7 @@ ADXL345_I2C::~ADXL345_I2C()
 
 /**
  * Get the acceleration of one axis in Gs.
- * 
+ *
  * @param axis The axis to read from.
  * @return Acceleration of the ADXL345 in Gs.
  */
@@ -68,7 +67,7 @@ double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis)
 
 /**
  * Get the acceleration of all axes in Gs.
- * 
+ *
  * @return Acceleration measured on all axes of the ADXL345 in Gs.
  */
 ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
@@ -91,4 +90,3 @@ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
 	}
 	return data;
 }
-
diff --git a/wpilibc/wpilibC++/lib/ADXL345_SPI.cpp b/wpilibc/wpilibC++/lib/ADXL345_SPI.cpp
index 92d6506dbe..5e0e9e8f0d 100644
--- a/wpilibc/wpilibC++/lib/ADXL345_SPI.cpp
+++ b/wpilibc/wpilibC++/lib/ADXL345_SPI.cpp
@@ -17,7 +17,7 @@ constexpr double ADXL345_SPI::kGsPerLSB;
 
 /**
  * Constructor.
- * 
+ *
  * @param clk The GPIO the clock signal is wired to.
  * @param mosi The GPIO the MOSI (Master Out Slave In) signal is wired to.
  * @param miso The GPIO the MISO (Master In Slave Out) signal is wired to.
@@ -37,7 +37,7 @@ ADXL345_SPI::ADXL345_SPI(DigitalOutput &clk, DigitalOutput &mosi, DigitalInput &
 
 /**
  * Constructor.
- * 
+ *
  * @param clk The GPIO the clock signal is wired to.
  * @param mosi The GPIO the MOSI (Master Out Slave In) signal is wired to.
  * @param miso The GPIO the MISO (Master In Slave Out) signal is wired to.
@@ -57,15 +57,14 @@ ADXL345_SPI::ADXL345_SPI(DigitalOutput *clk, DigitalOutput *mosi, DigitalInput *
 
 /**
  * Constructor.
- * 
- * @param moduleNumber The digital module with the sensor attached.
+ *
  * @param clk The GPIO the clock signal is wired to.
  * @param mosi The GPIO the MOSI (Master Out Slave In) signal is wired to.
  * @param miso The GPIO the MISO (Master In Slave Out) signal is wired to.
  * @param cs The GPIO the CS (Chip Select) signal is wired to.
  * @param range The range (+ or -) that the accelerometer will measure.
  */
-ADXL345_SPI::ADXL345_SPI(uint8_t moduleNumber, uint32_t clk, uint32_t mosi, uint32_t miso,
+ADXL345_SPI::ADXL345_SPI(uint32_t clk, uint32_t mosi, uint32_t miso,
 		uint32_t cs, ADXL345_SPI::DataFormat_Range range)
 	: m_clk (NULL)
 	, m_mosi (NULL)
@@ -73,10 +72,10 @@ ADXL345_SPI::ADXL345_SPI(uint8_t moduleNumber, uint32_t clk, uint32_t mosi, uint
 	, m_cs (NULL)
 	, m_spi (NULL)
 {
-	m_clk = new DigitalOutput(moduleNumber, clk);
-	m_mosi = new DigitalOutput(moduleNumber, mosi);
-	m_miso = new DigitalInput(moduleNumber, miso);
-	m_cs = new DigitalOutput(moduleNumber, cs);
+	m_clk = new DigitalOutput(clk);
+	m_mosi = new DigitalOutput(mosi);
+	m_miso = new DigitalInput(miso);
+	m_cs = new DigitalOutput(cs);
 	Init(m_clk, m_mosi, m_miso, m_cs, range);
 }
 
@@ -132,7 +131,7 @@ ADXL345_SPI::~ADXL345_SPI()
 
 /**
  * Get the acceleration of one axis in Gs.
- * 
+ *
  * @param axis The axis to read from.
  * @return Acceleration of the ADXL345 in Gs.
  */
@@ -152,7 +151,7 @@ double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis)
 
 /**
  * Get the acceleration of all axes in Gs.
- * 
+ *
  * @return Acceleration measured on all axes of the ADXL345 in Gs.
  */
 ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations()
@@ -210,4 +209,3 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations()
 	}
 	return data;
 }
-
diff --git a/wpilibc/wpilibC++/lib/Accelerometer.cpp b/wpilibc/wpilibC++/lib/Accelerometer.cpp
index 799ca43a33..de82744f7a 100644
--- a/wpilibc/wpilibC++/lib/Accelerometer.cpp
+++ b/wpilibc/wpilibC++/lib/Accelerometer.cpp
@@ -5,7 +5,6 @@
 /*----------------------------------------------------------------------------*/
 
 #include "Accelerometer.h"
-#include "AnalogModule.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
@@ -18,15 +17,14 @@ void Accelerometer::InitAccelerometer()
 	m_table = NULL;
 	m_voltsPerG = 1.0;
 	m_zeroGVoltage = 2.5;
-	HALReport(HALUsageReporting::kResourceType_Accelerometer, m_AnalogInput->GetChannel(), m_AnalogInput->GetModuleNumber() - 1);
-	LiveWindow::GetInstance()->AddSensor("Accelerometer", m_AnalogInput->GetModuleNumber(), m_AnalogInput->GetChannel(), this);
+	HALReport(HALUsageReporting::kResourceType_Accelerometer, m_AnalogInput->GetChannel());
+	LiveWindow::GetInstance()->AddSensor("Accelerometer", m_AnalogInput->GetChannel(), this);
 }
 
 /**
  * Create a new instance of an accelerometer.
- * 
- * The accelerometer is assumed to be in the first analog module in the given analog channel. The
- * constructor allocates desired analog channel.
+ *
+ * The constructor allocates desired analog input.
  */
 Accelerometer::Accelerometer(uint32_t channel)
 {
@@ -35,22 +33,6 @@ Accelerometer::Accelerometer(uint32_t channel)
 	InitAccelerometer();
 }
 
-/**
- * Create new instance of accelerometer.
- * 
- * Make a new instance of the accelerometer given a module and channel. The constructor allocates
- * the desired analog channel from the specified module
- *
- * @param moduleNumber The analog module (1 or 2).
- * @param channel The analog channel (1..8)
- */
-Accelerometer::Accelerometer(uint8_t moduleNumber, uint32_t channel)
-{
-	m_AnalogInput = new AnalogInput(moduleNumber, channel);
-	m_allocatedChannel = true;
-	InitAccelerometer();
-}
-
 /**
  * Create a new instance of Accelerometer from an existing AnalogInput.
  * Make a new instance of accelerometer given an AnalogInput. This is particularly
@@ -70,7 +52,7 @@ Accelerometer::Accelerometer(AnalogInput *channel)
 	}
 	m_allocatedChannel = false;
 }
-	
+
 /**
  * Delete the analog components used for the accelerometer.
  */
@@ -84,9 +66,9 @@ Accelerometer::~Accelerometer()
 
 /**
  * Return the acceleration in Gs.
- * 
+ *
  * The acceleration is returned units of Gs.
- * 
+ *
  * @return The current acceleration of the sensor in Gs.
  */
 float Accelerometer::GetAcceleration()
@@ -96,10 +78,10 @@ float Accelerometer::GetAcceleration()
 
 /**
  * Set the accelerometer sensitivity.
- * 
+ *
  * This sets the sensitivity of the accelerometer used for calculating the acceleration.
  * The sensitivity varys by accelerometer model. There are constants defined for various models.
- * 
+ *
  * @param sensitivity The sensitivity of accelerometer in Volts per G.
  */
 void Accelerometer::SetSensitivity(float sensitivity)
@@ -109,9 +91,9 @@ void Accelerometer::SetSensitivity(float sensitivity)
 
 /**
  * Set the voltage that corresponds to 0 G.
- * 
+ *
  * The zero G voltage varys by accelerometer model. There are constants defined for various models.
- * 
+ *
  * @param zero The zero G voltage.
  */
 void Accelerometer::SetZero(float zero)
@@ -121,9 +103,9 @@ void Accelerometer::SetZero(float zero)
 
 /**
  * Get the Acceleration for the PID Source parent.
- * 
+ *
  * @return The current acceleration in Gs.
- */ 
+ */
 double Accelerometer::PIDGet()
 {
 	return GetAcceleration();
@@ -153,4 +135,3 @@ void Accelerometer::InitTable(ITable *subTable) {
 ITable * Accelerometer::GetTable() {
 	return m_table;
 }
-
diff --git a/wpilibc/wpilibC++/lib/AnalogInput.cpp b/wpilibc/wpilibC++/lib/AnalogInput.cpp
index 584847136e..968825f4a8 100644
--- a/wpilibc/wpilibC++/lib/AnalogInput.cpp
+++ b/wpilibc/wpilibC++/lib/AnalogInput.cpp
@@ -1,11 +1,10 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							                */
+/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
 
 #include "AnalogInput.h"
-#include "AnalogModule.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "Resource.h"
 #include "WPIErrors.h"
@@ -20,61 +19,45 @@ const uint32_t AnalogInput::kAccumulatorChannels[] = {0, 1};
 /**
  * Common initialization.
  */
-void AnalogInput::InitAnalogInput(uint8_t moduleNumber, uint32_t channel)
+void AnalogInput::InitAnalogInput(uint32_t channel)
 {
 	m_table = NULL;
 	char buf[64];
-	Resource::CreateResourceObject(&inputs, kAnalogModules * kAnalogInputs);
-	if (!checkAnalogModule(moduleNumber))
-	{
-		snprintf(buf, 64, "Analog Module %d", moduleNumber);
-		wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
-		return;
-	}
-	if (!checkAnalogInputChannel(channel))
+	Resource::CreateResourceObject(&inputs, kAnalogInputs);
+
+    if (!checkAnalogInputChannel(channel))
 	{
 		snprintf(buf, 64, "analog input %d", channel);
 		wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
 		return;
 	}
 
-	snprintf(buf, 64, "Analog Input %d (Module: %d)", channel, moduleNumber);
-	if (inputs->Allocate((moduleNumber - 1) * kAnalogInputs + channel, buf) == ~0ul)
+	snprintf(buf, 64, "Analog Input %d", channel);
+	if (inputs->Allocate(channel, buf) == ~0ul)
 	{
 		CloneError(inputs);
 		return;
 	}
-	m_channel = channel;
-	m_module = moduleNumber;
 
-	void* port = getPortWithModule(moduleNumber, channel);
+    m_channel = channel;
+
+	void* port = getPort(channel);
 	int32_t status = 0;
 	m_port = initializeAnalogInputPort(port, &status);
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 
-	LiveWindow::GetInstance()->AddSensor("AnalogInput",channel, GetModuleNumber(), this);
-	HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel, GetModuleNumber() - 1);
+	LiveWindow::GetInstance()->AddSensor("AnalogInput",channel, this);
+	HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel);
 }
 
 /**
- * Construct an analog input on a specified module.
- *
- * @param moduleNumber The analog module (1 or 2).
- * @param channel The channel number to represent.
- */
-AnalogInput::AnalogInput(uint8_t moduleNumber, uint32_t channel)
-{
-	InitAnalogInput(moduleNumber, channel);
-}
-
-/**
- * Construct an analog input on the default module.
+ * Construct an analog input.
  *
  * @param channel The channel number to represent.
  */
 AnalogInput::AnalogInput(uint32_t channel)
 {
-	InitAnalogInput(GetDefaultAnalogModule(), channel);
+	InitAnalogInput(channel);
 }
 
 /**
@@ -82,24 +65,14 @@ AnalogInput::AnalogInput(uint32_t channel)
  */
 AnalogInput::~AnalogInput()
 {
-	inputs->Free((m_module - 1) * kAnalogInputs + m_channel);
+	inputs->Free(m_channel);
 }
 
 /**
- * Get the analog module that this channel is on.
- * @return A pointer to the AnalogModule that this channel is on.
- */
-AnalogModule *AnalogInput::GetModule()
-{
-	if (StatusIsFatal()) return NULL;
-	return AnalogModule::GetInstance(m_module);
-}
-
-/**
- * Get a sample straight from this channel on the module.
+ * Get a sample straight from this channel.
  * The sample is a 12-bit value representing the -10V to 10V range of the A/D converter in the module.
  * The units are in A/D converter codes.  Use GetVoltage() to get the analog value in calibrated units.
- * @return A sample straight from this channel on the module.
+ * @return A sample straight from this channel.
  */
 int16_t AnalogInput::GetValue()
 {
@@ -129,9 +102,9 @@ int32_t AnalogInput::GetAverageValue()
 }
 
 /**
- * Get a scaled sample straight from this channel on the module.
+ * Get a scaled sample straight from this channel.
  * The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset().
- * @return A scaled sample straight from this channel on the module.
+ * @return A scaled sample straight from this channel.
  */
 float AnalogInput::GetVoltage()
 {
@@ -160,8 +133,6 @@ float AnalogInput::GetAverageVoltage()
 
 /**
  * Get the factory scaling least significant bit weight constant.
- * The least significant bit weight constant for the channel that was calibrated in
- * manufacturing and stored in an eeprom in the module.
  *
  * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
  *
@@ -178,8 +149,6 @@ uint32_t AnalogInput::GetLSBWeight()
 
 /**
  * Get the factory scaling offset constant.
- * The offset constant for the channel that was calibrated in manufacturing and stored
- * in an eeprom in the module.
  *
  * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
  *
@@ -204,16 +173,6 @@ uint32_t AnalogInput::GetChannel()
 	return m_channel;
 }
 
-/**
- * Get the module number.
- * @return The module number.
- */
-uint8_t AnalogInput::GetModuleNumber()
-{
-	if (StatusIsFatal()) return 0;
-	return m_module;
-}
-
 /**
  * Set the number of averaging bits.
  * This sets the number of averaging bits. The actual number of averaged samples is 2**bits.
diff --git a/wpilibc/wpilibC++/lib/AnalogOutput.cpp b/wpilibc/wpilibC++/lib/AnalogOutput.cpp
index b5ec5fd9cb..37887b124f 100644
--- a/wpilibc/wpilibC++/lib/AnalogOutput.cpp
+++ b/wpilibc/wpilibC++/lib/AnalogOutput.cpp
@@ -39,7 +39,7 @@ void AnalogOutput::InitAnalogOutput(uint32_t channel) {
     m_port = initializeAnalogOutputPort(port, &status);
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
 
-    LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, 1, this);
+    LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
     HALReport(HALUsageReporting::kResourceType_AnalogChannel, m_channel, 0);
 }
 
diff --git a/wpilibc/wpilibC++/lib/AnalogPotentiometer.cpp b/wpilibc/wpilibC++/lib/AnalogPotentiometer.cpp
index f762f608b4..1e682e5a35 100644
--- a/wpilibc/wpilibC++/lib/AnalogPotentiometer.cpp
+++ b/wpilibc/wpilibC++/lib/AnalogPotentiometer.cpp
@@ -1,35 +1,30 @@
 
 #include "AnalogPotentiometer.h"
 
-void AnalogPotentiometer::initPot(int slot, int channel, double scale, double offset) {
-    m_module = slot;
+void AnalogPotentiometer::initPot(int channel, double scale, double offset) {
     m_channel = channel;
     m_scale = scale;
     m_offset = offset;
-    m_analog_channel = new AnalogInput(slot, channel);
-}
-
-AnalogPotentiometer::AnalogPotentiometer(int slot, int channel, double scale, double offset) {
-    initPot(slot, channel, scale, offset);
+    m_analog_channel = new AnalogInput(channel);
 }
 
 AnalogPotentiometer::AnalogPotentiometer(int channel, double scale, double offset) {
-    initPot(1, channel, scale, offset);
+    initPot(channel, scale, offset);
 }
 
 AnalogPotentiometer::AnalogPotentiometer(int channel, double scale) {
-    initPot(1, channel, scale, 0);
+    initPot(channel, scale, 0);
 }
 
 AnalogPotentiometer::AnalogPotentiometer(int channel) {
-    initPot(1, channel, 1, 0);
+    initPot(channel, 1, 0);
 }
 
 
 double AnalogPotentiometer::Get() {
     return m_analog_channel->GetVoltage() * m_scale + m_offset;
 }
-    
+
 double AnalogPotentiometer::PIDGet() {
     return Get();
 }
diff --git a/wpilibc/wpilibC++/lib/AnalogTrigger.cpp b/wpilibc/wpilibC++/lib/AnalogTrigger.cpp
index d2c161f1e2..9d12c8238c 100644
--- a/wpilibc/wpilibC++/lib/AnalogTrigger.cpp
+++ b/wpilibc/wpilibC++/lib/AnalogTrigger.cpp
@@ -13,51 +13,38 @@
 #include "WPIErrors.h"
 
 /**
- * Initialize an analog trigger from a slot and channel.
- * This is the common code for the two constructors that use a slot and channel.
+ * Initialize an analog trigger from a channel.
  */
-void AnalogTrigger::InitTrigger(uint8_t moduleNumber, uint32_t channel)
+void AnalogTrigger::InitTrigger(uint32_t channel)
 {
-	void* port = getPortWithModule(moduleNumber, channel);
+	void* port = getPort(channel);
 	int32_t status = 0;
 	uint32_t index = 0;
 	m_trigger = initializeAnalogTrigger(port, &index, &status);
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	m_index = index;
-	
-	HALReport(HALUsageReporting::kResourceType_AnalogTrigger, channel, moduleNumber - 1);
+
+	HALReport(HALUsageReporting::kResourceType_AnalogTrigger, channel);
 }
 
 /**
  * Constructor for an analog trigger given a channel number.
- * The default module is used in this case.
  *
- * @param channel The analog channel (1..8).
+ * @param channel The analog channel (0..7).
  */
 AnalogTrigger::AnalogTrigger(uint32_t channel)
 {
-	InitTrigger(GetDefaultAnalogModule(), channel);
+	InitTrigger(channel);
 }
 
 /**
- * Constructor for an analog trigger given both the slot and channel.
- *
- * @param moduleNumber The analog module (1 or 2).
- * @param channel The analog channel (1..8).
+ * Construct an analog trigger given an analog input.
+ * This should be used in the case of sharing an analog channel between the
+ * trigger and an analog input object.
  */
-AnalogTrigger::AnalogTrigger(uint8_t moduleNumber, uint32_t channel)
+AnalogTrigger::AnalogTrigger(AnalogInput *input)
 {
-	InitTrigger(moduleNumber, channel);
-}
-
-/**
- * Construct an analog trigger given an analog channel.
- * This should be used in the case of sharing an analog channel between the trigger
- * and an analog input object.
- */
-AnalogTrigger::AnalogTrigger(AnalogInput *channel)
-{
-	InitTrigger(channel->GetModuleNumber(), channel->GetChannel());
+	InitTrigger(input->GetChannel());
 }
 
 AnalogTrigger::~AnalogTrigger()
@@ -171,4 +158,3 @@ AnalogTriggerOutput *AnalogTrigger::CreateOutput(AnalogTriggerType type)
 	if (StatusIsFatal()) return NULL;
 	return new AnalogTriggerOutput(this, type);
 }
-
diff --git a/wpilibc/wpilibC++/lib/CANJaguar.cpp b/wpilibc/wpilibC++/lib/CANJaguar.cpp
index 4e71f80b7b..f9158aa0c1 100644
--- a/wpilibc/wpilibC++/lib/CANJaguar.cpp
+++ b/wpilibc/wpilibC++/lib/CANJaguar.cpp
@@ -82,12 +82,12 @@ void CANJaguar::InitCANJaguar()
 	m_safetyHelper = new MotorSafetyHelper(this);
 
 	HALReport(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, m_controlMode);
-	LiveWindow::GetInstance()->AddActuator("CANJaguar", m_deviceNumber, 0, this);
+	LiveWindow::GetInstance()->AddActuator("CANJaguar", m_deviceNumber, this);
 }
 
 /**
  * Constructor
- * 
+ *
  * @param deviceNumber The the address of the Jaguar on the CAN bus.
  */
 CANJaguar::CANJaguar(uint8_t deviceNumber, ControlMode controlMode)
@@ -109,15 +109,15 @@ CANJaguar::~CANJaguar()
 }
 
 /**
- * Set the output set-point value.  
- * 
+ * Set the output set-point value.
+ *
  * The scale and the units depend on the mode the Jaguar is in.
  * In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).
  * In Voltage Mode, the outputValue is in Volts.
  * In Current Mode, the outputValue is in Amps.
  * In Speed Mode, the outputValue is in Rotations/Minute.
  * In Position Mode, the outputValue is in Rotations.
- * 
+ *
  * @param outputValue The set-point to sent to the motor controller.
  * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup().  If 0, update immediately.
  */
@@ -231,7 +231,7 @@ void CANJaguar::SetNoAck(float outputValue, uint8_t syncGroup)
 		dataSize++;
 	}
 	{	//setTransaction(messageID, dataBuffer, dataSize);
-	
+
 		//uint32_t ackMessageID = LM_API_ACK | m_deviceNumber;
 		int32_t localStatus = 0;
 
@@ -245,11 +245,11 @@ void CANJaguar::SetNoAck(float outputValue, uint8_t syncGroup)
 
 		// Throw away any stale acks.
 		//receiveMessage(&ackMessageID, NULL, 0, 0.0f);
-		
+
 		// Send the message with the data.
 		localStatus = sendMessage(messageID | m_deviceNumber, dataBuffer, dataSize);
 		wpi_setErrorWithContext(localStatus, "sendMessage");
-		
+
 		// Wait for an ack.
 		//localStatus = receiveMessage(&ackMessageID, NULL, 0);
 		//wpi_setErrorWithContext(localStatus, "receiveMessage");
@@ -257,21 +257,21 @@ void CANJaguar::SetNoAck(float outputValue, uint8_t syncGroup)
 		// Transaction complete.
 		giveMutex(m_transactionSemaphore);
 	}
-	
-	
+
+
 	if (m_safetyHelper) m_safetyHelper->Feed();
 }
 
 /**
  * Get the recently set outputValue setpoint.
- * 
+ *
  * The scale and the units depend on the mode the Jaguar is in.
  * In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).
  * In Voltage Mode, the outputValue is in Volts.
  * In Current Mode, the outputValue is in Amps.
  * In Speed Mode, the outputValue is in Rotations/Minute.
  * In Position Mode, the outputValue is in Rotations.
- * 
+ *
  * @return The most recently set outputValue setpoint.
  */
 float CANJaguar::Get()
@@ -322,7 +322,7 @@ float CANJaguar::Get()
 
 /**
  * Common interface for disabling a motor.
- * 
+ *
  * @deprecated Call DisableControl instead.
  */
 void CANJaguar::Disable()
@@ -332,9 +332,9 @@ void CANJaguar::Disable()
 
 /**
  * Write out the PID value as seen in the PIDOutput base object.
- * 
+ *
  * @deprecated Call Set instead.
- * 
+ *
  * @param output Write out the PercentVbus value as was computed by the PIDController
  */
 void CANJaguar::PIDWrite(float output)
@@ -417,10 +417,10 @@ int32_t CANJaguar::unpackint32_t(uint8_t *buffer)
 
 /**
  * Send a message on the CAN bus through the CAN driver in FRC_NetworkCommunication
- * 
+ *
  * Trusted messages require a 2-byte token at the beginning of the data payload.
  * If the message being sent is trusted, make space for the token.
- * 
+ *
  * @param messageID The messageID to be used on the CAN bus
  * @param data The up to 8 bytes of data to be sent with the message
  * @param dataSize Specify how much of the data in "data" to send
@@ -464,7 +464,7 @@ int32_t CANJaguar::sendMessage(uint32_t messageID, const uint8_t *data, uint8_t
 
 /**
  * Receive a message from the CAN bus through the CAN driver in FRC_NetworkCommunication
- * 
+ *
  * @param messageID The messageID to read from the CAN bus
  * @param data The up to 8 bytes of data that was received with the message
  * @param dataSize Indicates how much data was received
@@ -482,10 +482,10 @@ int32_t CANJaguar::receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *d
 
 /**
  * Execute a transaction with a Jaguar that sets some property.
- * 
+ *
  * Jaguar always acks when it receives a message.  If we don't wait for an ack,
  * the message object in the Jaguar could get overwritten before it is handled.
- * 
+ *
  * @param messageID The messageID to be used on the CAN bus (device number is added internally)
  * @param data The up to 8 bytes of data to be sent with the message
  * @param dataSize Specify how much of the data in "data" to send
@@ -518,9 +518,9 @@ void CANJaguar::setTransaction(uint32_t messageID, const uint8_t *data, uint8_t
 
 /**
  * Execute a transaction with a Jaguar that gets some property.
- * 
+ *
  * Jaguar always generates a message with the same message ID when replying.
- * 
+ *
  * @param messageID The messageID to read from the CAN bus (device number is added internally)
  * @param data The up to 8 bytes of data that was received with the message
  * @param dataSize Indicates how much data was received
@@ -559,9 +559,9 @@ void CANJaguar::getTransaction(uint32_t messageID, uint8_t *data, uint8_t *dataS
 
 /**
  * Set the reference source device for speed controller mode.
- * 
+ *
  * Choose encoder as the source of speed feedback when in speed control mode.
- * 
+ *
  * @param reference Specify a SpeedReference.
  */
 void CANJaguar::SetSpeedReference(SpeedReference reference)
@@ -574,7 +574,7 @@ void CANJaguar::SetSpeedReference(SpeedReference reference)
 
 /**
  * Get the reference source device for speed controller mode.
- * 
+ *
  * @return A SpeedReference indicating the currently selected reference device for speed controller mode.
  */
 CANJaguar::SpeedReference CANJaguar::GetSpeedReference()
@@ -592,10 +592,10 @@ CANJaguar::SpeedReference CANJaguar::GetSpeedReference()
 
 /**
  * Set the reference source device for position controller mode.
- * 
+ *
  * Choose between using and encoder and using a potentiometer
  * as the source of position feedback when in position control mode.
- * 
+ *
  * @param reference Specify a PositionReference.
  */
 void CANJaguar::SetPositionReference(PositionReference reference)
@@ -608,7 +608,7 @@ void CANJaguar::SetPositionReference(PositionReference reference)
 
 /**
  * Get the reference source device for position controller mode.
- * 
+ *
  * @return A PositionReference indicating the currently selected reference device for position controller mode.
  */
 CANJaguar::PositionReference CANJaguar::GetPositionReference()
@@ -626,7 +626,7 @@ CANJaguar::PositionReference CANJaguar::GetPositionReference()
 
 /**
  * Set the P, I, and D constants for the closed loop modes.
- * 
+ *
  * @param p The proportional gain of the Jaguar's PID controller.
  * @param i The integral gain of the Jaguar's PID controller.
  * @param d The differential gain of the Jaguar's PID controller.
@@ -671,7 +671,7 @@ void CANJaguar::SetPID(double p, double i, double d)
 
 /**
  * Get the Proportional gain of the controller.
- * 
+ *
  * @return The proportional gain.
  */
 double CANJaguar::GetP()
@@ -712,7 +712,7 @@ double CANJaguar::GetP()
 
 /**
  * Get the Intregral gain of the controller.
- * 
+ *
  * @return The integral gain.
  */
 double CANJaguar::GetI()
@@ -753,7 +753,7 @@ double CANJaguar::GetI()
 
 /**
  * Get the Differential gain of the controller.
- * 
+ *
  * @return The differential gain.
  */
 double CANJaguar::GetD()
@@ -794,12 +794,12 @@ double CANJaguar::GetD()
 
 /**
  * Enable the closed loop controller.
- * 
+ *
  * Start actually controlling the output based on the feedback.
  * If starting a position controller with an encoder reference,
  * use the encoderInitialPosition parameter to initialize the
  * encoder state.
- * 
+ *
  * @param encoderInitialPosition Encoder position to set if position with encoder reference.  Ignored otherwise.
  */
 void CANJaguar::EnableControl(double encoderInitialPosition)
@@ -830,7 +830,7 @@ void CANJaguar::EnableControl(double encoderInitialPosition)
 
 /**
  * Disable the closed loop controller.
- * 
+ *
  * Stop driving the output based on the feedback.
  */
 void CANJaguar::DisableControl()
@@ -860,10 +860,10 @@ void CANJaguar::DisableControl()
 
 /**
  * Change the control mode of this Jaguar object.
- * 
+ *
  * After changing modes, configure any PID constants or other settings needed
  * and then EnableControl() to actually change the mode on the Jaguar.
- * 
+ *
  * @param controlMode The new mode.
  */
 void CANJaguar::ChangeControlMode(ControlMode controlMode)
@@ -879,9 +879,9 @@ void CANJaguar::ChangeControlMode(ControlMode controlMode)
 
 /**
  * Get the active control mode from the Jaguar.
- * 
+ *
  * Ask the Jag what mode it is in.
- * 
+ *
  * @return ControlMode that the Jag is in.
  */
 CANJaguar::ControlMode CANJaguar::GetControlMode()
@@ -899,7 +899,7 @@ CANJaguar::ControlMode CANJaguar::GetControlMode()
 
 /**
  * Get the voltage at the battery input terminals of the Jaguar.
- * 
+ *
  * @return The bus voltage in Volts.
  */
 float CANJaguar::GetBusVoltage()
@@ -917,7 +917,7 @@ float CANJaguar::GetBusVoltage()
 
 /**
  * Get the voltage being output from the motor terminals of the Jaguar.
- * 
+ *
  * @return The output voltage in Volts.
  */
 float CANJaguar::GetOutputVoltage()
@@ -936,7 +936,7 @@ float CANJaguar::GetOutputVoltage()
 
 /**
  * Get the current through the motor terminals of the Jaguar.
- * 
+ *
  * @return The output current in Amps.
  */
 float CANJaguar::GetOutputCurrent()
@@ -954,7 +954,7 @@ float CANJaguar::GetOutputCurrent()
 
 /**
  * Get the internal temperature of the Jaguar.
- * 
+ *
  * @return The temperature of the Jaguar in degrees Celsius.
  */
 float CANJaguar::GetTemperature()
@@ -972,7 +972,7 @@ float CANJaguar::GetTemperature()
 
 /**
  * Get the position of the encoder or potentiometer.
- * 
+ *
  * @return The position of the motor in rotations based on the configured feedback.
  */
 double CANJaguar::GetPosition()
@@ -990,7 +990,7 @@ double CANJaguar::GetPosition()
 
 /**
  * Get the speed of the encoder.
- * 
+ *
  * @return The speed of the motor in RPM based on the configured feedback.
  */
 double CANJaguar::GetSpeed()
@@ -1008,7 +1008,7 @@ double CANJaguar::GetSpeed()
 
 /**
  * Get the status of the forward limit switch.
- * 
+ *
  * @return The motor is allowed to turn in the forward direction when true.
  */
 bool CANJaguar::GetForwardLimitOK()
@@ -1026,7 +1026,7 @@ bool CANJaguar::GetForwardLimitOK()
 
 /**
  * Get the status of the reverse limit switch.
- * 
+ *
  * @return The motor is allowed to turn in the reverse direction when true.
  */
 bool CANJaguar::GetReverseLimitOK()
@@ -1044,7 +1044,7 @@ bool CANJaguar::GetReverseLimitOK()
 
 /**
  * Get the status of any faults the Jaguar has detected.
- * 
+ *
  * @return A bit-mask of faults defined by the "Faults" enum.
  */
 uint16_t CANJaguar::GetFaults()
@@ -1062,10 +1062,10 @@ uint16_t CANJaguar::GetFaults()
 
 /**
  * Check if the Jaguar's power has been cycled since this was last called.
- * 
+ *
  * This should return true the first time called after a Jaguar power up,
  * and false after that.
- * 
+ *
  * @return The Jaguar was power cycled since the last call to this function.
  */
 bool CANJaguar::GetPowerCycled()
@@ -1092,10 +1092,10 @@ bool CANJaguar::GetPowerCycled()
 
 /**
  * Set the maximum voltage change rate.
- * 
+ *
  * When in PercentVbus or Voltage output mode, the rate at which the voltage changes can
  * be limited to reduce current spikes.  Set this to 0.0 to disable rate limiting.
- * 
+ *
  * @param rampRate The maximum rate of voltage change in Percent Voltage mode in V/s.
  */
 void CANJaguar::SetVoltageRampRate(double rampRate)
@@ -1120,7 +1120,7 @@ void CANJaguar::SetVoltageRampRate(double rampRate)
 
 /**
  * Get the version of the firmware running on the Jaguar.
- * 
+ *
  * @return The firmware version.  0 if the device did not respond.
  */
 uint32_t CANJaguar::GetFirmwareVersion()
@@ -1139,7 +1139,7 @@ uint32_t CANJaguar::GetFirmwareVersion()
 
 /**
  * Get the version of the Jaguar hardware.
- * 
+ *
  * @return The hardware version. 1: Jaguar,  2: Black Jaguar
  */
 uint8_t CANJaguar::GetHardwareVersion()
@@ -1161,9 +1161,9 @@ uint8_t CANJaguar::GetHardwareVersion()
 
 /**
  * Configure what the controller does to the H-Bridge when neutral (not driving the output).
- * 
+ *
  * This allows you to override the jumper configuration for brake or coast.
- * 
+ *
  * @param mode Select to use the jumper setting or to override it to coast or brake.
  */
 void CANJaguar::ConfigNeutralMode(NeutralMode mode)
@@ -1176,7 +1176,7 @@ void CANJaguar::ConfigNeutralMode(NeutralMode mode)
 
 /**
  * Configure how many codes per revolution are generated by your encoder.
- * 
+ *
  * @param codesPerRev The number of counts per revolution in 1X mode.
  */
 void CANJaguar::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
@@ -1190,10 +1190,10 @@ void CANJaguar::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
 
 /**
  * Configure the number of turns on the potentiometer.
- * 
+ *
  * There is no special support for continuous turn potentiometers.
  * Only integer numbers of turns are supported.
- * 
+ *
  * @param turns The number of turns of the potentiometer
  */
 void CANJaguar::ConfigPotentiometerTurns(uint16_t turns)
@@ -1207,11 +1207,11 @@ void CANJaguar::ConfigPotentiometerTurns(uint16_t turns)
 
 /**
  * Configure Soft Position Limits when in Position Controller mode.
- * 
+ *
  * When controlling position, you can add additional limits on top of the limit switch inputs
  * that are based on the position feedback.  If the position limit is reached or the
  * switch is opened, that direction will be disabled.
- * 
+ *
 
  * @param forwardLimitPosition The position that if exceeded will disable the forward direction.
  * @param reverseLimitPosition The position that if exceeded will disable the reverse direction.
@@ -1235,7 +1235,7 @@ void CANJaguar::ConfigSoftPositionLimits(double forwardLimitPosition, double rev
 
 /**
  * Disable Soft Position Limits if previously enabled.
- * 
+ *
  * Soft Position Limits are disabled by default.
  */
 void CANJaguar::DisableSoftPositionLimits()
@@ -1248,10 +1248,10 @@ void CANJaguar::DisableSoftPositionLimits()
 
 /**
  * Configure the maximum voltage that the Jaguar will ever output.
- * 
+ *
  * This can be used to limit the maximum output voltage in all modes so that
  * motors which cannot withstand full bus voltage can be used safely.
- * 
+ *
  * @param voltage The maximum voltage output by the Jaguar.
  */
 void CANJaguar::ConfigMaxOutputVoltage(double voltage)
@@ -1266,10 +1266,10 @@ void CANJaguar::ConfigMaxOutputVoltage(double voltage)
 
 /**
  * Configure how long the Jaguar waits in the case of a fault before resuming operation.
- * 
+ *
  * Faults include over temerature, over current, and bus under voltage.
  * The default is 3.0 seconds, but can be reduced to as low as 0.5 seconds.
- * 
+ *
  * @param faultTime The time to wait before resuming operation, in seconds.
  */
 void CANJaguar::ConfigFaultTime(float faultTime)
@@ -1284,7 +1284,7 @@ void CANJaguar::ConfigFaultTime(float faultTime)
 
 /**
  * Update all the motors that have pending sets in the syncGroup.
- * 
+ *
  * @param syncGroup A bitmask of groups to generate synchronous output.
  */
 void CANJaguar::UpdateSyncGroup(uint8_t syncGroup)
@@ -1329,7 +1329,7 @@ void CANJaguar::GetDescription(char *desc)
 /**
  * Common interface for stopping the motor
  * Part of the MotorSafety interface
- * 
+ *
  * @deprecated Call DisableControl instead.
  */
 void CANJaguar::StopMotor()
@@ -1371,5 +1371,3 @@ void CANJaguar::InitTable(ITable *subTable) {
 ITable * CANJaguar::GetTable() {
 	return m_table;
 }
-
-
diff --git a/wpilibc/wpilibC++/lib/Compressor.cpp b/wpilibc/wpilibC++/lib/Compressor.cpp
index 4bb9ccc2a6..2717120eb7 100644
--- a/wpilibc/wpilibC++/lib/Compressor.cpp
+++ b/wpilibc/wpilibC++/lib/Compressor.cpp
@@ -5,9 +5,9 @@
 #include "Compressor.h"
 #include "WPIErrors.h"
 
-void Compressor::InitCompressor(uint8_t module) {
+void Compressor::InitCompressor(uint8_t pcmID) {
 	m_table = 0;
-	m_pcm_pointer = initializeCompressor(module);
+	m_pcm_pointer = initializeCompressor(pcmID);
 
 	SetClosedLoopControl(true);
 }
@@ -26,8 +26,8 @@ Compressor::Compressor() {
  *
  * @param module The module number to use (1 or 2)
  */
-Compressor::Compressor(uint8_t module) {
-	InitCompressor(module);
+Compressor::Compressor(uint8_t pcmID) {
+	InitCompressor(pcmID);
 }
 
 Compressor::~Compressor() {
@@ -160,4 +160,3 @@ void Compressor::ValueChanged(ITable* source, const std::string& key, EntryValue
 	else Stop();
 
 }
-
diff --git a/wpilibc/wpilibC++/lib/Counter.cpp b/wpilibc/wpilibC++/lib/Counter.cpp
index c49dfd6395..3be1b8f258 100644
--- a/wpilibc/wpilibC++/lib/Counter.cpp
+++ b/wpilibc/wpilibC++/lib/Counter.cpp
@@ -18,12 +18,12 @@
 void Counter::InitCounter(Mode mode)
 {
 	m_table = NULL;
-	
+
 	int32_t status = 0;
 	uint32_t index = 0;
 	m_counter = initializeCounter(mode, &index, &status);
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	
+
 	m_upSource = NULL;
 	m_downSource = NULL;
 	m_allocatedUpSource = false;
@@ -72,7 +72,7 @@ Counter::Counter(DigitalSource &source) :
 
 /**
  * Create an instance of a Counter object.
- * Create an up-Counter instance given a channel. The default digital module is assumed.
+ * Create an up-Counter instance given a channel.
  */
 Counter::Counter(uint32_t channel) :
 	m_upSource(NULL),
@@ -84,22 +84,6 @@ Counter::Counter(uint32_t channel) :
 	ClearDownSource();
 }
 
-/**
- * Create an instance of a Counter object.
- * Create an instance of an up-Counter given a digital module and a channel.
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The channel in the digital module
- */
-Counter::Counter(uint8_t moduleNumber, uint32_t channel) :
-	m_upSource(NULL),
-	m_downSource(NULL),
-	m_counter(NULL)
-{
-	InitCounter();
-	SetUpSource(moduleNumber, channel);
-	ClearDownSource();
-}
-
 /**
  * Create an instance of a Counter object.
  * Create an instance of a simple up-Counter given an analog trigger.
@@ -173,35 +157,21 @@ Counter::~Counter()
 		delete m_downSource;
 		m_downSource = NULL;
 	}
-	
+
 	int32_t status = 0;
 	freeCounter(m_counter, &status);
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	m_counter = NULL;
 }
 
-/**
- * Set the up source for the counter as digital input channel and slot.
- *
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The digital channel (1..14).
- */
-void Counter::SetUpSource(uint8_t moduleNumber, uint32_t channel)
-{
-	if (StatusIsFatal()) return;
-	SetUpSource(new DigitalInput(moduleNumber, channel));
-	m_allocatedUpSource = true;
-}
-
 /**
  * Set the upsource for the counter as a digital input channel.
- * The slot will be the default digital module slot.
  */
 void Counter::SetUpSource(uint32_t channel)
 {
-	if (StatusIsFatal()) return;
-	SetUpSource(GetDefaultDigitalModule(), channel);
-	m_allocatedUpSource = true;
+    if (StatusIsFatal()) return;
+    SetUpSource(new DigitalInput(channel));
+    m_allocatedUpSource = true;
 }
 
 /**
@@ -297,7 +267,6 @@ void Counter::ClearUpSource()
 
 /**
  * Set the down counting source to be a digital input channel.
- * The slot will be set to the default digital module slot.
  */
 void Counter::SetDownSource(uint32_t channel)
 {
@@ -306,19 +275,6 @@ void Counter::SetDownSource(uint32_t channel)
 	m_allocatedDownSource = true;
 }
 
-/**
- * Set the down counting source to be a digital input slot and channel.
- *
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The digital channel (1..14).
- */
-void Counter::SetDownSource(uint8_t moduleNumber, uint32_t channel)
-{
-	if (StatusIsFatal()) return;
-	SetDownSource(new DigitalInput(moduleNumber, channel));
-	m_allocatedDownSource = true;
-}
-
 /**
  * Set the down counting source to be an analog trigger.
  * @param analogTrigger The analog trigger object that is used for the Down Source
@@ -437,7 +393,7 @@ void Counter::SetExternalDirectionMode()
 
 /**
  * Set Semi-period mode on this counter.
- * Counts up on both rising and falling edges. 
+ * Counts up on both rising and falling edges.
  */
 void Counter::SetSemiPeriodMode(bool highSemiPeriod)
 {
@@ -460,10 +416,10 @@ void Counter::SetPulseLengthMode(float threshold)
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
 
-    
+
 /**
- * Get the Samples to Average which specifies the number of samples of the timer to 
- * average when calculating the period. Perform averaging to account for 
+ * Get the Samples to Average which specifies the number of samples of the timer to
+ * average when calculating the period. Perform averaging to account for
  * mechanical imperfections or as oversampling to increase resolution.
  * @return SamplesToAverage The number of samples being averaged (from 1 to 127)
  */
@@ -476,8 +432,8 @@ int Counter::GetSamplesToAverage()
 }
 
 /**
- * Set the Samples to Average which specifies the number of samples of the timer to 
- * average when calculating the period. Perform averaging to account for 
+ * Set the Samples to Average which specifies the number of samples of the timer to
+ * average when calculating the period. Perform averaging to account for
  * mechanical imperfections or as oversampling to increase resolution.
  * @param samplesToAverage The number of samples to average from 1 to 127.
  */
@@ -645,11 +601,11 @@ void Counter::UpdateTable() {
 }
 
 void Counter::StartLiveWindowMode() {
-	
+
 }
 
 void Counter::StopLiveWindowMode() {
-	
+
 }
 
 std::string Counter::GetSmartDashboardType() {
@@ -664,4 +620,3 @@ void Counter::InitTable(ITable *subTable) {
 ITable * Counter::GetTable() {
 	return m_table;
 }
-
diff --git a/wpilibc/wpilibC++/lib/DigitalInput.cpp b/wpilibc/wpilibC++/lib/DigitalInput.cpp
index bede57e9e7..4ea8e203ec 100644
--- a/wpilibc/wpilibC++/lib/DigitalInput.cpp
+++ b/wpilibc/wpilibC++/lib/DigitalInput.cpp
@@ -15,20 +15,15 @@ Resource *interruptsResource = NULL;
 
 /**
  * Create an instance of a DigitalInput.
- * Creates a digital input given a slot and channel. Common creation routine
- * for all constructors.
+ * Creates a digital input given a channel. Common creation routine for all
+ * constructors.
  */
-void DigitalInput::InitDigitalInput(uint8_t moduleNumber, uint32_t channel)
+void DigitalInput::InitDigitalInput(uint32_t channel)
 {
 	m_table = NULL;
 	char buf[64];
 	Resource::CreateResourceObject(&interruptsResource, interrupt_kNumSystems);
-	if (!CheckDigitalModule(moduleNumber))
-	{
-		snprintf(buf, 64, "Digital Module %d", moduleNumber);
-		wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
-		return;
-	}
+
 	if (!CheckDigitalChannel(channel))
 	{
 		snprintf(buf, 64, "Digital Channel %d", channel);
@@ -36,33 +31,21 @@ void DigitalInput::InitDigitalInput(uint8_t moduleNumber, uint32_t channel)
 		return;
 	}
 	m_channel = channel;
-	m_module = DigitalModule::GetInstance(moduleNumber);
+	m_module = DigitalModule::GetInstance(1);
 	m_module->AllocateDIO(channel, true);
 
-	HALReport(HALUsageReporting::kResourceType_DigitalInput, channel, moduleNumber - 1);
+	HALReport(HALUsageReporting::kResourceType_DigitalInput, channel);
 }
 
 /**
  * Create an instance of a Digital Input class.
- * Creates a digital input given a channel and uses the default module.
+ * Creates a digital input given a channel.
  *
- * @param channel The digital channel (1..14).
+ * @param channel The digital channel (0..19).
  */
 DigitalInput::DigitalInput(uint32_t channel)
 {
-	InitDigitalInput(GetDefaultDigitalModule(), channel);
-}
-
-/**
- * Create an instance of a Digital Input class.
- * Creates a digital input given an channel and module.
- *
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The digital channel (1..14).
- */
-DigitalInput::DigitalInput(uint8_t moduleNumber, uint32_t channel)
-{
-	InitDigitalInput(moduleNumber, channel);
+	InitDigitalInput(channel);
 }
 
 /**
@@ -204,11 +187,11 @@ void DigitalInput::UpdateTable() {
 }
 
 void DigitalInput::StartLiveWindowMode() {
-	
+
 }
 
 void DigitalInput::StopLiveWindowMode() {
-	
+
 }
 
 std::string DigitalInput::GetSmartDashboardType() {
diff --git a/wpilibc/wpilibC++/lib/DigitalOutput.cpp b/wpilibc/wpilibC++/lib/DigitalOutput.cpp
index 0570df493d..fcb3711664 100644
--- a/wpilibc/wpilibC++/lib/DigitalOutput.cpp
+++ b/wpilibc/wpilibC++/lib/DigitalOutput.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
@@ -14,19 +14,14 @@ extern Resource *interruptsResource;
 
 /**
  * Create an instance of a DigitalOutput.
- * Creates a digital output given a slot and channel. Common creation routine
- * for all constructors.
+ * Creates a digital output given a channel. Common creation routine for all
+ * constructors.
  */
-void DigitalOutput::InitDigitalOutput(uint8_t moduleNumber, uint32_t channel)
+void DigitalOutput::InitDigitalOutput(uint32_t channel)
 {
 	m_table = NULL;
 	char buf[64];
-	if (!CheckDigitalModule(moduleNumber))
-	{
-		snprintf(buf, 64, "Digital Module %d", moduleNumber);
-		wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
-		return;
-	}
+
 	if (!CheckDigitalChannel(channel))
 	{
 		snprintf(buf, 64, "Digital Channel %d", channel);
@@ -35,33 +30,21 @@ void DigitalOutput::InitDigitalOutput(uint8_t moduleNumber, uint32_t channel)
 	}
 	m_channel = channel;
 	m_pwmGenerator = ~0ul;
-	m_module = DigitalModule::GetInstance(moduleNumber);
+	m_module = DigitalModule::GetInstance(1);
 	m_module->AllocateDIO(m_channel, false);
 
-	HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel, moduleNumber - 1);
+	HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel);
 }
 
 /**
  * Create an instance of a digital output.
- * Create a digital output given a channel. The default module is used.
+ * Create a digital output given a channel.
  *
- * @param channel The digital channel (1..14).
+ * @param channel The digital channel (0..19)
  */
 DigitalOutput::DigitalOutput(uint32_t channel)
 {
-	InitDigitalOutput(GetDefaultDigitalModule(), channel);
-}
-
-/**
- * Create an instance of a digital output.
- * Create an instance of a digital output given a module number and channel.
- *
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The digital channel (1..14).
- */
-DigitalOutput::DigitalOutput(uint8_t moduleNumber, uint32_t channel)
-{
-	InitDigitalOutput(moduleNumber, channel);
+	InitDigitalOutput(channel);
 }
 
 /**
@@ -117,11 +100,11 @@ bool DigitalOutput::IsPulsing()
 
 /**
  * Change the PWM frequency of the PWM output on a Digital Output line.
- * 
+ *
  * The valid range is from 0.6 Hz to 19 kHz.  The frequency resolution is logarithmic.
- * 
+ *
  * There is only one PWM frequency per digital module.
- * 
+ *
  * @param rate The frequency to output all digital output PWM signals on this module.
  */
 void DigitalOutput::SetPWMRate(float rate)
@@ -132,14 +115,14 @@ void DigitalOutput::SetPWMRate(float rate)
 
 /**
  * Enable a PWM Output on this line.
- * 
+ *
  * Allocate one of the 4 DO PWM generator resources from this module.
- * 
+ *
  * Supply the initial duty-cycle to output so as to avoid a glitch when first starting.
- * 
+ *
  * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
  * but is reduced the higher the frequency of the PWM signal is.
- * 
+ *
  * @param initialDutyCycle The duty-cycle to start generating. [0..1]
  */
 void DigitalOutput::EnablePWM(float initialDutyCycle)
@@ -153,7 +136,7 @@ void DigitalOutput::EnablePWM(float initialDutyCycle)
 
 /**
  * Change this line from a PWM output back to a static Digital Output line.
- * 
+ *
  * Free up one of the 4 DO PWM generator resources that were in use.
  */
 void DigitalOutput::DisablePWM()
@@ -167,10 +150,10 @@ void DigitalOutput::DisablePWM()
 
 /**
  * Change the duty-cycle that is being generated on the line.
- * 
+ *
  * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
  * but is reduced the higher the frequency of the PWM signal is.
- * 
+ *
  * @param dutyCycle The duty-cycle to change to. [0..1]
  */
 void DigitalOutput::UpdateDutyCycle(float dutyCycle)
@@ -192,8 +175,8 @@ uint32_t DigitalOutput::GetChannelForRouting()
  */
 uint32_t DigitalOutput::GetModuleForRouting()
 {
-	if (StatusIsFatal()) return 0;
-	return m_module->GetNumber() - 1;
+    if (StatusIsFatal()) return 0;
+    return m_module->GetNumber() - 1;
 }
 
 /**
@@ -227,7 +210,7 @@ void DigitalOutput::RequestInterrupts(InterruptHandlerFunction handler, void *pa
 	AllocateInterrupts(false);
 
 	int32_t status = 0;
-	requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
+    	requestInterrupts(m_interrupt, 1, GetChannelForRouting(),
 					  GetAnalogTriggerForRouting(), &status);
 	SetUpSourceEdge(true, false);
 	attachInterruptHandler(m_interrupt, handler, param, &status);
@@ -307,5 +290,3 @@ void DigitalOutput::InitTable(ITable *subTable) {
 ITable * DigitalOutput::GetTable() {
 	return m_table;
 }
-
-
diff --git a/wpilibc/wpilibC++/lib/DoubleSolenoid.cpp b/wpilibc/wpilibC++/lib/DoubleSolenoid.cpp
index 607104bdd3..d97601b6c0 100644
--- a/wpilibc/wpilibC++/lib/DoubleSolenoid.cpp
+++ b/wpilibc/wpilibC++/lib/DoubleSolenoid.cpp
@@ -54,12 +54,12 @@ void DoubleSolenoid::InitSolenoid()
 
 	HALReport(HALUsageReporting::kResourceType_Solenoid, m_forwardChannel, m_moduleNumber - 1);
 	HALReport(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel, m_moduleNumber - 1);
-	LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
+	LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_forwardChannel, this);
 }
 
 /**
  * Constructor.
- * 
+ *
  * @param forwardChannel The forward channel on the module to control.
  * @param reverseChannel The reverse channel on the module to control.
  */
@@ -73,7 +73,7 @@ DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
 
 /**
  * Constructor.
- * 
+ *
  * @param moduleNumber The solenoid module (1 or 2).
  * @param forwardChannel The forward channel on the module to control.
  * @param reverseChannel The reverse channel on the module to control.
@@ -100,7 +100,7 @@ DoubleSolenoid::~DoubleSolenoid()
 
 /**
  * Set the value of a solenoid.
- * 
+ *
  * @param value Move the solenoid to forward, reverse, or don't move it.
  */
 void DoubleSolenoid::Set(Value value)
@@ -126,7 +126,7 @@ void DoubleSolenoid::Set(Value value)
 
 /**
  * Read the current value of the solenoid.
- * 
+ *
  * @return The current value of the solenoid.
  */
 DoubleSolenoid::Value DoubleSolenoid::Get()
@@ -181,4 +181,3 @@ void DoubleSolenoid::InitTable(ITable *subTable) {
 ITable * DoubleSolenoid::GetTable() {
 	return m_table;
 }
-
diff --git a/wpilibc/wpilibC++/lib/DriverStation.cpp b/wpilibc/wpilibC++/lib/DriverStation.cpp
index 80f151b87d..546f7ecfdf 100644
--- a/wpilibc/wpilibC++/lib/DriverStation.cpp
+++ b/wpilibc/wpilibC++/lib/DriverStation.cpp
@@ -23,7 +23,6 @@ TLogLevel dsLogLevel = logDEBUG;
     if (level > dsLogLevel) ; \
     else Log().Get(level)
 
-const uint32_t DriverStation::kBatteryModuleNumber;
 const uint32_t DriverStation::kBatteryChannel;
 const uint32_t DriverStation::kJoystickPorts;
 const uint32_t DriverStation::kJoystickAxes;
@@ -33,7 +32,7 @@ uint8_t DriverStation::m_updateNumber = 0;
 
 /**
  * DriverStation contructor.
- * 
+ *
  * This is only called once the first time GetInstance() is called
  */
 DriverStation::DriverStation()
@@ -61,7 +60,7 @@ DriverStation::DriverStation()
 	m_newControlData = initializeSemaphore(SEMAPHORE_EMPTY);
 
 	// Register that semaphore with the network communications task.
-	// It will signal when new packet data is available. 
+	// It will signal when new packet data is available.
 	HALSetNewDataSem(m_packetDataAvailableSem);
 
 	m_waitForDataSem = initializeMultiWait();
@@ -93,7 +92,7 @@ DriverStation::DriverStation()
 	m_controlData->analog4 = 0;
 	m_controlData->dsDigitalIn = 0;
 
-	m_batteryChannel = new AnalogInput(kBatteryModuleNumber, kBatteryChannel);
+	m_batteryChannel = new AnalogInput(kBatteryChannel);
 
 	AddToSingletonList();
 
@@ -170,7 +169,7 @@ void DriverStation::GetData()
 
 	HALGetCommonControlData(m_controlData, HAL_WAIT_FOREVER);
 
-	if (!lastEnabled && IsEnabled()) 
+	if (!lastEnabled && IsEnabled())
 	{
 		// If starting teleop, assume that autonomous just took up 15 seconds
 		if (IsAutonomous())
@@ -202,17 +201,17 @@ void DriverStation::SetData()
 	m_dashboardInUseLow->GetStatusBuffer(&userStatusDataLow, &userStatusDataLowSize);
 	HALSetStatusData(GetBatteryVoltage(), m_digitalOut, m_updateNumber,
 		userStatusDataHigh, userStatusDataHighSize, userStatusDataLow, userStatusDataLowSize, HAL_WAIT_FOREVER);
-	
+
 	m_dashboardInUseHigh->Flush();
 	m_dashboardInUseLow->Flush();
 }
 
 /**
  * Read the battery voltage from the specified AnalogInput.
- * 
+ *
  * This accessor assumes that the battery voltage is being measured
  * through the voltage divider on an analog breakout.
- * 
+ *
  * @return The battery voltage.
  */
 float DriverStation::GetBatteryVoltage()
@@ -229,7 +228,7 @@ float DriverStation::GetBatteryVoltage()
 /**
  * Get the value of the axis on a joystick.
  * This depends on the mapping of the joystick connected to the specified port.
- * 
+ *
  * @param stick The joystick to read.
  * @param axis The analog axis value to read from the joystick.
  * @return The value of the axis on the joystick.
@@ -261,7 +260,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
 			wpi_setWPIError(BadJoystickIndex);
 			return 0.0;
 	}
-	
+
 	float result;
 	if (value < 0)
 		result = ((float) value) / 128.0;
@@ -278,7 +277,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
 /**
  * The state of the buttons on the joystick.
  * 12 buttons (4 msb are unused) from the joystick.
- * 
+ *
  * @param stick The joystick to read.
  * @return The state of the buttons on the joystick.
  */
@@ -309,7 +308,7 @@ short DriverStation::GetStickButtons(uint32_t stick)
  * The analog values are returned as voltage values for the Driver Station analog inputs.
  * These inputs are typically used for advanced operator interfaces consisting of potentiometers
  * or resistor networks representing values on a rotary switch.
- * 
+ *
  * @param channel The analog input channel on the driver station to read from. Valid range is 1 - 4.
  * @return The analog voltage on the input.
  */
@@ -362,14 +361,14 @@ bool DriverStation::GetDigitalIn(uint32_t channel)
 
 /**
  * Set a value for the digital outputs on the Driver Station.
- * 
+ *
  * Control digital outputs on the Drivers Station. These values are typically used for
  * giving feedback on a custom operator station such as LEDs.
- * 
+ *
  * @param channel The digital output to set. Valid range is 1 - 8.
  * @param value The state to set the digital output.
  */
-void DriverStation::SetDigitalOut(uint32_t channel, bool value) 
+void DriverStation::SetDigitalOut(uint32_t channel, bool value)
 {
 	if (channel < 1 || channel > 8)
 		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 8");
@@ -390,7 +389,7 @@ void DriverStation::SetDigitalOut(uint32_t channel, bool value)
  * @param channel The digital ouput to monitor. Valid range is 1 through 8.
  * @return A digital value being output on the Drivers Station.
  */
-bool DriverStation::GetDigitalOut(uint32_t channel) 
+bool DriverStation::GetDigitalOut(uint32_t channel)
 {
 	if (channel < 1 || channel > 8)
 		wpi_setWPIErrorWithContext(ParameterOutOfRange, "channel must be between 1 and 8");
diff --git a/wpilibc/wpilibC++/lib/Encoder.cpp b/wpilibc/wpilibC++/lib/Encoder.cpp
index 86a47c8326..27c6651aaa 100644
--- a/wpilibc/wpilibC++/lib/Encoder.cpp
+++ b/wpilibc/wpilibC++/lib/Encoder.cpp
@@ -63,40 +63,12 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
 	m_pidSource = kDistance;
 
 	HALReport(HALUsageReporting::kResourceType_Encoder, index, encodingType);
-	LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetModuleForRouting(), m_aSource->GetChannelForRouting(), this);
+	LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannelForRouting(), this);
 }
 
 /**
  * Encoder constructor.
- * Construct a Encoder given a and b modules and channels fully specified.
- * @param aModuleNumber The a channel digital input module.
- * @param aChannel The a channel digital input channel.
- * @param bModuleNumber The b channel digital input module.
- * @param bChannel The b channel digital input channel.
- * @param reverseDirection represents the orientation of the encoder and inverts the output values
- * if necessary so forward represents positive values.
- * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
- * selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
- * spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
- * a counter object will be used and the returned value will either exactly match the spec'd count
- * or be double (2x) the spec'd count.
- */
-Encoder::Encoder(uint8_t aModuleNumber, uint32_t aChannel,
-						uint8_t bModuleNumber, uint32_t bChannel,
-						bool reverseDirection, EncodingType encodingType) :
-	m_encoder(NULL),
-	m_counter(NULL)
-{
-	m_aSource = new DigitalInput(aModuleNumber, aChannel);
-	m_bSource = new DigitalInput(bModuleNumber, bChannel);
-	InitEncoder(reverseDirection, encodingType);
-	m_allocatedASource = true;
-	m_allocatedBSource = true;
-}
-
-/**
- * Encoder constructor.
- * Construct a Encoder given a and b channels assuming the default module.
+ * Construct a Encoder given a and b channels.
  * @param aChannel The a channel digital input channel.
  * @param bChannel The b channel digital input channel.
  * @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -251,7 +223,7 @@ int32_t Encoder::GetRaw()
  * Gets the current count.
  * Returns the current count on the Encoder.
  * This method compensates for the decoding type.
- * 
+ *
  * @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
  */
 int32_t Encoder::Get()
@@ -281,7 +253,7 @@ void Encoder::Reset()
  * Returns the period of the most recent pulse.
  * Returns the period of the most recent Encoder pulse in seconds.
  * This method compenstates for the decoding type.
- * 
+ *
  * @deprecated Use GetRate() in favor of this method.  This returns unscaled periods and GetRate() scales using value from SetDistancePerPulse().
  *
  * @return Period in seconds of the most recent pulse.
@@ -309,9 +281,9 @@ double Encoder::GetPeriod()
  * that the attached device is stopped. This timeout allows users to determine if the wheels or
  * other shaft has stopped rotating.
  * This method compensates for the decoding type.
- * 
+ *
  * @deprecated Use SetMinRate() in favor of this method.  This takes unscaled periods and SetMinRate() scales using value from SetDistancePerPulse().
- * 
+ *
  * @param maxPeriod The maximum time between rising and falling edges before the FPGA will
  * report the device stopped. This is expressed in seconds.
  */
@@ -389,12 +361,12 @@ double Encoder::DecodingScaleFactor()
 		return 0.25;
 	default:
 		return 0.0;
-	}	
+	}
 }
 
 /**
  * Get the distance the robot has driven since the last reset.
- * 
+ *
  * @return The distance driven since the last reset as scaled by the value from SetDistancePerPulse().
  */
 double Encoder::GetDistance()
@@ -406,7 +378,7 @@ double Encoder::GetDistance()
 /**
  * Get the current rate of the encoder.
  * Units are distance per second as scaled by the value from SetDistancePerPulse().
- * 
+ *
  * @return The current rate of the encoder.
  */
 double Encoder::GetRate()
@@ -417,7 +389,7 @@ double Encoder::GetRate()
 
 /**
  * Set the minimum rate of the device before the hardware reports it stopped.
- * 
+ *
  * @param minRate The minimum rate.  The units are in distance per second as scaled by the value from SetDistancePerPulse().
  */
 void Encoder::SetMinRate(double minRate)
@@ -434,7 +406,7 @@ void Encoder::SetMinRate(double minRate)
  * Set this value based on the encoder's rated Pulses per Revolution and
  * factor in gearing reductions following the encoder shaft.
  * This distance can be in any units you like, linear or angular.
- * 
+ *
  * @param distancePerPulse The scale factor that will be used to convert pulses to useful units.
  */
 void Encoder::SetDistancePerPulse(double distancePerPulse)
@@ -464,10 +436,10 @@ void Encoder::SetReverseDirection(bool reverseDirection)
 	}
 }
 
-    
+
 /**
- * Set the Samples to Average which specifies the number of samples of the timer to 
- * average when calculating the period. Perform averaging to account for 
+ * Set the Samples to Average which specifies the number of samples of the timer to
+ * average when calculating the period. Perform averaging to account for
  * mechanical imperfections or as oversampling to increase resolution.
  * @param samplesToAverage The number of samples to average from 1 to 127.
  */
@@ -489,10 +461,10 @@ void Encoder::SetSamplesToAverage(int samplesToAverage)
 			break;
 	}
 }
-    
+
 /**
- * Get the Samples to Average which specifies the number of samples of the timer to 
- * average when calculating the period. Perform averaging to account for 
+ * Get the Samples to Average which specifies the number of samples of the timer to
+ * average when calculating the period. Perform averaging to account for
  * mechanical imperfections or as oversampling to increase resolution.
  * @return SamplesToAverage The number of samples being averaged (from 1 to 127)
  */
@@ -517,7 +489,7 @@ int Encoder::GetSamplesToAverage()
 
 /**
  * Set which parameter of the encoder you are using as a process control variable.
- * 
+ *
  * @param pidSource An enum to select the parameter.
  */
 void Encoder::SetPIDSourceParameter(PIDSourceParameter pidSource)
@@ -528,7 +500,7 @@ void Encoder::SetPIDSourceParameter(PIDSourceParameter pidSource)
 
 /**
  * Implement the PIDSource interface.
- * 
+ *
  * @return The current value of the selected source parameter.
  */
 double Encoder::PIDGet()
@@ -554,11 +526,11 @@ void Encoder::UpdateTable() {
 }
 
 void Encoder::StartLiveWindowMode() {
-	
+
 }
 
 void Encoder::StopLiveWindowMode() {
-	
+
 }
 
 std::string Encoder::GetSmartDashboardType() {
@@ -576,4 +548,3 @@ void Encoder::InitTable(ITable *subTable) {
 ITable * Encoder::GetTable() {
 	return m_table;
 }
-
diff --git a/wpilibc/wpilibC++/lib/GearTooth.cpp b/wpilibc/wpilibC++/lib/GearTooth.cpp
index 118b9f6bfa..024525042f 100644
--- a/wpilibc/wpilibC++/lib/GearTooth.cpp
+++ b/wpilibc/wpilibC++/lib/GearTooth.cpp
@@ -22,36 +22,21 @@ void GearTooth::EnableDirectionSensing(bool directionSensitive)
 
 /**
  * Construct a GearTooth sensor given a channel.
- * 
- * The default module is assumed.
- * 
- * @param channel The GPIO channel on the digital module that the sensor is connected to.
+ *
+ * @param channel The GPIO channel that the sensor is connected to.
  * @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
  */
 GearTooth::GearTooth(uint32_t channel, bool directionSensitive)
 	: Counter(channel)
 {
 	EnableDirectionSensing(directionSensitive);
-}
-
-/**
- * Construct a GearTooth sensor given a channel and module.
- * 
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The GPIO channel on the digital module that the sensor is connected to.
- * @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
- */
-GearTooth::GearTooth(uint8_t moduleNumber, uint32_t channel, bool directionSensitive)
-	: Counter(moduleNumber, channel)
-{
-	EnableDirectionSensing(directionSensitive);
-	LiveWindow::GetInstance()->AddSensor("GearTooth", moduleNumber, channel, this);
+    LiveWindow::GetInstance()->AddSensor("GearTooth", channel, this);
 }
 
 /**
  * Construct a GearTooth sensor given a digital input.
  * This should be used when sharing digial inputs.
- * 
+ *
  * @param source An object that fully descibes the input that the sensor is connected to.
  * @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
  */
@@ -77,4 +62,3 @@ GearTooth::~GearTooth()
 std::string GearTooth::GetSmartDashboardType() {
 	return "GearTooth";
 }
-
diff --git a/wpilibc/wpilibC++/lib/Gyro.cpp b/wpilibc/wpilibC++/lib/Gyro.cpp
index d4a1428767..a17513457c 100644
--- a/wpilibc/wpilibC++/lib/Gyro.cpp
+++ b/wpilibc/wpilibC++/lib/Gyro.cpp
@@ -32,7 +32,7 @@ void Gyro::InitGyro()
 	if (!m_analog->IsAccumulatorChannel())
 	{
 		wpi_setWPIErrorWithContext(ParameterOutOfRange,
-				"moduleNumber and/or channel (must be accumulator channel)");
+            " channel (must be accumulator channel)");
 		if (m_channelAllocated)
 		{
 			delete m_analog;
@@ -44,7 +44,7 @@ void Gyro::InitGyro()
 	m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
 	m_analog->SetAverageBits(kAverageBits);
 	m_analog->SetOversampleBits(kOversampleBits);
-	float sampleRate = kSamplesPerSecond * 
+	float sampleRate = kSamplesPerSecond *
 		(1 << (kAverageBits + kOversampleBits));
 	m_analog->GetModule()->SetSampleRate(sampleRate);
 	Wait(1.0);
@@ -63,31 +63,16 @@ void Gyro::InitGyro()
 	m_analog->SetAccumulatorCenter(m_center);
 	m_analog->SetAccumulatorDeadband(0); ///< TODO: compute / parameterize this
 	m_analog->ResetAccumulator();
-	
+
 	SetPIDSourceParameter(kAngle);
 
-	HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel(), m_analog->GetModuleNumber() - 1);
-	LiveWindow::GetInstance()->AddSensor("Gyro", m_analog->GetModuleNumber(), m_analog->GetChannel(), this);
+	HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
+	LiveWindow::GetInstance()->AddSensor("Gyro", m_analog->GetChannel(), this);
 }
 
 /**
- * Gyro constructor given a slot and a channel.
- * 
- * @param moduleNumber The analog module the gyro is connected to (1).
- * @param channel The analog channel the gyro is connected to (1 or 2).
- */
-Gyro::Gyro(uint8_t moduleNumber, uint32_t channel)
-{
-	m_analog = new AnalogInput(moduleNumber, channel);
-	m_channelAllocated = true;
-	InitGyro();
-}
-
-/**
- * Gyro constructor with only a channel.
- * 
- * Use the default analog module slot.
- * 
+ * Gyro constructor with only a channel..
+ *
  * @param channel The analog channel the gyro is connected to.
  */
 Gyro::Gyro(uint32_t channel)
@@ -145,12 +130,12 @@ Gyro::~Gyro()
 
 /**
  * Return the actual angle in degrees that the robot is currently facing.
- * 
+ *
  * The angle is based on the current accumulator value corrected by the oversampling rate, the
  * gyro type and the A/D calibration values.
  * The angle is continuous, that is can go beyond 360 degrees. This make algorithms that wouldn't
  * want to see a discontinuity in the gyro output as it sweeps past 0 on the second time around.
- * 
+ *
  * @return the current heading of the robot in degrees. This heading is based on integration
  * of the returned rate from the gyro.
  */
@@ -171,14 +156,14 @@ float Gyro::GetAngle( void )
 
 /**
  * Return the rate of rotation of the gyro
- * 
+ *
  * The rate is based on the most recent reading of the gyro analog value
- * 
+ *
  * @return the current rate in degrees per second
  */
 double Gyro::GetRate( void )
 {
-	return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 * m_analog->GetLSBWeight() 
+	return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 * m_analog->GetLSBWeight()
 			/ ((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
 }
 
@@ -187,7 +172,7 @@ double Gyro::GetRate( void )
  * Set the gyro type based on the sensitivity.
  * This takes the number of volts/degree/second sensitivity of the gyro and uses it in subsequent
  * calculations to allow the code to work with multiple gyros.
- * 
+ *
  * @param voltsPerDegreePerSecond The type of gyro specified as the voltage that represents one degree/second.
  */
 void Gyro::SetSensitivity( float voltsPerDegreePerSecond )
@@ -204,7 +189,7 @@ void Gyro::SetPIDSourceParameter(PIDSourceParameter pidSource)
 
 /**
  * Get the angle in degrees for the PIDSource base object.
- * 
+ *
  * @return The angle in degrees.
  */
 double Gyro::PIDGet()
@@ -226,11 +211,11 @@ void Gyro::UpdateTable() {
 }
 
 void Gyro::StartLiveWindowMode() {
-	
+
 }
 
 void Gyro::StopLiveWindowMode() {
-	
+
 }
 
 std::string Gyro::GetSmartDashboardType() {
@@ -245,4 +230,3 @@ void Gyro::InitTable(ITable *subTable) {
 ITable * Gyro::GetTable() {
 	return m_table;
 }
-
diff --git a/wpilibc/wpilibC++/lib/HiTechnicColorSensor.cpp b/wpilibc/wpilibC++/lib/HiTechnicColorSensor.cpp
index bd19fd3040..c51ca2f007 100644
--- a/wpilibc/wpilibC++/lib/HiTechnicColorSensor.cpp
+++ b/wpilibc/wpilibC++/lib/HiTechnicColorSensor.cpp
@@ -27,20 +27,18 @@ const uint8_t HiTechnicColorSensor::kRawBlueRegister;
 
 /**
  * Constructor.
- * 
- * @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
  */
-HiTechnicColorSensor::HiTechnicColorSensor(uint8_t moduleNumber)
+HiTechnicColorSensor::HiTechnicColorSensor()
 	: m_i2c (NULL)
 {
 	m_table = NULL;
-	DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
+	DigitalModule *module = DigitalModule::GetInstance(1);
 	m_mode = kActive;
-	
+
 	if (module)
 	{
 		m_i2c = module->GetI2C(kAddress);
-	
+
 		// Verify Sensor
 		const uint8_t kExpectedManufacturer[] = "HiTechnc";
 		const uint8_t kExpectedSensorType[] = "ColorPD ";
@@ -53,8 +51,8 @@ HiTechnicColorSensor::HiTechnicColorSensor(uint8_t moduleNumber)
 		{
 			wpi_setWPIError(CompassTypeError);
 		}
-		
-		HALReport(HALUsageReporting::kResourceType_HiTechnicColorSensor, moduleNumber - 1);
+
+		HALReport(HALUsageReporting::kResourceType_HiTechnicColorSensor, 0);
 	}
 }
 
@@ -79,7 +77,7 @@ HiTechnicColorSensor::~HiTechnicColorSensor()
 uint8_t HiTechnicColorSensor::GetColor()
 {
 	uint8_t color = 0;
-	
+
 	if(m_mode != kActive)
 	{
 		SetMode(kActive);
@@ -95,7 +93,7 @@ uint8_t HiTechnicColorSensor::GetColor()
  * Get the Red value.
  *
  * Gets the (0-255) red value from the sensor.
- * 
+ *
  * The sensor must be in active mode to access the regular RGB data
  * if the sensor is not in active mode, it will be placed into active
  * mode by this method.
@@ -105,7 +103,7 @@ uint8_t HiTechnicColorSensor::GetColor()
 uint8_t HiTechnicColorSensor::GetRed()
 {
 	uint8_t red = 0;
-	
+
 	if(m_mode != kActive)
 	{
 		SetMode(kActive);
@@ -121,17 +119,17 @@ uint8_t HiTechnicColorSensor::GetRed()
  * Get the Green value.
  *
  * Gets the(0-255) green value from the sensor.
- * 
+ *
  * The sensor must be in active mode to access the regular RGB data
  * if the sensor is not in active mode, it will be placed into active
  * mode by this method.
- * 
+ *
  * @return The Green sensor value.
  */
 uint8_t HiTechnicColorSensor::GetGreen()
 {
 	uint8_t green = 0;
-	
+
 	if(m_mode != kActive)
 	{
 		SetMode(kActive);
@@ -147,17 +145,17 @@ uint8_t HiTechnicColorSensor::GetGreen()
  * Get the Blue value.
  *
  * Gets the raw (0-255) blue value from the sensor.
- * 
+ *
  * The sensor must be in active mode to access the regular RGB data
  * if the sensor is not in active mode, it will be placed into active
  * mode by this method.
- * 
+ *
  * @return The Blue sensor value.
  */
 uint8_t HiTechnicColorSensor::GetBlue()
 {
 	uint8_t blue = 0;
-	
+
 	if(m_mode != kActive)
 	{
 		SetMode(kActive);
@@ -174,18 +172,18 @@ uint8_t HiTechnicColorSensor::GetBlue()
  * Using this method ensures that all three values come from the
  * same sensor reading, using the individual color methods provides
  * no such guarantee.
- * 
+ *
  * The sensor must be in active mode to access the regular RGB data.
  * If the sensor is not in active mode, it will be placed into active
  * mode by this method.
- * 
+ *
  * @return RGB object with the three color values
  */
 HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRGB()
 {
 	uint8_t colors[3] = {0,0,0};
 	RGB result;
-	
+
 	if(m_mode != kActive)
 	{
 		SetMode(kActive);
@@ -194,11 +192,11 @@ HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRGB()
 	{
 		m_i2c->Read(kRawRedRegister, sizeof(colors), (uint8_t*)&colors);
 	}
-	
+
 	result.red = colors[0];
 	result.green = colors[1];
 	result.blue = colors[2];
-	
+
 	return result;
 }
 
@@ -206,7 +204,7 @@ HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRGB()
  * Get the Raw Red value.
  *
  * Gets the (0-65536) raw red value from the sensor.
- * 
+ *
  * The sensor must be in raw or passive mode to access the regular RGB data
  * if the sensor is not in raw or passive mode, it will be placed into raw
  * mode by this method.
@@ -216,7 +214,7 @@ HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRGB()
 uint16_t HiTechnicColorSensor::GetRawRed()
 {
 	uint16_t rawRed = 0;
-	
+
 	if(m_mode == kActive)
 	{
 		SetMode(kRaw);
@@ -232,7 +230,7 @@ uint16_t HiTechnicColorSensor::GetRawRed()
    * Get the Raw Green value.
    *
    * Gets the (0-65536) raw green value from the sensor.
-   * 
+   *
    * The sensor must be in raw or passive mode to access the regular RGB data
    * if the sensor is not in raw or passive mode, it will be placed into raw
    * mode by this method.
@@ -242,7 +240,7 @@ uint16_t HiTechnicColorSensor::GetRawRed()
 uint16_t HiTechnicColorSensor::GetRawGreen()
 {
 	uint16_t rawGreen = 0;
-	
+
 	if(m_mode == kActive)
 	{
 		SetMode(kRaw);
@@ -258,7 +256,7 @@ uint16_t HiTechnicColorSensor::GetRawGreen()
  * Get the Raw Blue value.
  *
  * Gets the (0-65536) raw blue value from the sensor.
- * 
+ *
  * The sensor must be in raw or passive mode to access the regular RGB data
  * if the sensor is not in raw or passive mode, it will be placed into raw
  * mode by this method.
@@ -268,7 +266,7 @@ uint16_t HiTechnicColorSensor::GetRawGreen()
 uint16_t HiTechnicColorSensor::GetRawBlue()
 {
 	uint16_t rawBlue = 0;
-	
+
 	if(m_mode == kActive)
 	{
 		SetMode(kRaw);
@@ -287,7 +285,7 @@ uint16_t HiTechnicColorSensor::GetRawBlue()
  * no such guarantee.
  *
  * Gets the (0-65536) raw color values from the sensor.
- * 
+ *
  * The sensor must be in raw or passive mode to access the regular RGB data
  * if the sensor is not in raw or passive mode, it will be placed into raw
  * mode by this method.
@@ -298,7 +296,7 @@ HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRawRGB()
 {
 	uint8_t colors[6] = {0,0,0,0,0,0};
 	RGB result;
-	
+
 	if(m_mode != kActive)
 	{
 		SetMode(kActive);
@@ -307,11 +305,11 @@ HiTechnicColorSensor::RGB HiTechnicColorSensor::GetRawRGB()
 	{
 		m_i2c->Read(kRedRegister, sizeof(colors), (uint8_t*)&colors);
 	}
-	
+
 	result.red = (colors[0]<<8) + colors[1];
 	result.green = (colors[2]<<8) + colors[3];
 	result.blue = (colors[4]<<8) + colors[5];
-	
+
 	return result;
 }
 
@@ -376,7 +374,7 @@ ITable* HiTechnicColorSensor::GetTable()
  */
 void HiTechnicColorSensor::StartLiveWindowMode()
 {
-	
+
 }
 
 /**
@@ -384,5 +382,5 @@ void HiTechnicColorSensor::StartLiveWindowMode()
  */
 void HiTechnicColorSensor::StopLiveWindowMode()
 {
-	
+
 }
diff --git a/wpilibc/wpilibC++/lib/HiTechnicCompass.cpp b/wpilibc/wpilibC++/lib/HiTechnicCompass.cpp
index ca6dc1a246..4c9e165b79 100644
--- a/wpilibc/wpilibC++/lib/HiTechnicCompass.cpp
+++ b/wpilibc/wpilibC++/lib/HiTechnicCompass.cpp
@@ -20,18 +20,16 @@ const uint8_t HiTechnicCompass::kHeadingRegister;
 
 /**
  * Constructor.
- * 
- * @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
  */
-HiTechnicCompass::HiTechnicCompass(uint8_t moduleNumber)
+HiTechnicCompass::HiTechnicCompass()
 	: m_i2c (NULL)
 {
 	m_table = NULL;
-	DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
+	DigitalModule *module = DigitalModule::GetInstance(1);
 	if (module)
 	{
 		m_i2c = module->GetI2C(kAddress);
-	
+
 		// Verify Sensor
 		const uint8_t kExpectedManufacturer[] = "HiTechnc";
 		const uint8_t kExpectedSensorType[] = "Compass ";
@@ -45,8 +43,8 @@ HiTechnicCompass::HiTechnicCompass(uint8_t moduleNumber)
 			wpi_setWPIError(CompassTypeError);
 		}
 
-		HALReport(HALUsageReporting::kResourceType_HiTechnicCompass, moduleNumber - 1);
-		LiveWindow::GetInstance()->AddSensor("HiTechnicCompass", moduleNumber, 0, this);
+		HALReport(HALUsageReporting::kResourceType_HiTechnicCompass, 0);
+		LiveWindow::GetInstance()->AddSensor("HiTechnicCompass", 1, this);
 	}
 }
 
@@ -61,9 +59,9 @@ HiTechnicCompass::~HiTechnicCompass()
 
 /**
  * Get the compass angle in degrees.
- * 
+ *
  * The resolution of this reading is 1 degree.
- * 
+ *
  * @return Angle of the compass in degrees.
  */
 float HiTechnicCompass::GetAngle()
@@ -86,11 +84,11 @@ void HiTechnicCompass::UpdateTable() {
 }
 
 void HiTechnicCompass::StartLiveWindowMode() {
-	
+
 }
 
 void HiTechnicCompass::StopLiveWindowMode() {
-	
+
 }
 
 std::string HiTechnicCompass::GetSmartDashboardType() {
@@ -105,4 +103,3 @@ void HiTechnicCompass::InitTable(ITable *subTable) {
 ITable * HiTechnicCompass::GetTable() {
 	return m_table;
 }
-
diff --git a/wpilibc/wpilibC++/lib/Jaguar.cpp b/wpilibc/wpilibC++/lib/Jaguar.cpp
index 79daa0ac4a..ced5d23a01 100644
--- a/wpilibc/wpilibC++/lib/Jaguar.cpp
+++ b/wpilibc/wpilibC++/lib/Jaguar.cpp
@@ -7,7 +7,6 @@
 
 #include "Jaguar.h"
 //#include "NetworkCommunication/UsageReporting.h"
-#include "DigitalModule.h"
 #include "LiveWindow/LiveWindow.h"
 
 /**
@@ -17,7 +16,7 @@ void Jaguar::InitJaguar()
 {
 	/*
 	 * Input profile defined by Luminary Micro.
-	 * 
+	 *
 	 * Full reverse ranges from 0.671325ms to 0.6972211ms
 	 * Proportional reverse ranges from 0.6972211ms to 1.4482078ms
 	 * Neutral ranges from 1.4482078ms to 1.5517922ms
@@ -28,41 +27,28 @@ void Jaguar::InitJaguar()
 	SetPeriodMultiplier(kPeriodMultiplier_1X);
 	SetRaw(m_centerPwm);
 
-	HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel(), GetModuleNumber() - 1);
-	LiveWindow::GetInstance()->AddActuator("Jaguar", GetModuleNumber(), GetChannel(), this);
+	HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel());
+	LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
 }
 
 /**
- * Constructor that assumes the default digital module.
- * 
- * @param channel The PWM channel on the digital module that the Jaguar is attached to.
+ * @param channel The PWM channel that the Jaguar is attached to.
  */
 Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
 {
 	InitJaguar();
 }
 
-/**
- * Constructor that specifies the digital module.
- * 
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The PWM channel on the digital module that the Jaguar is attached to.
- */
-Jaguar::Jaguar(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
-{
-	InitJaguar();
-}
-
 Jaguar::~Jaguar()
 {
 }
 
 /**
- * Set the PWM value.  
- * 
+ * Set the PWM value.
+ *
  * The PWM value is set using a range of -1.0 to 1.0, appropriately
  * scaling the value for the FPGA.
- * 
+ *
  * @param speed The speed value between -1.0 and 1.0 to set.
  * @param syncGroup Unused interface.
  */
@@ -73,7 +59,7 @@ void Jaguar::Set(float speed, uint8_t syncGroup)
 
 /**
  * Get the recently set value of the PWM.
- * 
+ *
  * @return The most recently set value for the PWM between -1.0 and 1.0.
  */
 float Jaguar::Get()
@@ -91,11 +77,10 @@ void Jaguar::Disable()
 
 /**
  * Write out the PID value as seen in the PIDOutput base object.
- * 
+ *
  * @param output Write out the PWM value as was found in the PIDController
  */
 void Jaguar::PIDWrite(float output)
 {
 	Set(output);
 }
-
diff --git a/wpilibc/wpilibC++/lib/LiveWindow/LiveWindow.cpp b/wpilibc/wpilibC++/lib/LiveWindow/LiveWindow.cpp
index 409892d463..6d28f0d79a 100644
--- a/wpilibc/wpilibC++/lib/LiveWindow/LiveWindow.cpp
+++ b/wpilibc/wpilibC++/lib/LiveWindow/LiveWindow.cpp
@@ -102,10 +102,10 @@ void LiveWindow::AddActuator(const char *subsystem, const char *name,
 /**
  * INTERNAL
  */
-void LiveWindow::AddSensor(std::string type, int module, int channel, LiveWindowSendable *component)
+void LiveWindow::AddSensor(std::string type, int channel, LiveWindowSendable *component)
 {
 	std::ostringstream oss;
-	oss << type << "[" << module << "," << channel << "]";
+	oss << type << "[" << channel << "]";
 	std::string types(oss.str());
 	char* cc = new char[types.size() + 1];
 	types.copy(cc, types.size());
@@ -118,10 +118,10 @@ void LiveWindow::AddSensor(std::string type, int module, int channel, LiveWindow
 /**
  * INTERNAL
  */
-void LiveWindow::AddActuator(std::string type, int module, int channel, LiveWindowSendable *component)
+void LiveWindow::AddActuator(std::string type, int channel, LiveWindowSendable *component)
 {
 	std::ostringstream oss;
-	oss << type << "[" << module << "," << channel << "]";
+	oss << type << "[" << channel << "]";
 	std::string types(oss.str());
 	char* cc = new char[types.size() + 1];
 	types.copy(cc, types.size());
@@ -129,6 +129,20 @@ void LiveWindow::AddActuator(std::string type, int module, int channel, LiveWind
 	AddActuator("Ungrouped", cc, component);
 }
 
+/**
+ * INTERNAL
+ */
+void LiveWindow::AddActuator(std::string type, int module, int channel, LiveWindowSendable *component)
+{
+    std::ostringstream oss;
+    oss << type << "[" << module << "," << channel << "]";
+    std::string types(oss.str());
+    char* cc = new char[types.size() + 1];
+    types.copy(cc, types.size());
+    cc[types.size()]='\0';
+    AddActuator("Ungrouped", cc, component);
+}
+
 /**
  * Tell all the sensors to update (send) their values
  * Actuators are handled through callbacks on their value changing from the
@@ -184,4 +198,3 @@ void LiveWindow::InitializeLiveWindowComponents()
 		}
 	}
 }
-
diff --git a/wpilibc/wpilibC++/lib/PWM.cpp b/wpilibc/wpilibC++/lib/PWM.cpp
index 9729857d5f..7efd8de061 100644
--- a/wpilibc/wpilibC++/lib/PWM.cpp
+++ b/wpilibc/wpilibC++/lib/PWM.cpp
@@ -19,23 +19,18 @@ const int32_t PWM::kPwmDisabled;
 static Resource *allocated = NULL;
 
 /**
- * Initialize PWMs given an module and channel.
- * 
+ * Initialize PWMs given a channel.
+ *
  * This method is private and is the common path for all the constructors for creating PWM
- * instances. Checks module and channel value ranges and allocates the appropriate channel.
+ * instances. Checks channel value range and allocates the appropriate channel.
  * The allocation is only done to help users ensure that they don't double assign channels.
  */
-void PWM::InitPWM(uint8_t moduleNumber, uint32_t channel)
+void PWM::InitPWM(uint32_t channel)
 {
 	m_table = NULL;
 	char buf[64];
-	Resource::CreateResourceObject(&allocated, dio_kNumSystems * kPwmChannels);
-	if (!CheckPWMModule(moduleNumber))
-	{
-		snprintf(buf, 64, "Digital Module %d", moduleNumber);
-		wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
-		return;
-	}
+	Resource::CreateResourceObject(&allocated, kPwmChannels);
+
 	if (!CheckPWMChannel(channel))
 	{
 		snprintf(buf, 64, "PWM Channel %d", channel);
@@ -43,50 +38,34 @@ void PWM::InitPWM(uint8_t moduleNumber, uint32_t channel)
 		return;
 	}
 
-	snprintf(buf, 64, "PWM %d (Module: %d)", channel, moduleNumber);
-	if (allocated->Allocate((moduleNumber - 1) * kPwmChannels + channel, buf) == ~0ul)
+	snprintf(buf, 64, "PWM %d", channel);
+	if (allocated->Allocate(channel, buf) == ~0ul)
 	{
 		CloneError(allocated);
 		return;
 	}
 	m_channel = channel;
-	m_module = DigitalModule::GetInstance(moduleNumber);
+	m_module = DigitalModule::GetInstance(1);
 	m_module->SetPWM(m_channel, kPwmDisabled);
 	m_eliminateDeadband = false;
 
-	HALReport(HALUsageReporting::kResourceType_PWM, channel, moduleNumber - 1);
+	HALReport(HALUsageReporting::kResourceType_PWM, channel);
 }
 
 /**
- * Allocate a PWM given a module and channel.
- * Allocate a PWM using a module and channel number.
- * 
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The PWM channel on the digital module (1..10).
- */
-PWM::PWM(uint8_t moduleNumber, uint32_t channel)
-	: m_module(NULL)
-{
-	InitPWM(moduleNumber, channel);
-}
-
-/**
- * Allocate a PWM in the default module given a channel.
- * 
- * Using a default module allocate a PWM given the channel number.  The default module is the first
- * slot numerically in the cRIO chassis.
- * 
- * @param channel The PWM channel on the digital module.
+ * Allocate a PWM given a channel number.
+ *
+ * @param channel The PWM channel.
  */
 PWM::PWM(uint32_t channel)
 	: m_module(NULL)
 {
-	InitPWM(GetDefaultDigitalModule(), channel);
+	InitPWM(channel);
 }
 
 /**
  * Free the PWM channel.
- * 
+ *
  * Free the resource associated with the PWM channel and set the value to 0.
  */
 PWM::~PWM()
@@ -94,7 +73,7 @@ PWM::~PWM()
 	if (m_module)
 	{
 		m_module->SetPWM(m_channel, kPwmDisabled);
-		allocated->Free((m_module->GetNumber() - 1) * kPwmChannels + m_channel);
+		allocated->Free(m_channel);
 	}
 }
 
@@ -155,19 +134,14 @@ void PWM::SetBounds(double max, double deadbandMax, double center, double deadba
 //    printf("Calculated m_minPwm: %d min: %lf  loopTime: %lf  defaultStepsDown: %d\n", m_minPwm, min, loopTime, kDefaultPwmStepsDown);
 }
 
-uint32_t PWM::GetModuleNumber()
-{
-	return m_module->GetNumber();
-}
-
 /**
  * Set the PWM value based on a position.
- * 
+ *
  * This is intended to be used by servos.
- * 
+ *
  * @pre SetMaxPositivePwm() called.
  * @pre SetMinNegativePwm() called.
- * 
+ *
  * @param pos The position to set the servo between 0.0 and 1.0.
  */
 void PWM::SetPosition(float pos)
@@ -195,12 +169,12 @@ void PWM::SetPosition(float pos)
 
 /**
  * Get the PWM value in terms of a position.
- * 
+ *
  * This is intended to be used by servos.
- * 
+ *
  * @pre SetMaxPositivePwm() called.
  * @pre SetMinNegativePwm() called.
- * 
+ *
  * @return The position the servo is set to between 0.0 and 1.0.
  */
 float PWM::GetPosition()
@@ -223,15 +197,15 @@ float PWM::GetPosition()
 
 /**
  * Set the PWM value based on a speed.
- * 
+ *
  * This is intended to be used by speed controllers.
- * 
+ *
  * @pre SetMaxPositivePwm() called.
  * @pre SetMinPositivePwm() called.
  * @pre SetCenterPwm() called.
  * @pre SetMaxNegativePwm() called.
  * @pre SetMinNegativePwm() called.
- * 
+ *
  * @param speed The speed to set the speed controller between -1.0 and 1.0.
  */
 void PWM::SetSpeed(float speed)
@@ -274,14 +248,14 @@ void PWM::SetSpeed(float speed)
 
 /**
  * Get the PWM value in terms of speed.
- * 
+ *
  * This is intended to be used by speed controllers.
- * 
+ *
  * @pre SetMaxPositivePwm() called.
  * @pre SetMinPositivePwm() called.
  * @pre SetMaxNegativePwm() called.
  * @pre SetMinNegativePwm() called.
- * 
+ *
  * @return The most recently set speed between -1.0 and 1.0.
  */
 float PWM::GetSpeed()
@@ -316,9 +290,9 @@ float PWM::GetSpeed()
 
 /**
  * Set the PWM value directly to the hardware.
- * 
+ *
  * Write a raw value to a PWM channel.
- * 
+ *
  * @param value Raw PWM value.
  */
 void PWM::SetRaw(unsigned short value)
@@ -329,9 +303,9 @@ void PWM::SetRaw(unsigned short value)
 
 /**
  * Get the PWM value directly from the hardware.
- * 
+ *
  * Read a raw value from a PWM channel.
- * 
+ *
  * @return Raw PWM control value.
  */
 unsigned short PWM::GetRaw()
@@ -342,7 +316,7 @@ unsigned short PWM::GetRaw()
 
 /**
  * Slow down the PWM signal for old devices.
- * 
+ *
  * @param mult The period multiplier to apply to this channel
  */
 void PWM::SetPeriodMultiplier(PeriodMultiplier mult)
@@ -401,4 +375,3 @@ void PWM::InitTable(ITable *subTable) {
 ITable * PWM::GetTable() {
 	return m_table;
 }
-
diff --git a/wpilibc/wpilibC++/lib/Relay.cpp b/wpilibc/wpilibC++/lib/Relay.cpp
index 4ef9d1d5ed..608495374a 100644
--- a/wpilibc/wpilibC++/lib/Relay.cpp
+++ b/wpilibc/wpilibC++/lib/Relay.cpp
@@ -19,21 +19,12 @@ static Resource *relayChannels = NULL;
  * Common relay intitialization methode.
  * This code is common to all Relay constructors and initializes the relay and reserves
  * all resources that need to be locked. Initially the relay is set to both lines at 0v.
- * @param slot The module slot number this relay is connected to.
- * 
- * @param moduleNumber The digital module this relay is connected to (1 or 2).
  */
-void Relay::InitRelay (uint8_t moduleNumber)
+void Relay::InitRelay()
 {
 	m_table = NULL;
 	char buf[64];
 	Resource::CreateResourceObject(&relayChannels, dio_kNumSystems * kRelayChannels * 2);
-	if (!SensorBase::CheckRelayModule(moduleNumber))
-	{
-		snprintf(buf, 64, "Digital Module %d", moduleNumber);
-		wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf);
-		return;
-	}
 	if (!SensorBase::CheckRelayChannel(m_channel))
 	{
 		snprintf(buf, 64, "Relay Channel %d", m_channel);
@@ -43,56 +34,42 @@ void Relay::InitRelay (uint8_t moduleNumber)
 
 	if (m_direction == kBothDirections || m_direction == kForwardOnly)
 	{
-		snprintf(buf, 64, "Forward Relay %d (Module: %d)", m_channel, moduleNumber);
-		if (relayChannels->Allocate(((moduleNumber - 1) * kRelayChannels + m_channel) * 2, buf) == ~0ul)
+		snprintf(buf, 64, "Forward Relay %d", m_channel);
+		if (relayChannels->Allocate(m_channel * 2, buf) == ~0ul)
 		{
 			CloneError(relayChannels);
 			return;
 		}
 
-		HALReport(HALUsageReporting::kResourceType_Relay, m_channel, moduleNumber - 1);
+		HALReport(HALUsageReporting::kResourceType_Relay, m_channel);
 	}
 	if (m_direction == kBothDirections || m_direction == kReverseOnly)
 	{
-		snprintf(buf, 64, "Reverse Relay %d (Module: %d)", m_channel, moduleNumber);
-		if (relayChannels->Allocate(((moduleNumber - 1) * kRelayChannels + m_channel) * 2 + 1, buf) == ~0ul)
+		snprintf(buf, 64, "Reverse Relay %d", m_channel);
+		if (relayChannels->Allocate(m_channel * 2 + 1, buf) == ~0ul)
 		{
 			CloneError(relayChannels);
 			return;
 		}
 
-		HALReport(HALUsageReporting::kResourceType_Relay, m_channel + 128, moduleNumber - 1);
+		HALReport(HALUsageReporting::kResourceType_Relay, m_channel + 128);
 	}
-	m_module = DigitalModule::GetInstance(moduleNumber);
+	m_module = DigitalModule::GetInstance(1);
 	m_module->SetRelayForward(m_channel, false);
 	m_module->SetRelayReverse(m_channel, false);
-	LiveWindow::GetInstance()->AddActuator("Relay", moduleNumber, m_channel, this);
+	LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
 }
 
 /**
- * Relay constructor given the module and the channel.
- * 
- * @param moduleNumber The digital module this relay is connected to (1 or 2).
- * @param channel The channel number within the module for this relay.
- * @param direction The direction that the Relay object will control.
- */
-Relay::Relay(uint8_t moduleNumber, uint32_t channel, Relay::Direction direction)
-	: m_channel (channel)
-	, m_direction (direction)
-{
-	InitRelay(moduleNumber);
-}
-
-/**
- * Relay constructor given a channel only where the default digital module is used.
- * @param channel The channel number within the default module for this relay.
+ * Relay constructor given a channel.
+ * @param channel The channel number.
  * @param direction The direction that the Relay object will control.
  */
 Relay::Relay(uint32_t channel, Relay::Direction direction)
 	: m_channel (channel)
 	, m_direction (direction)
 {
-	InitRelay(GetDefaultDigitalModule());
+	InitRelay();
 }
 
 /**
@@ -106,26 +83,26 @@ Relay::~Relay()
 
 	if (m_direction == kBothDirections || m_direction == kForwardOnly)
 	{
-		relayChannels->Free(((m_module->GetNumber() - 1) * kRelayChannels + m_channel) * 2);
+		relayChannels->Free(m_channel * 2);
 	}
 	if (m_direction == kBothDirections || m_direction == kReverseOnly)
 	{
-		relayChannels->Free(((m_module->GetNumber() - 1) * kRelayChannels + m_channel) * 2 + 1);
+		relayChannels->Free(m_channel * 2 + 1);
 	}
 }
 
 /**
  * Set the relay state.
- * 
+ *
  * Valid values depend on which directions of the relay are controlled by the object.
- * 
+ *
  * When set to kBothDirections, the relay can be any of the four states:
  *    0v-0v, 0v-12v, 12v-0v, 12v-12v
- * 
+ *
  * When set to kForwardOnly or kReverseOnly, you can specify the constant for the
  *    direction or you can simply specify kOff and kOn.  Using only kOff and kOn is
  *    recommended.
- * 
+ *
  * @param value The state to set the relay.
  */
 void Relay::Set(Relay::Value value)
@@ -188,12 +165,12 @@ void Relay::Set(Relay::Value value)
 
 /**
  * Get the Relay State
- * 
+ *
  * Gets the current state of the relay.
- * 
+ *
  * When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
  * kForward/kReverse (per the recommendation in Set)
- * 
+ *
  * @return The current state of the relay as a Relay::Value
  */
 Relay::Value Relay::Get() {
@@ -217,7 +194,7 @@ Relay::Value Relay::Get() {
 	   } else {
 		   return kOff;
 	   }
-   }        
+   }
 }
 
 void Relay::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
@@ -268,5 +245,3 @@ void Relay::InitTable(ITable *subTable) {
 ITable * Relay::GetTable() {
 	return m_table;
 }
-
-
diff --git a/wpilibc/wpilibC++/lib/RobotDrive.cpp b/wpilibc/wpilibC++/lib/RobotDrive.cpp
index 9b4f97f6a3..97509dfde3 100644
--- a/wpilibc/wpilibC++/lib/RobotDrive.cpp
+++ b/wpilibc/wpilibC++/lib/RobotDrive.cpp
@@ -47,8 +47,8 @@ void RobotDrive::InitRobotDrive() {
  * Set up parameters for a two wheel drive system where the
  * left and right motor pwm channels are specified in the call.
  * This call assumes Jaguars for controlling the motors.
- * @param leftMotorChannel The PWM channel number on the default digital module that drives the left motor.
- * @param rightMotorChannel The PWM channel number on the default digital module that drives the right motor.
+ * @param leftMotorChannel The PWM channel number that drives the left motor.
+ * @param rightMotorChannel The PWM channel number that drives the right motor.
  */
 RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
 {
@@ -68,10 +68,10 @@ RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
  * Set up parameters for a four wheel drive system where all four motor
  * pwm channels are specified in the call.
  * This call assumes Jaguars for controlling the motors.
- * @param frontLeftMotor Front left motor channel number on the default digital module
- * @param rearLeftMotor Rear Left motor channel number on the default digital module
- * @param frontRightMotor Front right motor channel number on the default digital module
- * @param rearRightMotor Rear Right motor channel number on the default digital module
+ * @param frontLeftMotor Front left motor channel number
+ * @param rearLeftMotor Rear Left motor channel number
+ * @param frontRightMotor Front right motor channel number
+ * @param rearRightMotor Rear Right motor channel number
  */
 RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
 		uint32_t frontRightMotor, uint32_t rearRightMotor)
@@ -472,7 +472,7 @@ void RobotDrive::ArcadeDrive(float moveValue, float rotateValue, bool squaredInp
  * A method for driving with Mecanum wheeled robots. There are 4 wheels
  * on the robot, arranged so that the front and back wheels are toed in 45 degrees.
  * When looking at the wheels from the top, the roller axles should form an X across the robot.
- * 
+ *
  * This is designed to be directly driven by joystick axes.
  *
  * @param x The speed that the robot should drive in the X direction. [-1.0..1.0]
@@ -514,7 +514,7 @@ void RobotDrive::MecanumDrive_Cartesian(float x, float y, float rotation, float
 	m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_invertedMotors[kRearRightMotor] * m_maxOutput, syncGroup);
 
 	CANJaguar::UpdateSyncGroup(syncGroup);
-	
+
 	m_safetyHelper->Feed();
 }
 
@@ -563,7 +563,7 @@ void RobotDrive::MecanumDrive_Polar(float magnitude, float direction, float rota
 	m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_invertedMotors[kRearRightMotor] * m_maxOutput, syncGroup);
 
 	CANJaguar::UpdateSyncGroup(syncGroup);
-	
+
 	m_safetyHelper->Feed();
 }
 
@@ -679,7 +679,7 @@ void RobotDrive::SetInvertedMotor(MotorType motor, bool isInverted)
 
 /**
  * Set the turning sensitivity.
- * 
+ *
  * This only impacts the Drive() entry-point.
  * @param sensitivity Effectively sets the turning sensitivity (or turn radius for a given value)
  */
diff --git a/wpilibc/wpilibC++/lib/SafePWM.cpp b/wpilibc/wpilibC++/lib/SafePWM.cpp
index 8cecab654b..fb51f32fc4 100644
--- a/wpilibc/wpilibC++/lib/SafePWM.cpp
+++ b/wpilibc/wpilibC++/lib/SafePWM.cpp
@@ -18,24 +18,14 @@ void SafePWM::InitSafePWM()
 }
 
 /**
- * Constructor for a SafePWM object taking a channel number
- * @param channel The channel number to be used for the underlying PWM object
+ * Constructor for a SafePWM object taking a channel number.
+ * @param channel The PWM channel number (0..19).
  */
 SafePWM::SafePWM(uint32_t channel): PWM(channel)
 {
 	InitSafePWM();
 }
 
-/**
- * Constructor for a SafePWM object taking channel and slot numbers.
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The PWM channel number on the module (1..10).
- */
-SafePWM::SafePWM(uint8_t moduleNumber, uint32_t channel): PWM(moduleNumber, channel)
-{
-	InitSafePWM();
-}
-
 SafePWM::~SafePWM()
 {
 	delete m_safetyHelper;
@@ -100,7 +90,7 @@ bool SafePWM::IsSafetyEnabled()
 
 void SafePWM::GetDescription(char *desc)
 {
-	sprintf(desc, "PWM %d on module %d", GetChannel(), GetModuleNumber());
+	sprintf(desc, "PWM %d", GetChannel());
 }
 
 /**
@@ -114,4 +104,3 @@ void SafePWM::SetSpeed(float speed)
 	PWM::SetSpeed(speed);
 	m_safetyHelper->Feed();
 }
-
diff --git a/wpilibc/wpilibC++/lib/SensorBase.cpp b/wpilibc/wpilibC++/lib/SensorBase.cpp
index 2af63a99b7..bc0fe2ceec 100644
--- a/wpilibc/wpilibC++/lib/SensorBase.cpp
+++ b/wpilibc/wpilibC++/lib/SensorBase.cpp
@@ -11,8 +11,6 @@
 
 const uint32_t SensorBase::kDigitalChannels;
 const uint32_t SensorBase::kAnalogInputs;
-const uint32_t SensorBase::kAnalogModules;
-const uint32_t SensorBase::kDigitalModules;
 const uint32_t SensorBase::kSolenoidChannels;
 const uint32_t SensorBase::kSolenoidModules;
 const uint32_t SensorBase::kPwmChannels;
@@ -66,50 +64,6 @@ void SensorBase::DeleteSingletons()
 	m_singletonList = NULL;
 }
 
-/**
- * Check that the analog module number is valid.
- *
- * @return Analog module is valid and present
- */
-bool SensorBase::CheckAnalogModule(uint8_t moduleNumber)
-{
-	if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Analog, moduleNumber - 1))
-		return true;
-	return false;
-}
-
-/**
- * Check that the digital module number is valid.
- *
- * @return Digital module is valid and present
- */
-bool SensorBase::CheckDigitalModule(uint8_t moduleNumber)
-{
-	if (nLoadOut::getModulePresence(nLoadOut::kModuleType_Digital, moduleNumber - 1))
-		return true;
-	return false;
-}
-
-/**
- * Check that the digital module number is valid.
- *
- * @return Digital module is valid and present
- */
-bool SensorBase::CheckPWMModule(uint8_t moduleNumber)
-{
-	return CheckDigitalModule(moduleNumber);
-}
-
-/**
- * Check that the digital module number is valid.
- *
- * @return Digital module is valid and present
- */
-bool SensorBase::CheckRelayModule(uint8_t moduleNumber)
-{
-	return CheckDigitalModule(moduleNumber);
-}
-
 /**
  * Check that the solenoid module number is valid.
  *
diff --git a/wpilibc/wpilibC++/lib/Servo.cpp b/wpilibc/wpilibC++/lib/Servo.cpp
index 46ddec89f0..e15a5f2451 100644
--- a/wpilibc/wpilibC++/lib/Servo.cpp
+++ b/wpilibc/wpilibC++/lib/Servo.cpp
@@ -27,14 +27,12 @@ void Servo::InitServo()
 	SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
 	SetPeriodMultiplier(kPeriodMultiplier_4X);
 
-	LiveWindow::GetInstance()->AddActuator("Servo", GetModuleNumber(), GetChannel(), this);
-	HALReport(HALUsageReporting::kResourceType_Servo, GetChannel(), GetModuleNumber() - 1);
+	LiveWindow::GetInstance()->AddActuator("Servo", GetChannel(), this);
+	HALReport(HALUsageReporting::kResourceType_Servo, GetChannel());
 }
 
 /**
- * Constructor that assumes the default digital module.
- *
- * @param channel The PWM channel on the digital module to which the servo is attached.
+ * @param channel The PWM channel to which the servo is attached.
  */
 Servo::Servo(uint32_t channel) : SafePWM(channel)
 {
@@ -42,17 +40,6 @@ Servo::Servo(uint32_t channel) : SafePWM(channel)
 //	printf("Done initializing servo %d\n", channel);
 }
 
-/**
- * Constructor that specifies the digital module.
- *
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The PWM channel on the digital module to which the servo is attached (1..10).
- */
-Servo::Servo(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
-{
-	InitServo();
-}
-
 Servo::~Servo()
 {
 }
@@ -71,7 +58,7 @@ void Servo::Set(float value)
 
 /**
  * Set the servo to offline.
- * 
+ *
  * Set the servo raw value to 0 (undriven)
  */
 void Servo::SetOffline() {
@@ -160,5 +147,3 @@ void Servo::InitTable(ITable *subTable) {
 ITable * Servo::GetTable() {
 	return m_table;
 }
-
-
diff --git a/wpilibc/wpilibC++/lib/Solenoid.cpp b/wpilibc/wpilibC++/lib/Solenoid.cpp
index f02551ec6f..8c343fc9c8 100644
--- a/wpilibc/wpilibC++/lib/Solenoid.cpp
+++ b/wpilibc/wpilibC++/lib/Solenoid.cpp
@@ -43,7 +43,7 @@ void Solenoid::InitSolenoid()
 
 /**
  * Constructor.
- * 
+ *
  * @param channel The channel on the solenoid module to control (1..8).
  */
 Solenoid::Solenoid(uint32_t channel)
@@ -55,7 +55,7 @@ Solenoid::Solenoid(uint32_t channel)
 
 /**
  * Constructor.
- * 
+ *
  * @param moduleNumber The solenoid module (1 or 2).
  * @param channel The channel on the solenoid module to control (1..8).
  */
@@ -79,7 +79,7 @@ Solenoid::~Solenoid()
 
 /**
  * Set the value of a solenoid.
- * 
+ *
  * @param on Turn the solenoid output off or on.
  */
 void Solenoid::Set(bool on)
@@ -93,7 +93,7 @@ void Solenoid::Set(bool on)
 
 /**
  * Read the current value of the solenoid.
- * 
+ *
  * @return The current value of the solenoid.
  */
 bool Solenoid::Get()
@@ -140,4 +140,3 @@ void Solenoid::InitTable(ITable *subTable) {
 ITable * Solenoid::GetTable() {
 	return m_table;
 }
-
diff --git a/wpilibc/wpilibC++/lib/Talon.cpp b/wpilibc/wpilibC++/lib/Talon.cpp
index e00fad7508..39d6bf187b 100644
--- a/wpilibc/wpilibC++/lib/Talon.cpp
+++ b/wpilibc/wpilibC++/lib/Talon.cpp
@@ -6,7 +6,6 @@
 
 #include "Talon.h"
 
-#include "DigitalModule.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "LiveWindow/LiveWindow.h"
 
@@ -17,7 +16,7 @@
  * most controllers, but if users experience issues such as asymmetric behavior around
  * the deadband or inability to saturate the controller in either direction, calibration is recommended.
  * The calibration procedure can be found in the Talon User Manual available from CTRE.
- * 
+ *
  *   - 211 = full "forward"
  *   - 133 = the "high end" of the deadband range
  *   - 129 = center of the deadband range (off)
@@ -29,41 +28,28 @@ void Talon::InitTalon() {
 	SetPeriodMultiplier(kPeriodMultiplier_2X);
 	SetRaw(m_centerPwm);
 
-	HALReport(HALUsageReporting::kResourceType_Talon, GetChannel(), GetModuleNumber() - 1);
-	LiveWindow::GetInstance()->AddActuator("Talon", GetModuleNumber(), GetChannel(), this);
+	HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
+	LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
 }
 
 /**
- * Constructor that assumes the default digital module.
- * 
- * @param channel The PWM channel on the digital module that the Talon is attached to.
+ * @param channel The PWM channel that the Talon is attached to.
  */
 Talon::Talon(uint32_t channel) : SafePWM(channel)
 {
 	InitTalon();
 }
 
-/**
- * Constructor that specifies the digital module.
- * 
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The PWM channel on the digital module that the Talon is attached to (1..10).
- */
-Talon::Talon(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
-{
-	InitTalon();
-}
-
 Talon::~Talon()
 {
 }
 
 /**
- * Set the PWM value.  
- * 
+ * Set the PWM value.
+ *
  * The PWM value is set using a range of -1.0 to 1.0, appropriately
  * scaling the value for the FPGA.
- * 
+ *
  * @param speed The speed value between -1.0 and 1.0 to set.
  * @param syncGroup Unused interface.
  */
@@ -74,7 +60,7 @@ void Talon::Set(float speed, uint8_t syncGroup)
 
 /**
  * Get the recently set value of the PWM.
- * 
+ *
  * @return The most recently set value for the PWM between -1.0 and 1.0.
  */
 float Talon::Get()
@@ -92,11 +78,10 @@ void Talon::Disable()
 
 /**
  * Write out the PID value as seen in the PIDOutput base object.
- * 
+ *
  * @param output Write out the PWM value as was found in the PIDController
  */
-void Talon::PIDWrite(float output) 
+void Talon::PIDWrite(float output)
 {
 	Set(output);
 }
-
diff --git a/wpilibc/wpilibC++/lib/Ultrasonic.cpp b/wpilibc/wpilibC++/lib/Ultrasonic.cpp
index 3a041a43a7..59617822a9 100644
--- a/wpilibc/wpilibC++/lib/Ultrasonic.cpp
+++ b/wpilibc/wpilibC++/lib/Ultrasonic.cpp
@@ -27,7 +27,7 @@ SEMAPHORE_ID Ultrasonic::m_semaphore = 0;
 /**
  * Background task that goes through the list of ultrasonic sensors and pings each one in turn. The counter
  * is configured to read the timing of the returned echo pulse.
- * 
+ *
  * DANGER WILL ROBINSON, DANGER WILL ROBINSON:
  * This code runs as a task and assumes that none of the ultrasonic sensors will change while it's
  * running. If one does, then this will certainly break. Make sure to disable automatic mode before changing
@@ -78,13 +78,12 @@ void Ultrasonic::Initialize()
 	static int instances = 0;
 	instances++;
 	HALReport(HALUsageReporting::kResourceType_Ultrasonic, instances);
-	LiveWindow::GetInstance()->AddSensor("Ultrasonic", m_echoChannel->GetModuleForRouting(), m_echoChannel->GetChannel(), this);
+	LiveWindow::GetInstance()->AddSensor("Ultrasonic", m_echoChannel->GetChannel(), this);
 }
 
 /**
- * Create an instance of the Ultrasonic Sensor using the default module.
- * This is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors. This
- * constructor assumes that both digital I/O channels are in the default digital module.
+ * Create an instance of the Ultrasonic Sensor
+ * This is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors.
  * @param pingChannel The digital output channel that sends the pulse to initiate the sensor sending
  * the ping.
  * @param echoChannel The digital input channel that receives the echo. The length of time that the
@@ -137,28 +136,6 @@ Ultrasonic::Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel, Di
 	Initialize();
 }
 
-/**
- * Create an instance of the Ultrasonic sensor using specified modules.
- * This is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors. This
- * constructors takes the channel and module slot for each of the required digital I/O channels.
- * @param pingModuleNumber The digital module that the pingChannel is on.
- * @param pingChannel The digital output channel that sends the pulse to initiate the sensor
- * sending the ping.
- * @param echoModuleNumber The digital module that the echoChannel is on.
- * @param echoChannel The digital input channel that receives the echo. The length of time
- * that the echo is high represents the round trip time of the ping, and the distance.
- * @param units The units returned in either kInches or kMilliMeters
- */
-Ultrasonic::Ultrasonic(uint8_t pingModuleNumber, uint32_t pingChannel,
-		uint8_t echoModuleNumber, uint32_t echoChannel, DistanceUnit units)
-{
-	m_pingChannel = new DigitalOutput(pingModuleNumber, pingChannel);
-	m_echoChannel = new DigitalInput(echoModuleNumber, echoChannel);
-	m_allocatedChannels = true;
-	m_units = units;
-	Initialize();
-}
-
 /**
  * Destructor for the ultrasonic sensor.
  * Delete the instance of the ultrasonic sensor by freeing the allocated digital channels.
@@ -296,12 +273,12 @@ double Ultrasonic::GetRangeMM()
 
 /**
  * Get the range in the current DistanceUnit for the PIDSource base object.
- * 
+ *
  * @return The range in DistanceUnit
  */
 double Ultrasonic::PIDGet()
 {
-	switch(m_units) 
+	switch(m_units)
 	{
 	case Ultrasonic::kInches:
 		return GetRangeInches();
@@ -314,7 +291,7 @@ double Ultrasonic::PIDGet()
 
 /**
  * Set the current DistanceUnit that should be used for the PIDSource base object.
- * 
+ *
  * @param units The DistanceUnit that should be used.
  */
 void Ultrasonic::SetDistanceUnits(DistanceUnit units)
@@ -324,7 +301,7 @@ void Ultrasonic::SetDistanceUnits(DistanceUnit units)
 
 /**
  * Get the current DistanceUnit that is used for the PIDSource base object.
- * 
+ *
  * @return The type of DistanceUnit that is being used.
  */
 Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits()
@@ -339,11 +316,11 @@ void Ultrasonic::UpdateTable() {
 }
 
 void Ultrasonic::StartLiveWindowMode() {
-	
+
 }
 
 void Ultrasonic::StopLiveWindowMode() {
-	
+
 }
 
 std::string Ultrasonic::GetSmartDashboardType() {
@@ -358,4 +335,3 @@ void Ultrasonic::InitTable(ITable *subTable) {
 ITable * Ultrasonic::GetTable() {
 	return m_table;
 }
-
diff --git a/wpilibc/wpilibC++/lib/Victor.cpp b/wpilibc/wpilibC++/lib/Victor.cpp
index 36478ae6c0..173e9c1801 100644
--- a/wpilibc/wpilibC++/lib/Victor.cpp
+++ b/wpilibc/wpilibC++/lib/Victor.cpp
@@ -6,7 +6,6 @@
 
 #include "Victor.h"
 
-#include "DigitalModule.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "LiveWindow/LiveWindow.h"
 
@@ -18,7 +17,7 @@
  * Victor 884 controllers as well but if users experience issues such as asymmetric behavior around
  * the deadband or inability to saturate the controller in either direction, calibration is recommended.
  * The calibration procedure can be found in the Victor 884 User Manual available from IFI.
- * 
+ *
  *   - 206 = full "forward"
  *   - 131 = the "high end" of the deadband range
  *   - 128 = center of the deadband range (off)
@@ -27,45 +26,32 @@
  */
 void Victor::InitVictor() {
 	SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
-	
+
 	SetPeriodMultiplier(kPeriodMultiplier_2X);
 	SetRaw(m_centerPwm);
 
-	LiveWindow::GetInstance()->AddActuator("Victor", GetModuleNumber(), GetChannel(), this);
-	HALReport(HALUsageReporting::kResourceType_Victor, GetChannel(), GetModuleNumber() - 1);
+	LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
+	HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
 }
 
 /**
- * Constructor that assumes the default digital module.
- * 
- * @param channel The PWM channel on the digital module that the Victor is attached to.
+ * @param channel The PWM channel that the Victor is attached to.
  */
 Victor::Victor(uint32_t channel) : SafePWM(channel)
 {
 	InitVictor();
 }
 
-/**
- * Constructor that specifies the digital module.
- * 
- * @param moduleNumber The digital module (1 or 2).
- * @param channel The PWM channel on the digital module that the Victor is attached to (1..10).
- */
-Victor::Victor(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
-{
-	InitVictor();
-}
-
 Victor::~Victor()
 {
 }
 
 /**
- * Set the PWM value.  
- * 
+ * Set the PWM value.
+ *
  * The PWM value is set using a range of -1.0 to 1.0, appropriately
  * scaling the value for the FPGA.
- * 
+ *
  * @param speed The speed value between -1.0 and 1.0 to set.
  * @param syncGroup Unused interface.
  */
@@ -76,7 +62,7 @@ void Victor::Set(float speed, uint8_t syncGroup)
 
 /**
  * Get the recently set value of the PWM.
- * 
+ *
  * @return The most recently set value for the PWM between -1.0 and 1.0.
  */
 float Victor::Get()
@@ -94,11 +80,10 @@ void Victor::Disable()
 
 /**
  * Write out the PID value as seen in the PIDOutput base object.
- * 
+ *
  * @param output Write out the PWM value as was found in the PIDController
  */
-void Victor::PIDWrite(float output) 
+void Victor::PIDWrite(float output)
 {
 	Set(output);
 }
-
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
index 6f76468e0f..c25089ffc8 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
@@ -74,11 +74,10 @@ public class ADXL345_I2C extends SensorBase {
     /**
      * Constructor.
      *
-     * @param module The slot of the digital module that the sensor is plugged into.
      * @param range The range (+ or -) that the accelerometer will measure.
      */
-    public ADXL345_I2C(int moduleNumber, DataFormat_Range range) {
-        DigitalModule module = DigitalModule.getInstance(moduleNumber);
+    public ADXL345_I2C(DataFormat_Range range) {
+        DigitalModule module = DigitalModule.getInstance(1);
         m_i2c = module.getI2C(kAddress);
 
         // Turn on the measurements
@@ -86,7 +85,7 @@ public class ADXL345_I2C extends SensorBase {
         // Specify the data format to read
         m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | range.value);
 
-        UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C, moduleNumber-1);
+        UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
     }
 
     /**
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java
index 39a5afb963..846a1b8cd1 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java
@@ -32,16 +32,15 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
      * Common initialization
      */
     private void initAccelerometer() {
-        UsageReporting.report(tResourceType.kResourceType_Accelerometer, m_analogChannel.getChannel(), m_analogChannel.getModuleNumber()-1);
-        LiveWindow.addSensor("Accelerometer", m_analogChannel.getModuleNumber(), m_analogChannel.getChannel(), this);
+        UsageReporting.report(tResourceType.kResourceType_Accelerometer, m_analogChannel.getChannel());
+        LiveWindow.addSensor("Accelerometer", m_analogChannel.getChannel(), this);
     }
 
     /**
      * Create a new instance of an accelerometer.
      *
-     * The accelerometer is assumed to be in the first analog module in the given analog channel. The
-     * constructor allocates desired analog channel.
-     * @param channel the port that the accelerometer is on on the default module
+     * The constructor allocates desired analog channel.
+     * @param channel the port that the accelerometer is on
      */
     public Accelerometer(final int channel) {
         m_allocatedChannel = true;
@@ -49,20 +48,6 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
         initAccelerometer();
     }
 
-    /**
-     * Create new instance of accelerometer.
-     *
-     * Make a new instance of the accelerometer given a module and channel. The constructor allocates
-     * the desired analog channel from the specified module
-     * @param slot the slot that the module is in
-     * @param channel the port that the Accelerometer is on on the module
-     */
-    public Accelerometer(final int slot, final int channel) {
-        m_allocatedChannel = true;
-        m_analogChannel = new AnalogInput(slot, channel);
-        initAccelerometer();
-    }
-
     /**
      * Create a new instance of Accelerometer from an existing AnalogChannel.
      * Make a new instance of accelerometer given an AnalogChannel. This is particularly
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
index e1515cbc98..1b58e6bc11 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
@@ -43,53 +43,33 @@ public class AnalogInput extends SensorBase implements PIDSource,
 		LiveWindowSendable {
 
 	private static final int kAccumulatorSlot = 1;
-	private static Resource channels = new Resource(kAnalogModules
-			* kAnalogInputChannels);
+	private static Resource channels = new Resource(kAnalogInputChannels);
 	private ByteBuffer m_port;
-	private int m_moduleNumber, m_channel;
+	private int m_channel;
 	private static final int[] kAccumulatorChannels = { 0, 1 };
 	private long m_accumulatorOffset;
 
 	/**
-	 * Construct an analog channel on the default module.
+	 * Construct an analog channel.
 	 *
 	 * @param channel
 	 *            The channel number to represent.
 	 */
 	public AnalogInput(final int channel) {
-		this(getDefaultAnalogModule(), channel);
-	}
-
-	/**
-	 * Construct an analog channel on a specified module.
-	 *
-	 * @param moduleNumber
-	 *            The digital module to use (1 or 2).
-	 * @param channel
-	 *            The channel number to represent.
-	 */
-	public AnalogInput(final int moduleNumber, final int channel) {
 		m_channel = channel;
-		m_moduleNumber = moduleNumber;
-		if (AnalogJNI.checkAnalogModule((byte)moduleNumber) == 0) {
-			throw new AllocationException("Analog input channel " + m_channel
-					+ " on module " + m_moduleNumber
-					+ " cannot be allocated. Module is not present.");
-		}
+
 		if (AnalogJNI.checkAnalogInputChannel(channel) == 0) {
 			throw new AllocationException("Analog input channel " + m_channel
-					+ " on module " + m_moduleNumber
 					+ " cannot be allocated. Channel is not present.");
 		}
 		try {
-			channels.allocate((moduleNumber - 1) * kAnalogInputChannels + channel);
+			channels.allocate(channel);
 		} catch (CheckedAllocationException e) {
 			throw new AllocationException("Analog input channel " + m_channel
-					+ " on module " + m_moduleNumber + " is already allocated");
+					 + " is already allocated");
 		}
 
-		ByteBuffer port_pointer = AnalogJNI.getPortWithModule(
-				(byte) moduleNumber, (byte) channel);
+		ByteBuffer port_pointer = AnalogJNI.getPortWithModule((byte) 1, (byte) channel);
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		// set the byte order
 		status.order(ByteOrder.LITTLE_ENDIAN);
@@ -97,28 +77,26 @@ public class AnalogInput extends SensorBase implements PIDSource,
 		m_port = AnalogJNI.initializeAnalogInputPort(port_pointer, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 
-		LiveWindow.addSensor("AnalogInput", moduleNumber, channel, this);
-		UsageReporting.report(tResourceType.kResourceType_AnalogChannel,
-				channel, moduleNumber - 1);
+		LiveWindow.addSensor("AnalogInput", channel, this);
+		UsageReporting.report(tResourceType.kResourceType_AnalogChannel, channel);
 	}
 
 	/**
 	 * Channel destructor.
 	 */
 	public void free() {
-		channels.free(((m_moduleNumber - 1) * kAnalogInputChannels + m_channel));
+		channels.free(m_channel);
 		m_channel = 0;
-		m_moduleNumber = 0;
 		m_accumulatorOffset = 0;
 	}
 
 	/**
-	 * Get the analog module that this channel is on.
+	 * Get the analog module.
 	 *
-	 * @return The AnalogModule that this channel is on.
+	 * @return The AnalogModule.
 	 */
 	public AnalogModule getModule() {
-		return AnalogModule.getInstance(m_moduleNumber);
+		return AnalogModule.getInstance(1);
 	}
 
 	/**
@@ -239,15 +217,6 @@ public class AnalogInput extends SensorBase implements PIDSource,
 		return m_channel;
 	}
 
-	/**
-	 * Gets the number of the analog module this channel is on.
-	 *
-	 * @return The module number of the analog module this channel is on.
-	 */
-	public int getModuleNumber() {
-		return m_moduleNumber;
-	}
-
 	/**
 	 * Set the number of averaging bits. This sets the number of averaging bits.
 	 * The actual number of averaged samples is 2**bits. The averaging is done
@@ -435,7 +404,6 @@ public class AnalogInput extends SensorBase implements PIDSource,
 		}
 		if (!isAccumulatorChannel()) {
 			throw new IllegalArgumentException("Channel " + m_channel
-					+ " on module " + m_moduleNumber
 					+ " is not an accumulator channel.");
 		}
 		ByteBuffer value = ByteBuffer.allocateDirect(8);
@@ -459,9 +427,6 @@ public class AnalogInput extends SensorBase implements PIDSource,
 	 * @return The analog channel is attached to an accumulator.
 	 */
 	public boolean isAccumulatorChannel() {
-		if (m_moduleNumber != kAccumulatorSlot) {
-			return false;
-		}
 		for (int i = 0; i < kAccumulatorChannels.length; i++) {
 			if (m_channel == kAccumulatorChannels[i]) {
 				return true;
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
index a548adf052..787b904c73 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
@@ -59,7 +59,7 @@ public class AnalogOutput extends SensorBase implements LiveWindowSendable {
         m_port = AnalogJNI.initializeAnalogOutputPort(port_pointer, status.asIntBuffer());
         HALUtil.checkStatus(status.asIntBuffer());
 
-        LiveWindow.addSensor("AnalogOutput", 1, channel, this);
+        LiveWindow.addSensor("AnalogOutput", channel, this);
         UsageReporting.report(tResourceType.kResourceType_AnalogChannel, channel, 1);
     }
 
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
index e49900f345..db242189df 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
@@ -12,40 +12,20 @@ import edu.wpi.first.wpilibj.tables.ITable;
  * @author Alex Henning
  */
 public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
-    private int m_module, m_channel;
+    private int m_channel;
     private double m_scale, m_offset;
     private AnalogInput m_analog_input;
-    
+
     /**
      * Common initialization code called by all constructors.
      */
-    private void initPot(final int slot, final int channel, double scale, double offset) {
-        this.m_module = slot;
+    private void initPot(final int channel, double scale, double offset) {
         this.m_channel = channel;
         this.m_scale = scale;
         this.m_offset = offset;
-        m_analog_input = new AnalogInput(slot, channel);
+        m_analog_input = new AnalogInput(channel);
     }
-    
-    /**
-     * AnalogPotentiometer constructor.
-     *
-     * Use the scaling and offset values so that the output produces
-     * meaningful values. I.E: you have a 270 degree potentiometer and
-     * you want the output to be degrees with the halfway point as 0
-     * degrees. The scale value is 270.0(degrees)/5.0(volts) and the
-     * offset is -135.0 since the halfway point after scaling is 135
-     * degrees.
-     *
-     * @param slot The analog module this potentiometer is plugged into.
-     * @param channel The analog channel this potentiometer is plugged into.
-     * @param scale The scaling to multiply the voltage by to get a meaningful unit.
-     * @param offset The offset to add to the scaled value for controlling the zero value
-     */
-    public AnalogPotentiometer(final int slot, final int channel, double scale, double offset) {
-        initPot(slot, channel, scale, offset);
-    }
-    
+
     /**
      * AnalogPotentiometer constructor.
      *
@@ -61,9 +41,9 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
      * @param offset The offset to add to the scaled value for controlling the zero value
      */
     public AnalogPotentiometer(final int channel, double scale, double offset) {
-        initPot(1, channel, scale, offset);
+        initPot(channel, scale, offset);
     }
-    
+
     /**
      * AnalogPotentiometer constructor.
      *
@@ -78,18 +58,18 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
      * @param scale The scaling to multiply the voltage by to get a meaningful unit.
      */
     public AnalogPotentiometer(final int channel, double scale) {
-        initPot(1, channel, scale, 0);
+        initPot(channel, scale, 0);
     }
-    
+
     /**
      * AnalogPotentiometer constructor.
      *
      * @param channel The analog channel this potentiometer is plugged into.
      */
     public AnalogPotentiometer(final int channel) {
-        initPot(1, channel, 1, 0);
+        initPot(channel, 1, 0);
     }
-    
+
     /**
      * Get the current reading of the potentiomere.
      *
@@ -98,8 +78,8 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
     public double get() {
         return m_analog_input.getVoltage() * m_scale + m_offset;
     }
-    
-    
+
+
     /**
      * Implement the PIDSource interface.
      *
@@ -108,7 +88,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
     public double pidGet() {
         return get();
     }
-    
+
     /*
      * Live Window code, only does anything if live window is activated.
      */
@@ -116,7 +96,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
         return "Analog Input";
     }
     private ITable m_table;
-    
+
     /**
      * {@inheritDoc}
      */
@@ -124,7 +104,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
         m_table = subtable;
         updateTable();
     }
-    
+
     /**
      * {@inheritDoc}
      */
@@ -133,20 +113,20 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
             m_table.putNumber("Value", get());
         }
     }
-    
+
     /**
      * {@inheritDoc}
      */
     public ITable getTable(){
         return m_table;
     }
-    
+
     /**
      * Analog Channels don't have to do anything special when entering the LiveWindow.
      * {@inheritDoc}
      */
     public void startLiveWindowMode() {}
-    
+
     /**
      * Analog Channels don't have to do anything special when exiting the LiveWindow.
      * {@inheritDoc}
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
index 8380fbdcf5..558ada811e 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
@@ -21,7 +21,7 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
 
 /**
  * Class for creating and configuring Analog Triggers
- * 
+ *
  * @author dtjones
  */
 public class AnalogTrigger implements IInputOutput {
@@ -33,7 +33,7 @@ public class AnalogTrigger implements IInputOutput {
 
 		/**
 		 * Create a new exception with the given message
-		 * 
+		 *
 		 * @param message
 		 *            the message to pass with the exception
 		 */
@@ -50,18 +50,13 @@ public class AnalogTrigger implements IInputOutput {
 	protected int m_index;
 
 	/**
-	 * Initialize an analog trigger from a module number and channel. This is
-	 * the common code for the two constructors that use a module number and
-	 * channel.
-	 * 
-	 * @param moduleNumber
-	 *            The number of the analog module to create this trigger on.
+	 * Initialize an analog trigger from a channel.
+     *
 	 * @param channel
 	 *            the port to use for the analog trigger
 	 */
-	protected void initTrigger(final int moduleNumber, final int channel) {
-		ByteBuffer port_pointer = AnalogJNI.getPortWithModule(
-				(byte) moduleNumber, (byte) channel);
+	protected void initTrigger(final int channel) {
+		ByteBuffer port_pointer = AnalogJNI.getPortWithModule((byte) 1, (byte) channel);
 		IntBuffer status = IntBuffer.allocate(1);
 		IntBuffer index = IntBuffer.allocate(1);
 		// XXX: Uncomment when analog has been fixed
@@ -70,44 +65,29 @@ public class AnalogTrigger implements IInputOutput {
 		//HALUtil.checkStatus(status);
 		//m_index = index.get(0);
 
-		UsageReporting.report(tResourceType.kResourceType_AnalogTrigger,
-				channel, moduleNumber-1);
+		UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel);
 	}
 
 	/**
-	 * Constructor for an analog trigger given a channel number. The default
-	 * module is used in this case.
-	 * 
+	 * Constructor for an analog trigger given a channel number.
+	 *
 	 * @param channel
 	 *            the port to use for the analog trigger
 	 */
 	public AnalogTrigger(final int channel) {
-		initTrigger(AnalogModule.getDefaultAnalogModule(), channel);
-	}
-
-	/**
-	 * Constructor for an analog trigger given both the module number and
-	 * channel.
-	 * 
-	 * @param moduleNumber
-	 *            The number of the analog module to create this trigger on.
-	 * @param channel
-	 *            the port to use for the analog trigger
-	 */
-	public AnalogTrigger(final int moduleNumber, final int channel) {
-		initTrigger(moduleNumber, channel);
+		initTrigger(channel);
 	}
 
 	/**
 	 * Construct an analog trigger given an analog channel. This should be used
 	 * in the case of sharing an analog channel between the trigger and an
 	 * analog input object.
-	 * 
+	 *
 	 * @param channel
-	 *            the AnalogChannel to use for the analog trigger
+	 *            the AnalogInput to use for the analog trigger
 	 */
 	public AnalogTrigger(AnalogInput channel) {
-		initTrigger(channel.getModuleNumber(), channel.getChannel());
+		initTrigger(channel.getChannel());
 	}
 
 	/**
@@ -124,7 +104,7 @@ public class AnalogTrigger implements IInputOutput {
 	 * Set the upper and lower limits of the analog trigger. The limits are
 	 * given in ADC codes. If oversampling is used, the units must be scaled
 	 * appropriately.
-	 * 
+	 *
 	 * @param lower
 	 *            the lower raw limit
 	 * @param upper
@@ -142,7 +122,7 @@ public class AnalogTrigger implements IInputOutput {
 	/**
 	 * Set the upper and lower limits of the analog trigger. The limits are
 	 * given as floating point voltage values.
-	 * 
+	 *
 	 * @param lower
 	 *            the lower voltage limit
 	 * @param upper
@@ -165,7 +145,7 @@ public class AnalogTrigger implements IInputOutput {
 	 * Configure the analog trigger to use the averaged vs. raw values. If the
 	 * value is true, then the averaged value is selected for the analog
 	 * trigger, otherwise the immediate value is used.
-	 * 
+	 *
 	 * @param useAveragedValue
 	 *            true to use an averaged value, false otherwise
 	 */
@@ -181,7 +161,7 @@ public class AnalogTrigger implements IInputOutput {
 	 * will operate with a 3 point average rejection filter. This is designed to
 	 * help with 360 degree pot applications for the period where the pot
 	 * crosses through zero.
-	 * 
+	 *
 	 * @param useFilteredValue
 	 *            true to use a filterd value, false otherwise
 	 */
@@ -195,7 +175,7 @@ public class AnalogTrigger implements IInputOutput {
 	/**
 	 * Return the index of the analog trigger. This is the FPGA index of this
 	 * analog trigger instance.
-	 * 
+	 *
 	 * @return The index of the analog trigger.
 	 */
 	public int getIndex() {
@@ -205,7 +185,7 @@ public class AnalogTrigger implements IInputOutput {
 	/**
 	 * Return the InWindow output of the analog trigger. True if the analog
 	 * input is between the upper and lower limits.
-	 * 
+	 *
 	 * @return The InWindow output of the analog trigger.
 	 */
 	public boolean getInWindow() {
@@ -219,7 +199,7 @@ public class AnalogTrigger implements IInputOutput {
 	 * Return the TriggerState output of the analog trigger. True if above upper
 	 * limit. False if below lower limit. If in Hysteresis, maintain previous
 	 * state.
-	 * 
+	 *
 	 * @return The TriggerState output of the analog trigger.
 	 */
 	public boolean getTriggerState() {
@@ -233,7 +213,7 @@ public class AnalogTrigger implements IInputOutput {
 	 * Creates an AnalogTriggerOutput object. Gets an output object that can be
 	 * used for routing. Caller is responsible for deleting the
 	 * AnalogTriggerOutput object.
-	 * 
+	 *
 	 * @param type
 	 *            An enum of the type of output object to create.
 	 * @return A pointer to a new AnalogTriggerOutput object.
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Compressor.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Compressor.java
index cac7f19a27..089e8d9110 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Compressor.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Compressor.java
@@ -12,74 +12,74 @@ import edu.wpi.first.wpilibj.tables.ITable;
 
 public class Compressor extends SensorBase implements IDevice, LiveWindowSendable {
 	private ByteBuffer m_pcm;
-	
-	public Compressor(int module) {
-		initCompressor(module);
+
+	public Compressor(int pcmId) {
+		initCompressor(pcmId);
 	}
-	
+
 	public Compressor() {
 		initCompressor(getDefaultSolenoidModule());
 	}
-	
+
 	private void initCompressor(int module) {
 		m_table = null;
-		
+
 		m_pcm = CompressorJNI.initializeCompressor((byte)module);
 	}
-	
+
 	public void start() {
 		setClosedLoopControl(true);
 	}
-	
+
 	public void stop() {
 		setClosedLoopControl(false);
 	}
-	
+
 	public boolean enabled() {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		
+
 		boolean on = CompressorJNI.getCompressor(m_pcm, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
-		
+
 		return on;
 	}
-	
+
 	public boolean getPressureSwitchValue() {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		
+
 		boolean on = CompressorJNI.getPressureSwitch(m_pcm, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
-		
+
 		return on;
 	}
-	
+
 	public float getCompressorCurrent() {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		
+
 		float current = CompressorJNI.getCompressorCurrent(m_pcm, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
-		
+
 		return current;
 	}
-	
+
 	public void setClosedLoopControl(boolean on) {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		
+
 		CompressorJNI.setClosedLoopControl(m_pcm, on, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 	}
-	
+
 	public boolean getClosedLoopControl() {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		
+
 		boolean on = CompressorJNI.getClosedLoopControl(m_pcm, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
-		
+
 		return on;
 	}
 
@@ -90,7 +90,7 @@ public class Compressor extends SensorBase implements IDevice, LiveWindowSendabl
 	@Override
 	public void stopLiveWindowMode() {
 	}
-	
+
 	@Override
 	public String getSmartDashboardType() {
 		return "Compressor";
@@ -103,7 +103,7 @@ public class Compressor extends SensorBase implements IDevice, LiveWindowSendabl
 		m_table = subtable;
 		updateTable();
 	}
-	
+
 	@Override
 	public ITable getTable() {
 		return m_table;
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Counter.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Counter.java
index 368aa0c95a..4ddee76574 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Counter.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Counter.java
@@ -106,7 +106,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * Create an instance of a counter from a Digital Input. This is used if an
 	 * existing digital input is to be shared by multiple other objects such as
 	 * encoders.
-	 * 
+	 *
 	 * @param source
 	 *            the digital source to count
 	 */
@@ -119,8 +119,8 @@ public class Counter extends SensorBase implements CounterBase,
 
 	/**
 	 * Create an instance of a Counter object. Create an up-Counter instance
-	 * given a channel. The default digital module is assumed.
-	 * 
+	 * given a channel.
+	 *
 	 * @param channel
 	 *            the digital input channel to count
 	 */
@@ -129,25 +129,11 @@ public class Counter extends SensorBase implements CounterBase,
 		setUpSource(channel);
 	}
 
-	/**
-	 * Create an instance of a Counter object. Create an instance of an
-	 * up-Counter given a digital module and a channel.
-	 * 
-	 * @param slot
-	 *            The cRIO chassis slot for the digital module used
-	 * @param channel
-	 *            The channel in the digital module
-	 */
-	public Counter(int slot, int channel) {
-		initCounter(Mode.kTwoPulse);
-		setUpSource(slot, channel);
-	}
-
 	/**
 	 * Create an instance of a Counter object. Create an instance of a simple
 	 * up-Counter given an analog trigger. Use the trigger state output from the
 	 * analog trigger.
-	 * 
+	 *
 	 * @param encodingType
 	 *            which edges to count
 	 * @param upSource
@@ -188,7 +174,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * Create an instance of a Counter object. Create an instance of a simple
 	 * up-Counter given an analog trigger. Use the trigger state output from the
 	 * analog trigger.
-	 * 
+	 *
 	 * @param trigger
 	 *            the analog trigger to count
 	 */
@@ -214,22 +200,8 @@ public class Counter extends SensorBase implements CounterBase,
 	}
 
 	/**
-	 * Set the up source for the counter as digital input channel and slot.
-	 * 
-	 * @param slot
-	 *            the location of the digital module to use
-	 * @param channel
-	 *            the digital port to count
-	 */
-	public void setUpSource(int slot, int channel) {
-		setUpSource(new DigitalInput(slot, channel));
-		m_allocatedUpSource = true;
-	}
-
-	/**
-	 * Set the upsource for the counter as a digital input channel. The slot
-	 * will be the default digital module slot.
-	 * 
+	 * Set the upsource for the counter as a digital input channel.
+	 *
 	 * @param channel
 	 *            the digital port to count
 	 */
@@ -241,7 +213,7 @@ public class Counter extends SensorBase implements CounterBase,
 	/**
 	 * Set the source object that causes the counter to count up. Set the up
 	 * counting DigitalSource.
-	 * 
+	 *
 	 * @param source
 	 *            the digital source to count
 	 */
@@ -262,7 +234,7 @@ public class Counter extends SensorBase implements CounterBase,
 
 	/**
 	 * Set the up counting source to be an analog trigger.
-	 * 
+	 *
 	 * @param analogTrigger
 	 *            The analog trigger object that is used for the Up Source
 	 * @param triggerType
@@ -276,7 +248,7 @@ public class Counter extends SensorBase implements CounterBase,
 	/**
 	 * Set the edge sensitivity on an up counting source. Set the up source to
 	 * either detect rising edges or falling edges.
-	 * 
+	 *
 	 * @param risingEdge
 	 *            true to count rising edge
 	 * @param fallingEdge
@@ -311,9 +283,8 @@ public class Counter extends SensorBase implements CounterBase,
 	}
 
 	/**
-	 * Set the down counting source to be a digital input channel. The slot will
-	 * be set to the default digital module slot.
-	 * 
+	 * Set the down counting source to be a digital input channel.
+	 *
 	 * @param channel
 	 *            the digital port to count
 	 */
@@ -322,23 +293,10 @@ public class Counter extends SensorBase implements CounterBase,
 		m_allocatedDownSource = true;
 	}
 
-	/**
-	 * Set the down counting source to be a digital input slot and channel.
-	 * 
-	 * @param slot
-	 *            the location of the digital module to use
-	 * @param channel
-	 *            the digital port to count
-	 */
-	public void setDownSource(int slot, int channel) {
-		setDownSource(new DigitalInput(slot, channel));
-		m_allocatedDownSource = true;
-	}
-
 	/**
 	 * Set the source object that causes the counter to count down. Set the down
 	 * counting DigitalSource.
-	 * 
+	 *
 	 * @param source
 	 *            the digital source to count
 	 */
@@ -363,7 +321,7 @@ public class Counter extends SensorBase implements CounterBase,
 
 	/**
 	 * Set the down counting source to be an analog trigger.
-	 * 
+	 *
 	 * @param analogTrigger
 	 *            The analog trigger object that is used for the Down Source
 	 * @param triggerType
@@ -377,7 +335,7 @@ public class Counter extends SensorBase implements CounterBase,
 	/**
 	 * Set the edge sensitivity on a down counting source. Set the down source
 	 * to either detect rising edges or falling edges.
-	 * 
+	 *
 	 * @param risingEdge
 	 *            true to count the rising edge
 	 * @param fallingEdge
@@ -435,7 +393,7 @@ public class Counter extends SensorBase implements CounterBase,
 	/**
 	 * Set Semi-period mode on this counter. Counts up on both rising and
 	 * falling edges.
-	 * 
+	 *
 	 * @param highSemiPeriod
 	 *            true to count up on both rising and falling
 	 */
@@ -451,7 +409,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * Configure the counter to count in up or down based on the length of the
 	 * input pulse. This mode is most useful for direction sensitive gear tooth
 	 * sensors.
-	 * 
+	 *
 	 * @param threshold
 	 *            The pulse length beyond which the counter counts the opposite
 	 *            direction. Units are seconds.
@@ -492,7 +450,7 @@ public class Counter extends SensorBase implements CounterBase,
 	/**
 	 * Read the current scaled counter value. Read the value at this instant,
 	 * scaled by the distance per pulse (defaults to 1).
-	 * 
+	 *
 	 * @return
 	 */
 	public double getDistance() {
@@ -527,7 +485,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * Sets the maximum period where the device is considered moving. This value
 	 * is used to determine the "stopped" state of the counter using the
 	 * GetStopped method.
-	 * 
+	 *
 	 * @param maxPeriod
 	 *            The maximum period where the counted device is considered
 	 *            moving in seconds.
@@ -552,7 +510,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * been no events since an FPGA reset) and you will likely not see the
 	 * stopped bit become true (since it is updated at the end of an average and
 	 * there are no samples to average).
-	 * 
+	 *
 	 * @param enabled
 	 *            true to continue updating
 	 */
@@ -569,7 +527,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * stopped based on the MaxPeriod value set using the SetMaxPeriod method.
 	 * If the clock exceeds the MaxPeriod, then the device (and counter) are
 	 * assumed to be stopped and it returns true.
-	 * 
+	 *
 	 * @return Returns true if the most recent counter period exceeds the
 	 *         MaxPeriod value set by SetMaxPeriod.
 	 */
@@ -583,7 +541,7 @@ public class Counter extends SensorBase implements CounterBase,
 
 	/**
 	 * The last direction the counter value changed.
-	 * 
+	 *
 	 * @return The last direction the counter value changed.
 	 */
 	public boolean getDirection() {
@@ -598,7 +556,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * Set the Counter to return reversed sensing on the direction. This allows
 	 * counters to change the direction they are counting in the case of 1X and
 	 * 2X quadrature encoding only. Any other counter mode isn't supported.
-	 * 
+	 *
 	 * @param reverseDirection
 	 *            true if the value counted should be negated.
 	 */
@@ -614,7 +572,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * Get the Period of the most recent count. Returns the time interval of the
 	 * most recent count. This can be used for velocity calculations to
 	 * determine shaft speed.
-	 * 
+	 *
 	 * @returns The period of the last two pulses in units of seconds.
 	 */
 	public double getPeriod() {
@@ -629,7 +587,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * Get the current rate of the Counter. Read the current rate of the counter
 	 * accounting for the distance per pulse value. The default value for
 	 * distance per pulse (1) yields units of pulses per second.
-	 * 
+	 *
 	 * @return The rate in units/sec
 	 */
 	public double getRate() {
@@ -641,7 +599,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * timer to average when calculating the period. Perform averaging to
 	 * account for mechanical imperfections or as oversampling to increase
 	 * resolution.
-	 * 
+	 *
 	 * @param samplesToAverage
 	 *            The number of samples to average from 1 to 127.
 	 */
@@ -662,7 +620,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * timer to average when calculating the period. Perform averaging to
 	 * account for mechanical imperfections or as oversampling to increase
 	 * resolution.
-	 * 
+	 *
 	 * @return SamplesToAverage The number of samples being averaged (from 1 to
 	 *         127)
 	 */
@@ -680,7 +638,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * encoder. Set this value based on the Pulses per Revolution and factor in
 	 * any gearing reductions. This distance can be in any units you like,
 	 * linear or angular.
-	 * 
+	 *
 	 * @param distancePerPulse
 	 *            The scale factor that will be used to convert pulses to useful
 	 *            units.
@@ -692,7 +650,7 @@ public class Counter extends SensorBase implements CounterBase,
 	/**
 	 * Set which parameter of the encoder you are using as a process control
 	 * variable. The counter class supports the rate and distance parameters.
-	 * 
+	 *
 	 * @param pidSource
 	 *            An enum to select the parameter.
 	 */
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
index 1fbc605e64..f6bf75944e 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
@@ -34,35 +34,21 @@ public class DigitalInput extends DigitalSource implements IInputOutput,
 
 	/**
 	 * Create an instance of a Digital Input class. Creates a digital input
-	 * given a channel and uses the default module.
-	 * 
+	 * given a channel.
+	 *
 	 * @param channel
 	 *            the port for the digital input
 	 */
 	public DigitalInput(int channel) {
-		this(getDefaultDigitalModule(), channel);
-	}
+        initDigitalPort(channel, true);
 
-	/**
-	 * Create an instance of a Digital Input class. Creates a digital input
-	 * given an channel and module.
-	 * 
-	 * @param moduleNumber
-	 *            The number of the digital module to use for this input
-	 * @param channel
-	 *            the port for the digital input
-	 */
-	public DigitalInput(int moduleNumber, int channel) {
-		initDigitalPort(moduleNumber, channel, true);
-
-		UsageReporting.report(tResourceType.kResourceType_DigitalInput,
-				channel, moduleNumber - 1);
+        UsageReporting.report(tResourceType.kResourceType_DigitalInput, channel);
 	}
 
 	/**
 	 * Get the value from a digital input channel. Retrieve the value of a
 	 * single digital input channel from the FPGA.
-	 * 
+	 *
 	 * @return the stats of the digital input
 	 */
 	public boolean get() {
@@ -76,7 +62,7 @@ public class DigitalInput extends DigitalSource implements IInputOutput,
 
 	/**
 	 * Get the channel of the digital input
-	 * 
+	 *
 	 * @return The GPIO channel number that this object represents.
 	 */
 	public int getChannel() {
@@ -89,7 +75,7 @@ public class DigitalInput extends DigitalSource implements IInputOutput,
 
 	/**
 	 * Request interrupts asynchronously on this digital input.
-	 * 
+	 *
 	 * @param handler
 	 *            The address of the interrupt handler function of type
 	 *            tInterruptHandler that will be called whenever there is an
@@ -150,7 +136,7 @@ public class DigitalInput extends DigitalSource implements IInputOutput,
 
 	/**
 	 * Set which edge to trigger interrupts on
-	 * 
+	 *
 	 * @param risingEdge
 	 *            true to interrupt on rising edge
 	 * @param fallingEdge
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
index ebb140bd97..9cb42d7363 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -36,29 +36,15 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
 
 	/**
 	 * Create an instance of a digital output. Create an instance of a digital
-	 * output given a module number and channel.
-	 * 
-	 * @param moduleNumber
-	 *            The number of the digital module to use
-	 * @param channel
-	 *            the port to use for the digital output
-	 */
-	public DigitalOutput(int moduleNumber, int channel) {
-		initDigitalPort(moduleNumber, channel, false);
-
-		UsageReporting.report(tResourceType.kResourceType_DigitalOutput,
-				channel, moduleNumber - 1);
-	}
-
-	/**
-	 * Create an instance of a digital output. Create a digital output given a
-	 * channel. The default module is used.
-	 * 
+	 * output given a channel.
+     *
 	 * @param channel
 	 *            the port to use for the digital output
 	 */
 	public DigitalOutput(int channel) {
-		this(getDefaultDigitalModule(), channel);
+		initDigitalPort(channel, false);
+
+		UsageReporting.report(tResourceType.kResourceType_DigitalOutput, channel);
 	}
 
 	/**
@@ -74,7 +60,7 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
 
 	/**
 	 * Set the value of a digital output.
-	 * 
+	 *
 	 * @param value
 	 *            true is on, off is false
 	 */
@@ -96,7 +82,7 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
 	/**
 	 * Generate a single pulse. Write a pulse to the specified digital output
 	 * channel. There can only be a single pulse going at any time.
-	 * 
+	 *
 	 * @param channel
 	 *            The channel to pulse.
 	 * @param pulseLength
@@ -114,7 +100,7 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
 	 * @deprecated Generate a single pulse. Write a pulse to the specified
 	 *             digital output channel. There can only be a single pulse
 	 *             going at any time.
-	 * 
+	 *
 	 * @param channel
 	 *            The channel to pulse.
 	 * @param pulseLength
@@ -134,7 +120,7 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
 	/**
 	 * Determine if the pulse is still going. Determine if a previously started
 	 * pulse is still going.
-	 * 
+	 *
 	 * @return true if pulsing
 	 */
 	public boolean isPulsing() {
@@ -148,12 +134,12 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
 
 	/**
 	 * Change the PWM frequency of the PWM output on a Digital Output line.
-	 * 
+	 *
 	 * The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is
 	 * logarithmic.
-	 * 
+	 *
 	 * There is only one PWM frequency per digital module.
-	 * 
+	 *
 	 * @param rate
 	 *            The frequency to output all digital output PWM signals on this
 	 *            module.
@@ -162,22 +148,22 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		// set the byte order
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		PWMJNI.setPWMRateWithModule((byte) m_moduleNumber, rate,
+		PWMJNI.setPWMRateWithModule((byte) 1, rate,
 				status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
 	 * Enable a PWM Output on this line.
-	 * 
+	 *
 	 * Allocate one of the 4 DO PWM generator resources from this module.
-	 * 
+	 *
 	 * Supply the initial duty-cycle to output so as to avoid a glitch when
 	 * first starting.
-	 * 
+	 *
 	 * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or
 	 * less) but is reduced the higher the frequency of the PWM signal is.
-	 * 
+	 *
 	 * @param initialDutyCycle
 	 *            The duty-cycle to start generating. [0..1]
 	 */
@@ -187,19 +173,17 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		// set the byte order
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		m_pwmGenerator = PWMJNI.allocatePWMWithModule(
-				(byte) m_moduleNumber, status.asIntBuffer());
+		m_pwmGenerator = PWMJNI.allocatePWMWithModule((byte) 1, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 		PWMJNI.setPWMDutyCycle(m_pwmGenerator, initialDutyCycle,
-				status.asIntBuffer());
+			status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
-		PWMJNI.setPWMOutputChannelWithModule((byte) m_moduleNumber,
-				m_pwmGenerator, m_channel, status.asIntBuffer());
+		PWMJNI.setPWMOutputChannelWithModule((byte) 1, m_pwmGenerator, m_channel, status.asIntBuffer());
 	}
 
 	/**
 	 * Change this line from a PWM output back to a static Digital Output line.
-	 * 
+	 *
 	 * Free up one of the 4 DO PWM generator resources that were in use.
 	 */
 	public void disablePWM() {
@@ -209,17 +193,16 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
 		status.order(ByteOrder.LITTLE_ENDIAN);
 		PWMJNI.setPWMOutputChannel(m_pwmGenerator, kDigitalChannels, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
-		PWMJNI.freePWMWithModule((byte) m_moduleNumber, m_pwmGenerator,
-				status.asIntBuffer());
+		PWMJNI.freePWMWithModule((byte) 1, m_pwmGenerator, status.asIntBuffer());
 		m_pwmGenerator = null;
 	}
 
 	/**
 	 * Change the duty-cycle that is being generated on the line.
-	 * 
+	 *
 	 * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or
 	 * less) but is reduced the higher the frequency of the PWM signal is.
-	 * 
+	 *
 	 * @param dutyCycle
 	 *            The duty-cycle to change to. [0..1]
 	 */
@@ -227,8 +210,7 @@ public class DigitalOutput extends DigitalSource implements IInputOutput,
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		// set the byte order
 		status.order(ByteOrder.LITTLE_ENDIAN);
-		PWMJNI.setPWMDutyCycleWithModule((byte) m_moduleNumber,
-				m_pwmGenerator, dutyCycle, status.asIntBuffer());
+		PWMJNI.setPWMDutyCycleWithModule((byte) 1, m_pwmGenerator, dutyCycle, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java
index 515248b13d..b681ba4f86 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java
@@ -25,34 +25,26 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
  */
 public abstract class DigitalSource extends InterruptableSensorBase {
 
-	protected static Resource channels = new Resource(kDigitalChannels
-			* kDigitalModules);
+	protected static Resource channels = new Resource(kDigitalChannels);
 	protected ByteBuffer m_port;
-	protected int m_moduleNumber, m_channel;
+	protected int m_channel;
 
-	protected void initDigitalPort(int moduleNumber, int channel, boolean input) {
+	protected void initDigitalPort(int channel, boolean input) {
 
 		m_channel = channel;
-		m_moduleNumber = moduleNumber;
-		if (DIOJNI.checkDigitalModule((byte) m_moduleNumber) != 1) {
-			throw new AllocationException("Digital input " + m_channel
-					+ " on module " + m_moduleNumber
-					+ " cannot be allocated. Module is not present.");
-		}
+
 		checkDigitalChannel(m_channel); // XXX: Replace with
 										// HALLibrary.checkDigitalChannel when
 										// implemented
 
 		try {
-			channels.allocate((m_moduleNumber - 1) * kDigitalChannels
-					+ m_channel);
+			channels.allocate(m_channel);
 		} catch (CheckedAllocationException ex) {
 			throw new AllocationException("Digital input " + m_channel
-					+ " on module " + m_moduleNumber + " is already allocated");
+					+ " is already allocated");
 		}
 
-		ByteBuffer port_pointer = DIOJNI.getPortWithModule(
-				(byte) moduleNumber, (byte) channel);
+		ByteBuffer port_pointer = DIOJNI.getPortWithModule((byte) 1, (byte) channel);
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		// set the byte order
 		status.order(ByteOrder.LITTLE_ENDIAN);
@@ -63,19 +55,18 @@ public abstract class DigitalSource extends InterruptableSensorBase {
 	}
 
 	public void free() {
-		channels.free(((m_moduleNumber - 1) * kDigitalChannels + m_channel));
+		channels.free(m_channel);
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		// set the byte order
 		status.order(ByteOrder.LITTLE_ENDIAN);
 		DIOJNI.freeDIO(m_port, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 		m_channel = 0;
-		m_moduleNumber = 0;
 	}
 
 	/**
 	 * Get the channel routing number
-	 * 
+	 *
 	 * @return channel routing number
 	 */
 	public int getChannelForRouting() {
@@ -84,16 +75,16 @@ public abstract class DigitalSource extends InterruptableSensorBase {
 
 	/**
 	 * Get the module routing number
-	 * 
-	 * @return module routing number
+	 *
+	 * @return 0
 	 */
 	public int getModuleForRouting() {
-		return m_moduleNumber - 1;
+		return 0;
 	}
 
 	/**
 	 * Is this an analog trigger
-	 * 
+	 *
 	 * @return true if this is an analog trigger
 	 */
 	public boolean getAnalogTriggerForRouting() {
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Encoder.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Encoder.java
index 433a4dda1f..253d32ec8f 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Encoder.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Encoder.java
@@ -103,152 +103,11 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
 
 		UsageReporting.report(tResourceType.kResourceType_Encoder,
 				m_index, m_encodingType.value);
-		LiveWindow.addSensor("Encoder", m_aSource.getModuleForRouting(),
-				m_aSource.getChannelForRouting(), this);
+		LiveWindow.addSensor("Encoder", m_aSource.getChannelForRouting(), this);
 	}
 
 	/**
-	 * Encoder constructor. Construct a Encoder given a and b modules and
-	 * channels fully specified.
-	 * 
-	 * @param aSlot
-	 *            The a channel digital input module.
-	 * @param aChannel
-	 *            The a channel digital input channel.
-	 * @param bSlot
-	 *            The b channel digital input module.
-	 * @param bChannel
-	 *            The b channel digital input channel.
-	 * @param reverseDirection
-	 *            represents the orientation of the encoder and inverts the
-	 *            output values if necessary so forward represents positive
-	 *            values.
-	 */
-	public Encoder(final int aSlot, final int aChannel, final int bSlot,
-			final int bChannel, boolean reverseDirection) {
-		m_allocatedA = true;
-		m_allocatedB = true;
-		m_allocatedI = false;
-		m_aSource = new DigitalInput(aSlot, aChannel);
-		m_bSource = new DigitalInput(bSlot, bChannel);
-		initEncoder(reverseDirection);
-	}
-
-	/**
-	 * Encoder constructor. Construct a Encoder given a and b modules and
-	 * channels fully specified.
-	 * 
-	 * @param aSlot
-	 *            The a channel digital input module.
-	 * @param aChannel
-	 *            The a channel digital input channel.
-	 * @param bSlot
-	 *            The b channel digital input module.
-	 * @param bChannel
-	 *            The b channel digital input channel.
-	 */
-	public Encoder(final int aSlot, final int aChannel, final int bSlot,
-			final int bChannel) {
-		this(aSlot, aChannel, bSlot, bChannel, false);
-	}
-
-	/**
-	 * Encoder constructor. Construct a Encoder given a and b modules and
-	 * channels fully specified.
-	 * 
-	 * @param aSlot
-	 *            The a channel digital input module.
-	 * @param aChannel
-	 *            The a channel digital input channel.
-	 * @param bSlot
-	 *            The b channel digital input module.
-	 * @param bChannel
-	 *            The b channel digital input channel.
-	 * @param reverseDirection
-	 *            represents the orientation of the encoder and inverts the
-	 *            output values if necessary so forward represents positive
-	 *            values.
-	 * @param encodingType
-	 *            either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If
-	 *            4X is selected, then an encoder FPGA object is used and the
-	 *            returned counts will be 4x the encoder spec'd value since all
-	 *            rising and falling edges are counted. If 1X or 2X are selected
-	 *            then a counter object will be used and the returned value will
-	 *            either exactly match the spec'd count or be double (2x) the
-	 *            spec'd count.
-	 */
-	public Encoder(final int aSlot, final int aChannel, final int bSlot,
-			final int bChannel, boolean reverseDirection,
-			final EncodingType encodingType) {
-		m_allocatedA = true;
-		m_allocatedB = true;
-		m_allocatedI = false;
-		m_aSource = new DigitalInput(aSlot, aChannel);
-		m_bSource = new DigitalInput(bSlot, bChannel);
-		if (encodingType == null)
-			throw new NullPointerException("Given encoding type was null");
-		m_encodingType = encodingType;
-		initEncoder(reverseDirection);
-	}
-
-	/**
-	 * Encoder constructor. Construct a Encoder given a and b modules and
-	 * channels fully specified. Using the index pulse forces 4x encoding.
-	 * 
-	 * @param aSlot
-	 *            The a channel digital input module.
-	 * @param aChannel
-	 *            The a channel digital input channel.
-	 * @param bSlot
-	 *            The b channel digital input module.
-	 * @param bChannel
-	 *            The b channel digital input channel.
-	 * @param indexSlot
-	 *            The index channel digital input module.
-	 * @param indexChannel
-	 *            The index channel digital input channel.
-	 * @param reverseDirection
-	 *            represents the orientation of the encoder and inverts the
-	 *            output values if necessary so forward represents positive
-	 *            values.
-	 */
-	public Encoder(final int aSlot, final int aChannel, final int bSlot,
-			final int bChannel, final int indexSlot, final int indexChannel,
-			boolean reverseDirection) {
-		m_allocatedA = true;
-		m_allocatedB = true;
-		m_allocatedI = true;
-		m_aSource = new DigitalInput(aSlot, aChannel);
-		m_bSource = new DigitalInput(bSlot, bChannel);
-		m_indexSource = new DigitalInput(indexSlot, indexChannel);
-		initEncoder(reverseDirection);
-	}
-
-	/**
-	 * Encoder constructor. Construct a Encoder given a and b modules and
-	 * channels fully specified. Using the index pulse forces 4x encoding.
-	 * 
-	 * @param aSlot
-	 *            The a channel digital input module.
-	 * @param aChannel
-	 *            The a channel digital input channel.
-	 * @param bSlot
-	 *            The b channel digital input module.
-	 * @param bChannel
-	 *            The b channel digital input channel.
-	 * @param indexSlot
-	 *            The index channel digital input module.
-	 * @param indexChannel
-	 *            The index channel digital input channel.
-	 */
-	public Encoder(final int aSlot, final int aChannel, final int bSlot,
-			final int bChannel, final int indexSlot, final int indexChannel) {
-		this(aSlot, aChannel, bSlot, bChannel, indexSlot, indexChannel, false);
-	}
-
-	/**
-	 * Encoder constructor. Construct a Encoder given a and b channels assuming
-	 * the default module.
+	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 * 
 	 * @param aChannel
 	 *            The a channel digital input channel.
@@ -270,8 +129,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
 	}
 
 	/**
-	 * Encoder constructor. Construct a Encoder given a and b channels assuming
-	 * the default module.
+	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 * 
 	 * @param aChannel
 	 *            The a channel digital input channel.
@@ -283,8 +141,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
 	}
 
 	/**
-	 * Encoder constructor. Construct a Encoder given a and b channels assuming
-	 * the default module.
+	 * Encoder constructor. Construct a Encoder given a and b channels.
 	 * 
 	 * @param aChannel
 	 *            The a channel digital input channel.
@@ -317,8 +174,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
 	}
 
 	/**
-	 * Encoder constructor. Construct a Encoder given a and b channels assuming
-	 * the default module. Using an index pulse forces 4x encoding
+	 * Encoder constructor. Construct a Encoder given a and b channels.
+	 * Using an index pulse forces 4x encoding
 	 * 
 	 * @param aChannel
 	 *            The a channel digital input channel.
@@ -343,8 +200,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
 	}
 
 	/**
-	 * Encoder constructor. Construct a Encoder given a and b channels assuming
-	 * the default module. Using an index pulse forces 4x encoding
+	 * Encoder constructor. Construct a Encoder given a and b channels.
+	 * Using an index pulse forces 4x encoding
 	 * 
 	 * @param aChannel
 	 *            The a channel digital input channel.
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/GearTooth.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
index 6561c1a105..e35b04f099 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
@@ -34,9 +34,18 @@ public class GearTooth extends Counter implements ISensor {
     /**
      * Construct a GearTooth sensor given a channel.
      *
-     * The default module is assumed.
+     * No direction sensing is assumed.
      *
-     * @param channel The GPIO channel on the digital module that the sensor is connected to.
+     * @param channel The GPIO channel that the sensor is connected to.
+     */
+    public GearTooth(final int channel) {
+        this(channel,false);
+    }
+
+    /**
+     * Construct a GearTooth sensor given a channel.
+     *
+     * @param channel The GPIO channel that the sensor is connected to.
      * @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
      */
     public GearTooth(final int channel, boolean directionSensitive) {
@@ -47,48 +56,7 @@ public class GearTooth extends Counter implements ISensor {
         } else {
             UsageReporting.report(tResourceType.kResourceType_GearTooth, channel, DigitalModule.getDefaultDigitalModule()-1);
         }
-    }
-
-    /**
-     * Construct a GearTooth sensor given a channel.
-     *
-     * The default module is assumed.
-     * No direction sensing is assumed.
-     *
-     * @param channel The GPIO channel on the digital module that the sensor is connected to.
-     */
-    public GearTooth(final int channel) {
-        this(channel,false);
-    }
-
-    /**
-     * Construct a GearTooth sensor given a channel and module.
-     *
-     * @param slot The slot in the chassis that the digital module is plugged in to.
-     * @param channel The GPIO channel on the digital module that the sensor is connected to.
-     * @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
-     */
-    public GearTooth(final int slot, final int channel, boolean directionSensitive) {
-        super(slot, channel);
-        enableDirectionSensing(directionSensitive);
-        if(directionSensitive) {
-            UsageReporting.report(tResourceType.kResourceType_GearTooth, channel, DigitalModule.getDefaultDigitalModule()-1, "D");
-        } else {
-            UsageReporting.report(tResourceType.kResourceType_GearTooth, channel, DigitalModule.getDefaultDigitalModule()-1);
-        }
-        LiveWindow.addSensor("GearTooth", slot, channel, this);
-    }
-
-    /**
-     * Construct a GearTooth sensor given a channel and module.
-     *
-     * No direction sensing is assumed.
-     *
-     * @param slot The slot in the chassis that the digital module is plugged in to.
-     * @param channel The GPIO channel on the digital module that the sensor is connected to.
-     */
-    public GearTooth(final int slot, final int channel) {
-        this(slot, channel,false);
+        LiveWindow.addSensor("GearTooth", channel, this);
     }
 
     /**
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Gyro.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Gyro.java
index 09146da366..87c6243150 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Gyro.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Gyro.java
@@ -79,31 +79,13 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 
 		setPIDSourceParameter(PIDSourceParameter.kAngle);
 
-		UsageReporting.report(tResourceType.kResourceType_Gyro,
-				m_analog.getChannel(), m_analog.getModuleNumber() - 1);
-		LiveWindow.addSensor("Gyro", m_analog.getModuleNumber(),
-				m_analog.getChannel(), this);
-	}
-
-	/**
-	 * Gyro constructor given a slot and a channel. .
-	 * 
-	 * @param slot
-	 *            The cRIO slot for the analog module the gyro is connected to.
-	 * @param channel
-	 *            The analog channel the gyro is connected to.
-	 */
-	public Gyro(int slot, int channel) {
-		m_analog = new AnalogInput(slot, channel);
-		m_channelAllocated = true;
-		initGyro();
+		UsageReporting.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
+		LiveWindow.addSensor("Gyro", m_analog.getChannel(), this);
 	}
 
 	/**
 	 * Gyro constructor with only a channel.
-	 * 
-	 * Use the default analog module slot.
-	 * 
+	 *
 	 * @param channel
 	 *            The analog channel the gyro is connected to.
 	 */
@@ -117,7 +99,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 	 * Gyro constructor with a precreated analog channel object. Use this
 	 * constructor when the analog channel needs to be shared. There is no
 	 * reference counting when an AnalogChannel is passed to the gyro.
-	 * 
+	 *
 	 * @param channel
 	 *            The AnalogChannel object that the gyro is connected to.
 	 */
@@ -156,13 +138,13 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 
 	/**
 	 * Return the actual angle in degrees that the robot is currently facing.
-	 * 
+	 *
 	 * The angle is based on the current accumulator value corrected by the
 	 * oversampling rate, the gyro type and the A/D calibration values. The
 	 * angle is continuous, that is can go beyond 360 degrees. This make
 	 * algorithms that wouldn't want to see a discontinuity in the gyro output
 	 * as it sweeps past 0 on the second time around.
-	 * 
+	 *
 	 * @return the current heading of the robot in degrees. This heading is
 	 *         based on integration of the returned rate from the gyro.
 	 */
@@ -186,9 +168,9 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 
 	/**
 	 * Return the rate of rotation of the gyro
-	 * 
+	 *
 	 * The rate is based on the most recent reading of the gyro analog value
-	 * 
+	 *
 	 * @return the current rate in degrees per second
 	 */
 	public double getRate() {
@@ -206,7 +188,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 	 * Set the gyro type based on the sensitivity. This takes the number of
 	 * volts/degree/second sensitivity of the gyro and uses it in subsequent
 	 * calculations to allow the code to work with multiple gyros.
-	 * 
+	 *
 	 * @param voltsPerDegreePerSecond
 	 *            The type of gyro specified as the voltage that represents one
 	 *            degree/second.
@@ -218,7 +200,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 	/**
 	 * Set which parameter of the encoder you are using as a process control
 	 * variable. The Gyro class supports the rate and angle parameters
-	 * 
+	 *
 	 * @param pidSource
 	 *            An enum to select the parameter.
 	 */
@@ -229,7 +211,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 
 	/**
 	 * Get the angle of the gyro for use with PIDControllers
-	 * 
+	 *
 	 * @return the current angle according to the gyro
 	 */
 	public double pidGet() {
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/HiTechnicColorSensor.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/HiTechnicColorSensor.java
index 27ddf8896e..57e9f271ff 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/HiTechnicColorSensor.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/HiTechnicColorSensor.java
@@ -109,7 +109,7 @@ public class HiTechnicColorSensor extends SensorBase implements ISensor, LiveWin
             throw new ColorSensorException("Invalid Sensor type");
         }
 
-        LiveWindow.addSensor("HiTechnicColorSensor", slot, 0, this);
+        LiveWindow.addSensor("HiTechnicColorSensor", slot, this);
         UsageReporting.report(tResourceType.kResourceType_HiTechnicColorSensor, module.getModuleNumber()-1);
     }
 
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/HiTechnicCompass.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/HiTechnicCompass.java
index 9dcf636400..6fb4583f38 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/HiTechnicCompass.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/HiTechnicCompass.java
@@ -53,11 +53,9 @@ public class HiTechnicCompass extends SensorBase implements ISensor, LiveWindowS
 
     /**
      * Constructor.
-     *
-     * @param slot The slot of the digital module that the sensor is plugged into.
      */
-    public HiTechnicCompass(int slot) {
-        DigitalModule module = DigitalModule.getInstance(slot);
+    public HiTechnicCompass() {
+        DigitalModule module = DigitalModule.getInstance(1);
         m_i2c = module.getI2C(kAddress);
 
         // Verify Sensor
@@ -70,8 +68,8 @@ public class HiTechnicCompass extends SensorBase implements ISensor, LiveWindowS
             throw new CompassException("Invalid Sensor type");
         }
 
-        UsageReporting.report(tResourceType.kResourceType_HiTechnicCompass, module.getModuleNumber()-1);
-        LiveWindow.addSensor("HiTechnicCompass", slot, 0, this);
+        UsageReporting.report(tResourceType.kResourceType_HiTechnicCompass, 1);
+        LiveWindow.addSensor("HiTechnicCompass", 1, this);
     }
 
     /**
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/I2C.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/I2C.java
index 31899fdbf5..6f93062851 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/I2C.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/I2C.java
@@ -18,10 +18,10 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
 
 /**
  * I2C bus interface class.
- * 
+ *
  * This class is intended to be used by sensor (and other I2C device) drivers.
  * It probably should not be used directly.
- * 
+ *
  * It is constructed by calling DigitalModule::GetI2C() on a DigitalModule
  * object.
  */
@@ -31,25 +31,24 @@ public class I2C extends SensorBase {
 	private int m_deviceAddress;
 	private boolean m_compatibilityMode;
 
-	/**
-	 * Constructor.
-	 * 
-	 * @param module
-	 *            The Digital Module to which the device is connected.
-	 * @param deviceAddress
-	 *            The address of the device on the I2C bus.
-	 */
-	public I2C(DigitalModule module, int deviceAddress) {
-		if (module == null) {
-			throw new NullPointerException("Digital Module given was null");
-		}
-		m_module = module;
-		m_deviceAddress = deviceAddress;
-		m_compatibilityMode = true;
+    /**
+     * Constructor.
+     *
+     * @param module
+     *            The Digital Module to which the device is connected.
+     * @param deviceAddress
+     *            The address of the device on the I2C bus.
+     */
+    public I2C(DigitalModule module, int deviceAddress) {
+        if (module == null) {
+            throw new NullPointerException("Digital Module given was null");
+        }
+        m_module = module;
+        m_deviceAddress = deviceAddress;
+        m_compatibilityMode = true;
 
-		UsageReporting.report(tResourceType.kResourceType_I2C, deviceAddress,
-				module.getModuleNumber()-1);
-	}
+        UsageReporting.report(tResourceType.kResourceType_I2C, deviceAddress);
+    }
 
 	/**
 	 * Destructor.
@@ -59,10 +58,10 @@ public class I2C extends SensorBase {
 
 	/**
 	 * Generic transaction.
-	 * 
+	 *
 	 * This is a lower-level interface to the I2C hardware giving you more
 	 * control over each transaction.
-	 * 
+	 *
 	 * @param dataToSend
 	 *            Buffer of data to send as part of the transaction.
 	 * @param sendSize
@@ -105,10 +104,10 @@ public class I2C extends SensorBase {
 
 	/**
 	 * Attempt to address a device on the I2C bus.
-	 * 
+	 *
 	 * This allows you to figure out if there is a device on the I2C bus that
 	 * responds to the address specified in the constructor.
-	 * 
+	 *
 	 * @return Transfer Aborted... false for success, true for aborted.
 	 */
 	public boolean addressOnly() {
@@ -117,10 +116,10 @@ public class I2C extends SensorBase {
 
 	/**
 	 * Execute a write transaction with the device.
-	 * 
+	 *
 	 * Write a single byte to a register on a device and wait until the
 	 * transaction is complete.
-	 * 
+	 *
 	 * @param registerAddress
 	 *            The address of the register on the device to be written.
 	 * @param data
@@ -135,11 +134,11 @@ public class I2C extends SensorBase {
 
 	/**
 	 * Execute a read transaction with the device.
-	 * 
+	 *
 	 * Read 1 to 7 bytes from a device. Most I2C devices will auto-increment the
 	 * register pointer internally allowing you to read up to 7 consecutive
 	 * registers on a device in a single transaction.
-	 * 
+	 *
 	 * @param registerAddress
 	 *            The register to read first in the transaction.
 	 * @param count
@@ -163,9 +162,9 @@ public class I2C extends SensorBase {
 
 	/**
 	 * Send a broadcast write to all devices on the I2C bus.
-	 * 
+	 *
 	 * This is not currently implemented!
-	 * 
+	 *
 	 * @param registerAddress
 	 *            The register to write on all devices on the bus.
 	 * @param data
@@ -176,30 +175,30 @@ public class I2C extends SensorBase {
 
 	/**
 	 * SetCompatabilityMode
-	 * 
+	 *
 	 * Enables bitwise clock skewing detection. This will reduce the I2C
 	 * interface speed, but will allow you to communicate with devices that skew
 	 * the clock at abnormal times. Compatability mode is enabled by default.
-	 * 
+	 *
 	 * @param enable
 	 *            Enable compatability mode for this sensor or not.
 	 */
 	public void setCompatabilityMode(boolean enable) {
 		m_compatibilityMode = enable;
 		UsageReporting.report(tResourceType.kResourceType_I2C,
-				m_deviceAddress, m_module.getModuleNumber() - 1, "C");
+				m_deviceAddress, 1, "C");
 	}
 
 	/**
 	 * Verify that a device's registers contain expected values.
-	 * 
+	 *
 	 * Most devices will have a set of registers that contain a known value that
 	 * can be used to identify them. This allows an I2C device driver to easily
 	 * verify that the device contains the expected value.
-	 * 
+	 *
 	 * @pre The device must support and be configured to use register
 	 *      auto-increment.
-	 * 
+	 *
 	 * @param registerAddress
 	 *            The base register to start reading from the device.
 	 * @param count
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Jaguar.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
index adc616e5f5..de56ced645 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
@@ -34,31 +34,20 @@ public class Jaguar extends SafePWM implements SpeedController, IDeviceControlle
         setPeriodMultiplier(PeriodMultiplier.k1X);
         setRaw(m_centerPwm);
 
-        UsageReporting.report(tResourceType.kResourceType_Jaguar, getChannel(), getModuleNumber()-1);
-        LiveWindow.addActuator("Jaguar", getModuleNumber(), getChannel(), this);
+        UsageReporting.report(tResourceType.kResourceType_Jaguar, getChannel());
+        LiveWindow.addActuator("Jaguar", getChannel(), this);
     }
 
     /**
-     * Constructor that assumes the default digital module.
+     * Constructor.
      *
-     * @param channel The PWM channel on the digital module that the Jaguar is attached to.
+     * @param channel The PWM channel that the Jaguar is attached to.
      */
     public Jaguar(final int channel) {
         super(channel);
         initJaguar();
     }
 
-    /**
-     * Constructor that specifies the digital module.
-     *
-     * @param slot The slot in the chassis that the digital module is plugged into.
-     * @param channel The PWM channel on the digital module that the Jaguar is attached to.
-     */
-    public Jaguar(final int slot, final int channel) {
-        super(slot, channel);
-        initJaguar();
-    }
-
     /**
      * Set the PWM value.
      *
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PWM.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PWM.java
index 84e9fce0dc..44539f13fc 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PWM.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PWM.java
@@ -38,7 +38,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
 	 * resource tracking into the HAL. This will wait until we get the unit
 	 * tests running for the first time.
 	 */
-	
+
     private static Resource allocated = new Resource( kPwmChannels);
 
     /**
@@ -106,49 +106,35 @@ public class PWM extends SensorBase implements LiveWindowSendable {
     int m_minPwm;
 
     /**
-     * Initialize PWMs given an module and channel.
+     * Initialize PWMs given a channel.
      *
      * This method is private and is the common path for all the constructors for creating PWM
      * instances. Checks module and channel value ranges and allocates the appropriate channel.
      * The allocation is only done to help users ensure that they don't double assign channels.
      */
-    private void initPWM(final int moduleNumber, final int channel) {
-        checkPWMModule(moduleNumber);
+    private void initPWM(final int channel) {
         checkPWMChannel(channel);
         try {
-            allocated.allocate((moduleNumber - 1) * kPwmChannels + channel);
+            allocated.allocate(channel);
         } catch (CheckedAllocationException e) {
             throw new AllocationException(
-                "PWM channel " + channel + " on module " + moduleNumber + " is already allocated");
+                "PWM channel " + channel  + " is already allocated");
         }
         m_channel = channel;
-        m_module = DigitalModule.getInstance(moduleNumber);
+        m_module = DigitalModule.getInstance(1);
         m_module.setPWM(m_channel, kPwmDisabled);
         m_eliminateDeadband = false;
 
-        UsageReporting.report(tResourceType.kResourceType_PWM, channel, moduleNumber-1);
+        UsageReporting.report(tResourceType.kResourceType_PWM, channel);
     }
 
     /**
-     * Allocate a PWM given a module and channel.
-     * Allocate a PWM using a module and channel number.
+     * Allocate a PWM given a channel.
      *
-     * @param moduleNumber The module number of the digital module to use.
-     * @param channel The PWM channel on the digital module.
-     */
-    public PWM(final int moduleNumber, final int channel) {
-        initPWM(moduleNumber, channel);
-    }
-
-    /**
-     * Allocate a PWM in the default module given a channel.
-     *
-     * Using a default module allocate a PWM given the channel number.
-     *
-     * @param channel The PWM channel on the digital module.
+     * @param channel The PWM channel.
      */
     public PWM(final int channel) {
-        initPWM(getDefaultDigitalModule(), channel);
+        initPWM(channel);
     }
 
     /**
@@ -159,7 +145,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
     public void free() {
         m_module.setPWM(m_channel, kPwmDisabled);
         m_module.freeDIO(m_channel);
-        allocated.free((m_module.getModuleNumber() - 1) * kPwmChannels + m_channel);
+        allocated.free(m_channel);
     }
 
     /**
@@ -211,15 +197,6 @@ public class PWM extends SensorBase implements LiveWindowSendable {
         m_minPwm = (int)((min-kDefaultPwmCenter)/loopTime+kDefaultPwmStepsDown-1);
     }
 
-    /**
-     * Gets the module number associated with the PWM Object.
-     *
-     * @return The module's number.
-     */
-    public int getModuleNumber() {
-        return m_module.getModuleNumber();
-    }
-
     /**
      * Gets the channel number associated with the PWM Object.
      *
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Relay.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Relay.java
index 880bc05ce8..fa8d0fd652 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Relay.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Relay.java
@@ -30,13 +30,6 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
  */
 public class Relay extends SensorBase implements IDeviceController,
 		LiveWindowSendable {
-
-	/*
-	 * XXX: Refactor to no longer depend on the DigitalModule, and move all
-	 * resource tracking into the HAL. This will wait until we get the unit
-	 * tests running for the first time.
-	 */
-
 	/**
 	 * This class represents errors in trying to set relay values contradictory
 	 * to the direction to which the relay is set.
@@ -45,7 +38,7 @@ public class Relay extends SensorBase implements IDeviceController,
 
 		/**
 		 * Create a new exception with the given message
-		 * 
+		 *
 		 * @param message
 		 *            the message to pass with the exception
 		 */
@@ -128,62 +121,34 @@ public class Relay extends SensorBase implements IDeviceController,
 	 * Common relay initialization method. This code is common to all Relay
 	 * constructors and initializes the relay and reserves all resources that
 	 * need to be locked. Initially the relay is set to both lines at 0v.
-	 * 
-	 * @param moduleNumber
-	 *            The number of the digital module to use.
 	 */
-	private void initRelay(final int moduleNumber) {
-		SensorBase.checkRelayModule(moduleNumber);
+	private void initRelay() {
 		SensorBase.checkRelayChannel(m_channel);
 		try {
 			if (m_direction == Direction.kBoth
 					|| m_direction == Direction.kForward) {
-				relayChannels.allocate(((moduleNumber - 1) * kRelayChannels
-						+ m_channel) * 2);
-				UsageReporting.report(tResourceType.kResourceType_Relay,
-						m_channel, moduleNumber - 1);
+				relayChannels.allocate(m_channel * 2);
+				UsageReporting.report(tResourceType.kResourceType_Relay, m_channel);
 			}
 			if (m_direction == Direction.kBoth
 					|| m_direction == Direction.kReverse) {
-				relayChannels.allocate(((moduleNumber - 1) * kRelayChannels
-						+ m_channel) * 2 + 1);
-				UsageReporting.report(tResourceType.kResourceType_Relay,
-						m_channel + 128, moduleNumber - 1);
+				relayChannels.allocate(m_channel * 2 + 1);
+				UsageReporting.report(tResourceType.kResourceType_Relay, m_channel + 128);
 			}
 		} catch (CheckedAllocationException e) {
-			throw new AllocationException("Relay channel " + m_channel
-					+ " on module " + moduleNumber + " is already allocated");
+			throw new AllocationException("Relay channel " + m_channel + " is already allocated");
 		}
-		m_module = DigitalModule.getInstance(moduleNumber);
+		m_module = DigitalModule.getInstance(1);
 		m_module.setRelayForward(m_channel, false);
 		m_module.setRelayReverse(m_channel, false);
-		LiveWindow.addActuator("Relay", moduleNumber, m_channel, this);
+		LiveWindow.addActuator("Relay", m_channel, this);
 	}
 
 	/**
-	 * Relay constructor given the module and the channel.
-	 * 
-	 * @param moduleNumber
-	 *            The number of the digital module to use.
+	 * Relay constructor given a channel.
+	 *
 	 * @param channel
-	 *            The channel number within the module for this relay.
-	 * @param direction
-	 *            The direction that the Relay object will control.
-	 */
-	public Relay(final int moduleNumber, final int channel, Direction direction) {
-		if (direction == null)
-			throw new NullPointerException("Null Direction was given");
-		m_channel = channel;
-		m_direction = direction;
-		initRelay(moduleNumber);
-	}
-
-	/**
-	 * Relay constructor given a channel only where the default digital module
-	 * is used.
-	 * 
-	 * @param channel
-	 *            The channel number within the default module for this relay.
+	 *            The channel number for this relay.
 	 * @param direction
 	 *            The direction that the Relay object will control.
 	 */
@@ -192,35 +157,19 @@ public class Relay extends SensorBase implements IDeviceController,
 			throw new NullPointerException("Null Direction was given");
 		m_channel = channel;
 		m_direction = direction;
-		initRelay(getDefaultDigitalModule());
+		initRelay();
 	}
 
 	/**
-	 * Relay constructor given the module and the channel, allowing both
-	 * directions.
-	 * 
-	 * @param moduleNumber
-	 *            The number of the digital module to use.
+	 * Relay constructor given a channel, allowing both directions.
+	 *
 	 * @param channel
-	 *            The channel number within the module for this relay.
-	 */
-	public Relay(final int moduleNumber, final int channel) {
-		m_channel = channel;
-		m_direction = Direction.kBoth;
-		initRelay(moduleNumber);
-	}
-
-	/**
-	 * Relay constructor given a channel only where the default digital module
-	 * is used, allowing both directions.
-	 * 
-	 * @param channel
-	 *            The channel number within the default module for this relay.
+	 *            The channel number for this relay.
 	 */
 	public Relay(final int channel) {
 		m_channel = channel;
 		m_direction = Direction.kBoth;
-		initRelay(getDefaultDigitalModule());
+		initRelay();
 	}
 
 	public void free() {
@@ -243,17 +192,17 @@ public class Relay extends SensorBase implements IDeviceController,
 
 	/**
 	 * Set the relay state.
-	 * 
+	 *
 	 * Valid values depend on which directions of the relay are controlled by
 	 * the object.
-	 * 
+	 *
 	 * When set to kBothDirections, the relay can be set to any of the four
 	 * states: 0v-0v, 12v-0v, 0v-12v, 12v-12v
-	 * 
+	 *
 	 * When set to kForwardOnly or kReverseOnly, you can specify the constant
 	 * for the direction or you can simply specify kOff_val and kOn_val. Using
 	 * only kOff_val and kOn_val is recommended.
-	 * 
+	 *
 	 * @param value
 	 *            The state to set the relay.
 	 */
@@ -310,12 +259,12 @@ public class Relay extends SensorBase implements IDeviceController,
 
 	/**
 	 * Get the Relay State
-	 * 
+	 *
 	 * Gets the current state of the relay.
-	 * 
+	 *
 	 * When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff
 	 * not kForward/kReverse (per the recommendation in Set)
-	 * 
+	 *
 	 * @return The current state of the relay as a Relay::Value
 	 */
 	public Value get() {
@@ -344,12 +293,12 @@ public class Relay extends SensorBase implements IDeviceController,
 
 	/**
 	 * Set the Relay Direction
-	 * 
+	 *
 	 * Changes which values the relay can be set to depending on which direction
 	 * is used
-	 * 
+	 *
 	 * Valid inputs are kBothDirections, kForwardOnly, and kReverseOnly
-	 * 
+	 *
 	 * @param direction
 	 *            The direction for the relay to operate in
 	 */
@@ -364,7 +313,7 @@ public class Relay extends SensorBase implements IDeviceController,
 
 		m_direction = direction;
 
-		initRelay(m_module.getModuleNumber());
+		initRelay();
 	}
 
 	/*
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
index 9da30419ce..f12343cc36 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
@@ -82,8 +82,8 @@ public class RobotDrive implements MotorSafety, IUtility {
      * Set up parameters for a two wheel drive system where the
      * left and right motor pwm channels are specified in the call.
      * This call assumes Jaguars for controlling the motors.
-     * @param leftMotorChannel The PWM channel number on the default digital module that drives the left motor.
-     * @param rightMotorChannel The PWM channel number on the default digital module that drives the right motor.
+     * @param leftMotorChannel The PWM channel number that drives the left motor.
+     * @param rightMotorChannel The PWM channel number that drives the right motor.
      */
     public RobotDrive(final int leftMotorChannel, final int rightMotorChannel) {
         m_sensitivity = kDefaultSensitivity;
@@ -105,10 +105,10 @@ public class RobotDrive implements MotorSafety, IUtility {
      * Set up parameters for a four wheel drive system where all four motor
      * pwm channels are specified in the call.
      * This call assumes Jaguars for controlling the motors.
-     * @param frontLeftMotor Front left motor channel number on the default digital module
-     * @param rearLeftMotor Rear Left motor channel number on the default digital module
-     * @param frontRightMotor Front right motor channel number on the default digital module
-     * @param rearRightMotor Rear Right motor channel number on the default digital module
+     * @param frontLeftMotor Front left motor channel number
+     * @param rearLeftMotor Rear Left motor channel number
+     * @param frontRightMotor Front right motor channel number
+     * @param rearRightMotor Rear Right motor channel number
      */
     public RobotDrive(final int frontLeftMotor, final int rearLeftMotor,
                       final int frontRightMotor, final int rearRightMotor) {
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SafePWM.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SafePWM.java
index 73573b6204..be0bebc050 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SafePWM.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SafePWM.java
@@ -34,16 +34,6 @@ public class SafePWM extends PWM implements MotorSafety {
         initSafePWM();
     }
 
-    /**
-     * Constructor for a SafePWM object taking channel and slot numbers.
-     * @param slot The slot number of the digital module for this PWM object
-     * @param channel The channel number in the module for this PWM object
-     */
-    public SafePWM(final int slot, final int channel) {
-        super(slot, channel);
-        initSafePWM();
-    }
-
     /*
      * Set the expiration time for the PWM object
      * @param timeout The timeout (in seconds) for this motor object
@@ -100,7 +90,7 @@ public class SafePWM extends PWM implements MotorSafety {
     }
 
     public String getDescription() {
-        return "PWM "+getChannel()+" on module "+getModuleNumber();
+        return "PWM "+getChannel();
     }
 
     public void disable() {
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Servo.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Servo.java
index f3651b10d6..ed3b22ad41 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Servo.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Servo.java
@@ -24,7 +24,7 @@ public class Servo extends PWM implements IDevice {
 
     private static final double kMaxServoAngle = 180.0;
     private static final double kMinServoAngle = 0.0;
-    
+
     private static final double kDefaultMaxServoPWM = 2.4;
     private static final double kDefaultMinServoPWM = .6;
 
@@ -33,43 +33,29 @@ public class Servo extends PWM implements IDevice {
      *
      * InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
      * well as the minimum and maximum PWM values supported by the servo.
-     * 
+     *
      */
     private void initServo() {
         setBounds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
         setPeriodMultiplier(PeriodMultiplier.k4X);
 
-        LiveWindow.addActuator("Servo", getModuleNumber(), getChannel(), this);
-        UsageReporting.report(tResourceType.kResourceType_Servo, getChannel(), getModuleNumber()-1);
+        LiveWindow.addActuator("Servo", getChannel(), this);
+        UsageReporting.report(tResourceType.kResourceType_Servo, getChannel());
     }
 
     /**
-     * Constructor that assumes the default digital module.<br>
-     * 
+     * Constructor.<br>
+     *
      * By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
      * By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
      *
-     * @param channel The PWM channel on the digital module to which the servo is attached.
+     * @param channel The PWM channel to which the servo is attached.
      */
     public Servo(final int channel) {
         super(channel);
         initServo();
     }
 
-    /**
-     * Constructor that specifies the digital module.<br>
-     *
-     * By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
-     * By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
-     * 
-     * @param slot The slot in the chassis that the digital module is plugged into.
-     * @param channel The PWM channel on the digital module to which the servo is attached.
-     */
-    public Servo(final int slot, final int channel) {
-        super(slot, channel);
-        initServo();
-    }
-    
 
 	/**
      * Set the servo position.
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Talon.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Talon.java
index 00c5e2953a..3538ac4945 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Talon.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Talon.java
@@ -36,31 +36,20 @@ public class Talon extends SafePWM implements SpeedController, IDeviceController
         setPeriodMultiplier(PeriodMultiplier.k2X);
         setRaw(m_centerPwm);
 
-        LiveWindow.addActuator("Talon", getModuleNumber(), getChannel(), this);
-        UsageReporting.report(tResourceType.kResourceType_Talon, getChannel(), getModuleNumber()-1);
+        LiveWindow.addActuator("Talon", getChannel(), this);
+        UsageReporting.report(tResourceType.kResourceType_Talon, getChannel());
     }
 
     /**
-     * Constructor that assumes the default digital module.
+     * Constructor.
      *
-     * @param channel The PWM channel on the digital module that the Victor is attached to.
+     * @param channel The PWM channel that the Victor is attached to.
      */
     public Talon(final int channel) {
         super(channel);
         initTalon();
     }
 
-    /**
-     * Constructor that specifies the digital module.
-     *
-     * @param slot The slot in the chassis that the digital module is plugged into.
-     * @param channel The PWM channel on the digital module that the Victor is attached to.
-     */
-    public Talon(final int slot, final int channel) {
-        super(slot, channel);
-        initTalon();
-    }
-
     /**
      * Set the PWM value.
      *
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
index 632e6d26e3..110c261237 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
@@ -78,7 +78,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 	 * Background task that goes through the list of ultrasonic sensors and
 	 * pings each one in turn. The counter is configured to read the timing of
 	 * the returned echo pulse.
-	 * 
+	 *
 	 * DANGER WILL ROBINSON, DANGER WILL ROBINSON: This code runs as a task and
 	 * assumes that none of the ultrasonic sensors will change while it's
 	 * running. If one does, then this will certainly break. Make sure to
@@ -133,16 +133,14 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 		m_instances++;
 		UsageReporting.report(tResourceType.kResourceType_Ultrasonic,
 				m_instances);
-		LiveWindow.addSensor("Ultrasonic", m_echoChannel.getModuleForRouting(),
-				m_echoChannel.getChannel(), this);
+		LiveWindow.addSensor("Ultrasonic", m_echoChannel.getChannel(), this);
 	}
 
 	/**
-	 * Create an instance of the Ultrasonic Sensor using the default module.
+	 * Create an instance of the Ultrasonic Sensor.
 	 * This is designed to supchannel the Daventech SRF04 and Vex ultrasonic
-	 * sensors. This constructor assumes that both digital I/O channels are in
-	 * the default digital module.
-	 * 
+	 * sensors.
+	 *
 	 * @param pingChannel
 	 *            The digital output channel that sends the pulse to initiate
 	 *            the sensor sending the ping.
@@ -162,11 +160,11 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 	}
 
 	/**
-	 * Create an instance of the Ultrasonic Sensor using the default module.
+	 * Create an instance of the Ultrasonic Sensor.
 	 * This is designed to supchannel the Daventech SRF04 and Vex ultrasonic
 	 * sensors. This constructor assumes that both digital I/O channels are in
 	 * the default digital module. Default unit is inches.
-	 * 
+	 *
 	 * @param pingChannel
 	 *            The digital output channel that sends the pulse to initiate
 	 *            the sensor sending the ping.
@@ -182,7 +180,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 	/**
 	 * Create an instance of an Ultrasonic Sensor from a DigitalInput for the
 	 * echo channel and a DigitalOutput for the ping channel.
-	 * 
+	 *
 	 * @param pingChannel
 	 *            The digital output object that starts the sensor doing a ping.
 	 *            Requires a 10uS pulse to start.
@@ -208,7 +206,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 	 * Create an instance of an Ultrasonic Sensor from a DigitalInput for the
 	 * echo channel and a DigitalOutput for the ping channel. Default unit is
 	 * inches.
-	 * 
+	 *
 	 * @param pingChannel
 	 *            The digital output object that starts the sensor doing a ping.
 	 *            Requires a 10uS pulse to start.
@@ -220,58 +218,6 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 		this(pingChannel, echoChannel, Unit.kInches);
 	}
 
-	/**
-	 * Create an instance of the Ultrasonic sensor using specified modules. This
-	 * is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors.
-	 * This constructors takes the channel and module slot for each of the
-	 * required digital I/O channels.
-	 * 
-	 * @param pingSlot
-	 *            The digital module that the pingChannel is in.
-	 * @param pingChannel
-	 *            The digital output channel that sends the pulse to initiate
-	 *            the sensor sending the ping.
-	 * @param echoSlot
-	 *            The digital module that the echoChannel is in.
-	 * @param echoChannel
-	 *            The digital input channel that receives the echo. The length
-	 *            of time that the echo is high represents the round trip time
-	 *            of the ping, and the distance.
-	 * @param units
-	 *            The units returned in either kInches or kMilliMeters
-	 */
-	public Ultrasonic(final int pingSlot, final int pingChannel,
-			final int echoSlot, final int echoChannel, Unit units) {
-		m_pingChannel = new DigitalOutput(pingSlot, pingChannel);
-		m_echoChannel = new DigitalInput(echoSlot, echoChannel);
-		m_allocatedChannels = true;
-		m_units = units;
-		initialize();
-	}
-
-	/**
-	 * Create an instance of the Ultrasonic sensor using specified modules. This
-	 * is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors.
-	 * This constructors takes the channel and module slot for each of the
-	 * required digital I/O channels. Defualt unit is inches.
-	 * 
-	 * @param pingSlot
-	 *            The digital module that the pingChannel is in.
-	 * @param pingChannel
-	 *            The digital output channel that sends the pulse to initiate
-	 *            the sensor sending the ping.
-	 * @param echoSlot
-	 *            The digital module that the echoChannel is in.
-	 * @param echoChannel
-	 *            The digital input channel that receives the echo. The length
-	 *            of time that the echo is high represents the round trip time
-	 *            of the ping, and the distance.
-	 */
-	public Ultrasonic(final int pingSlot, final int pingChannel,
-			final int echoSlot, final int echoChannel) {
-		this(pingSlot, pingChannel, echoSlot, echoChannel, Unit.kInches);
-	}
-
 	/**
 	 * Destructor for the ultrasonic sensor. Delete the instance of the
 	 * ultrasonic sensor by freeing the allocated digital channels. If the
@@ -320,7 +266,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 	/**
 	 * Turn Automatic mode on/off. When in Automatic mode, all sensors will fire
 	 * in round robin, waiting a set time between each sensor.
-	 * 
+	 *
 	 * @param enabling
 	 *            Set to true if round robin scheduling should start for all the
 	 *            ultrasonic sensors. This scheduling method assures that the
@@ -385,7 +331,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 	 * in a counter that will increment on each edge of the echo (return)
 	 * signal. If the count is not at least 2, then the range has not yet been
 	 * measured, and is invalid.
-	 * 
+	 *
 	 * @return true if the range is valid
 	 */
 	public boolean isRangeValid() {
@@ -394,7 +340,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 
 	/**
 	 * Get the range in inches from the ultrasonic sensor.
-	 * 
+	 *
 	 * @return double Range in inches of the target returned from the ultrasonic
 	 *         sensor. If there is no valid value yet, i.e. at least one
 	 *         measurement hasn't completed, then return 0.
@@ -409,7 +355,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 
 	/**
 	 * Get the range in millimeters from the ultrasonic sensor.
-	 * 
+	 *
 	 * @return double Range in millimeters of the target returned by the
 	 *         ultrasonic sensor. If there is no valid value yet, i.e. at least
 	 *         one measurement hasn't complted, then return 0.
@@ -420,7 +366,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 
 	/**
 	 * Get the range in the current DistanceUnit for the PIDSource base object.
-	 * 
+	 *
 	 * @return The range in DistanceUnit
 	 */
 	public double pidGet() {
@@ -437,7 +383,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 	/**
 	 * Set the current DistanceUnit that should be used for the PIDSource base
 	 * object.
-	 * 
+	 *
 	 * @param units
 	 *            The DistanceUnit that should be used.
 	 */
@@ -447,7 +393,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 
 	/**
 	 * Get the current DistanceUnit that is used for the PIDSource base object.
-	 * 
+	 *
 	 * @return The type of DistanceUnit that is being used.
 	 */
 	public Unit getDistanceUnits() {
@@ -456,7 +402,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 
 	/**
 	 * Is the ultrasonic enabled
-	 * 
+	 *
 	 * @return true if the ultrasonic is enabled
 	 */
 	public boolean isEnabled() {
@@ -465,7 +411,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, ISensor,
 
 	/**
 	 * Set if the ultrasonic is enabled
-	 * 
+	 *
 	 * @param enable
 	 *            set to true to enable the ultrasonic
 	 */
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Victor.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Victor.java
index 04b3f6a8e3..9d3fcc51e7 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Victor.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Victor.java
@@ -38,31 +38,20 @@ public class Victor extends SafePWM implements SpeedController, IDeviceControlle
         setPeriodMultiplier(PeriodMultiplier.k2X);
         setRaw(m_centerPwm);
 
-        LiveWindow.addActuator("Victor", getModuleNumber(), getChannel(), this);
-        UsageReporting.report(tResourceType.kResourceType_Victor, getChannel(), getModuleNumber()-1);
+        LiveWindow.addActuator("Victor", getChannel(), this);
+        UsageReporting.report(tResourceType.kResourceType_Victor, getChannel());
     }
 
     /**
-     * Constructor that assumes the default digital module.
+     * Constructor.
      *
-     * @param channel The PWM channel on the digital module that the Victor is attached to.
+     * @param channel The PWM channel that the Victor is attached to.
      */
     public Victor(final int channel) {
         super(channel);
         initVictor();
     }
 
-    /**
-     * Constructor that specifies the digital module.
-     *
-     * @param slot The slot in the chassis that the digital module is plugged into.
-     * @param channel The PWM channel on the digital module that the Victor is attached to.
-     */
-    public Victor(final int slot, final int channel) {
-        super(slot, channel);
-        initVictor();
-    }
-
     /**
      * Set the PWM value.
      *
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
index 47e5b2dbea..90ed3a8a14 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
@@ -169,24 +169,38 @@ public class LiveWindow {
     }
 
     /**
-     * Add Sensor to LiveWindow. The components are shown with the module type,
-     * slot and channel like this: Gyro[1, 2] for a gyro object connected to the
-     * first analog module in channel 2
+     * Add Sensor to LiveWindow. The components are shown with the type and
+     * channel like this: Gyro[1] for a gyro object connected to the first
+     * analog channel.
      *
      * @param moduleType A string indicating the type of the module used in the
      * naming (above)
-     * @param moduleNumber The number of the particular module type
      * @param channel The channel number the device is connected to
      * @param component A reference to the object being added
      */
-    public static void addSensor(String moduleType, int moduleNumber, int channel, LiveWindowSendable component) {
-        addSensor("Ungrouped", moduleType + "[" + moduleNumber + "," + channel + "]", component);
+    public static void addSensor(String moduleType, int channel, LiveWindowSendable component) {
+        addSensor("Ungrouped", moduleType + "[" + channel + "]", component);
         if (sensors.contains(component)) {
             sensors.removeElement(component);
         }
         sensors.addElement(component);
     }
 
+    /**
+     * Add Actuator to LiveWindow. The components are shown with the module
+     * type, slot and channel like this: Servo[1,2] for a servo object connected
+     * to the first digital module and PWM port 2.
+     *
+     * @param moduleType A string that defines the module name in the label for
+     * the value
+     * @param channel The channel number the device is plugged into (usually
+     * PWM)
+     * @param component The reference to the object being added
+     */
+    public static void addActuator(String moduleType, int channel, LiveWindowSendable component) {
+        addActuator("Ungrouped", moduleType + "[" + channel + "]", component);
+    }
+
     /**
      * Add Actuator to LiveWindow. The components are shown with the module
      * type, slot and channel like this: Servo[1,2] for a servo object connected
diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
index 1f375d84f6..fe2120fee1 100644
--- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
+++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
@@ -19,7 +19,7 @@ import edu.wpi.first.wpilibj.test.TestBench;
  * Designed to allow the user to easily setup and tear down the fixture to allow for reuse.
  * This class should be explicitly instantiated in the TestBed class to allow any test to access this fixture.
  * This allows tests to be mailable so that you can easily reconfigure the physical testbed without breaking the tests.
- * 
+ *
  * @author Jonathan Leitschuh
  *
  */
@@ -31,7 +31,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 	private Counter counters[] = new Counter[2];
 	protected DigitalInput aSource; //Stored so it can be freed at tear down
 	protected DigitalInput bSource;
-	
+
 	/**
 	 * Default constructor for a MotorEncoderFixture
 	 * @param motor The SpeedControler for this MotorEncoder pair
@@ -40,10 +40,10 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 	 */
 	public MotorEncoderFixture(){
 	}
-	
+
 	/**
 	 * Where the implementer of this class should pass the speed controller
-	 * Constructor should only be called from outside this class if the Speed controller 
+	 * Constructor should only be called from outside this class if the Speed controller
 	 * is not also an implementation of PWM interface
 	 * @return
 	 */
@@ -60,14 +60,14 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 	 * @return Input B to be used when this class is instantiated
 	 */
 	abstract protected DigitalInput giveDigitalInputB();
-	
+
 	final private void initialize(){
 		if(!initialized){
 			aSource = giveDigitalInputA();
 			bSource = giveDigitalInputB();
-			
+
 			motor = giveSpeedController();
-			
+
 			encoder = new Encoder(aSource, bSource);
 			counters[0] = new Counter(aSource);
 			counters[1] = new Counter(bSource);
@@ -77,14 +77,14 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 			initialized = true;
 		}
 	}
-	
+
 	@Override
 	public boolean setup() {
 		initialize();
 		encoder.start();
 		return true;
 	}
-	
+
 	/**
 	 * Gets the motor for this Object
 	 * @return the motor this object refers too
@@ -93,7 +93,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 		initialize();
 		return motor;
 	}
-	
+
 	/**
 	 * Gets the encoder for this object
 	 * @return the encoder that this object refers too
@@ -102,12 +102,12 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 		initialize();
 		return encoder;
 	}
-	
+
 	public Counter[] getCounters(){
 		initialize();
 		return counters;
 	}
-	
+
 	/**
 	 * Retrieves the name of the motor that this object refers to
 	 * @return The simple name of the motor {@link Class#getSimpleName()}
@@ -116,42 +116,42 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 		initialize();
 		return motor.getClass().getSimpleName();
 	}
-	
+
 	/**
 	 * Checks to see if the speed of the motor is within some range of a given value.
 	 * This is used instead of equals() because doubles can have inaccuracies.
 	 * @param value The value to compare against
 	 * @param acuracy The accuracy range to check against to see if the
-	 * @return true if the range of values between motors speed ± accuracy contains the 'value'<br>
+	 * @return true if the range of values between motors speed accuracy contains the 'value'<br>
 	 * {@code Math.abs((Math.abs(motor.get()) - Math.abs(value))) < Math.abs(accuracy)}
 	 */
 	public boolean isMotorSpeedWithinRange(double value, double accuracy){
 		initialize();
 		return Math.abs((Math.abs(motor.get()) - Math.abs(value))) < Math.abs(accuracy);
 	}
-	
+
 	@Override
 	public boolean reset(){
 		initialize();
 		boolean wasReset = true;
-		
+
 		motor.set(0);
 		Timer.delay(TestBench.MOTOR_STOP_TIME); //DEFINED IN THE TestBench
 		encoder.reset();
 		for(Counter c : counters){
 			c.reset();
 		}
-		
+
 		wasReset = wasReset && motor.get() == 0;
 		wasReset = wasReset && encoder.get() == 0;
 		for(Counter c : counters){
 			wasReset = wasReset && c.get() == 0;
 		}
-		
+
 		return wasReset;
 	}
 
-	
+
 
 	@Override
 	public boolean teardown() {
@@ -168,7 +168,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 			counters[0] = null;
 			counters[1].free();
 			counters[1] = null;
-			
+
 			aSource.free();
 			aSource = null;
 			bSource.free();
@@ -177,7 +177,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 		} else {
 			throw new RuntimeException(type + " Motor Encoder torn down multiple times");
 		}
-		
+
 		return true;
 	}
 
diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java
index 19311afa5c..1d82f1512b 100644
--- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java
+++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java
@@ -53,7 +53,7 @@ public class FakeCounterSource
             }
         }
     }
-    
+
     /**
      * Create a fake encoder on a given port
      * @param output the port to output the given signal to
@@ -76,18 +76,6 @@ public class FakeCounterSource
         initEncoder();
     }
 
-    /**
-     * Create a new fake encoder on the indicated slot and port
-     * @param slot Slot to create on
-     * @param port THe port that the encoder is supposably on
-     */
-    public FakeCounterSource(int slot, int port)
-    {
-        m_output = new DigitalOutput(slot, port);
-        m_allocated = true;
-        initEncoder();
-    }
-
     /**
      * Destroy Object with minimum memory leak
      */
@@ -162,4 +150,3 @@ public class FakeCounterSource
         m_mSec = mSec;
     }
 }
-
diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java
index 0ca000f791..409d33e72e 100644
--- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java
+++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java
@@ -74,14 +74,6 @@ public class FakeEncoderSource
         }
     }
 
-    public FakeEncoderSource(int slotA, int portA, int slotB, int portB)
-    {
-        m_outputA = new DigitalOutput(slotA, portA);
-        m_outputB = new DigitalOutput(slotB, portB);
-        allocatedOutputs = true;
-        initQuadEncoder();
-    }
-
     public FakeEncoderSource(int portA, int portB)
     {
         m_outputA = new DigitalOutput(portA);
diff --git a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java
index 44608bbed8..de019a30f3 100644
--- a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java
+++ b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java
@@ -22,17 +22,17 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Construct an analog channel on the default module.
-	 * 
+	 *
 	 * @param channel
 	 *            The channel number to represent.
 	 */
 	public AnalogChannel(final int channel) {
-		this(getDefaultAnalogModule(), channel);
+		this(1, channel);
 	}
 
 	/**
 	 * Construct an analog channel on a specified module.
-	 * 
+	 *
 	 * @param moduleNumber
 	 *            The digital module to use (1 or 2).
 	 * @param channel
@@ -58,7 +58,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * Get a scaled sample straight from this channel on the module. The value
 	 * is scaled to units of Volts using the calibrated scaling data from
 	 * getLSBWeight() and getOffset().
-	 * 
+	 *
 	 * @return A scaled sample straight from this channel on the module.
 	 */
 	public double getVoltage() {
@@ -72,7 +72,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * oversampling will cause this value to be higher resolution, but it will
 	 * update more slowly. Using averaging will cause this value to be more
 	 * stable, but it will update more slowly.
-	 * 
+	 *
 	 * @return A scaled sample from the output of the oversample and average
 	 *         engine for this channel.
 	 */
@@ -82,7 +82,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Get the channel number.
-	 * 
+	 *
 	 * @return The channel number.
 	 */
 	public int getChannel() {
@@ -91,7 +91,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Gets the number of the analog module this channel is on.
-	 * 
+	 *
 	 * @return The module number of the analog module this channel is on.
 	 */
 	public int getModuleNumber() {
@@ -100,7 +100,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/*
 	 * Get the average value for use with PIDController
-	 * 
+	 *
 	 * @return the average value
 	 */
 	public double pidGet() {
diff --git a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SensorBase.java b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SensorBase.java
index 27cd925dad..23909c0a53 100644
--- a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SensorBase.java
+++ b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SensorBase.java
@@ -11,13 +11,13 @@ package edu.wpi.first.wpilibj;
  * Base class for all sensors.
  * Stores most recent status information as well as containing utility functions for checking
  * channels and error processing.
- * 
+ *
  * XXX: Wait, there's no exception thrown if we try to allocate a non-existent module?  It that behavior correct?
  */
 public abstract class SensorBase { // TODO: Refactor
 
 	// TODO: Move this to the HAL
-	
+
     /**
      * Ticks per microsecond
      */
@@ -26,25 +26,16 @@ public abstract class SensorBase { // TODO: Refactor
      * Number of digital channels per digital sidecar
      */
     public static final int kDigitalChannels = 14;
-    /**
-     * Number of digital modules
-     * XXX: This number is incorrect.  We need to find the correct number.
-     */
-    public static final int kDigitalModules = 2;
     /**
      * Number of analog channels per module
      */
     public static final int kAnalogChannels = 8;
-    /**
-     * Number of analog modules
-     */
-    public static final int kAnalogModules = 2;
     /**
      * Number of solenoid channels per module
      */
     public static final int kSolenoidChannels = 8;
     /**
-     * Number of analog modules
+     * Number of solenoid modules
      */
     public static final int kSolenoidModules = 2;
     /**
@@ -56,8 +47,6 @@ public abstract class SensorBase { // TODO: Refactor
      */
     public static final int kRelayChannels = 8;
 
-    private static int m_defaultAnalogModule = 1;
-    private static int m_defaultDigitalModule = 1;
     private static int m_defaultSolenoidModule = 1;
 
     /**
@@ -66,32 +55,6 @@ public abstract class SensorBase { // TODO: Refactor
     public SensorBase() {
     }
 
-    /**
-     * Sets the default Digital Module.
-     * This sets the default digital module to use for objects that are created without
-     * specifying the digital module in the constructor. The default module is initialized
-     * to the first module in the chassis.
-     *
-     * @param moduleNumber The number of the digital module to use.
-     */
-    public static void setDefaultDigitalModule(final int moduleNumber) {
-        checkDigitalModule(moduleNumber);
-        SensorBase.m_defaultDigitalModule = moduleNumber;
-    }
-
-    /**
-     * Sets the default Analog module.
-     * This sets the default analog module to use for objects that are created without
-     * specifying the analog module in the constructor. The default module is initialized
-     * to the first module in the chassis.
-     *
-     * @param moduleNumber The number of the analog module to use.
-     */
-    public static void setDefaultAnalogModule(final int moduleNumber) {
-        checkAnalogModule(moduleNumber);
-        SensorBase.m_defaultAnalogModule = moduleNumber;
-    }
-
     /**
      * Set the default location for the Solenoid (9472) module.
      *
@@ -102,51 +65,6 @@ public abstract class SensorBase { // TODO: Refactor
         SensorBase.m_defaultSolenoidModule = moduleNumber;
     }
 
-    /**
-     * Check that the digital module number is valid.
-     * Module numbers are 1 or 2 (they are no longer real cRIO slots).
-     *
-     * @param moduleNumber The digital module module number to check.
-     */
-    protected static void checkDigitalModule(final int moduleNumber) {
-    	// TODO: fix
-        if(moduleNumber == 1 || moduleNumber == 2)
-            System.err.println("Digital module " + moduleNumber + " is not present.");
-    }
-
-    /**
-     * Check that the digital module number is valid.
-     * Module numbers are 1 or 2 (they are no longer real cRIO slots).
-     *
-     * @param moduleNumber The digital module module number to check.
-     */
-    protected static void checkRelayModule(final int moduleNumber) {
-        checkDigitalModule(moduleNumber);
-    }
-
-    /**
-     * Check that the digital module number is valid.
-     * Module numbers are 1 or 2 (they are no longer real cRIO slots).
-     *
-     * @param moduleNumber The digital module module number to check.
-     */
-    protected static void checkPWMModule(final int moduleNumber) {
-        checkDigitalModule(moduleNumber);
-    }
-
-    /**
-     * Check that the analog module number is valid.
-     * Module numbers are 1 or 2 (they are no longer real cRIO slots).
-     *
-     * @param moduleNumber The analog module module number to check.
-     */
-    protected static void checkAnalogModule(final int moduleNumber) {
-    	// TODO: fix
-        if(moduleNumber == 1 || moduleNumber == 2) {
-            System.err.println("Analog module " + moduleNumber + " is not present.");
-        }
-    }
-
     /**
      * Verify that the solenoid module is correct.
      * Module numbers are 1 or 2 (they are no longer real cRIO slots).
@@ -226,24 +144,6 @@ public abstract class SensorBase { // TODO: Refactor
         }
     }
 
-    /**
-     * Get the number of the default analog module.
-     *
-     * @return The number of the default analog module.
-     */
-    public static int getDefaultAnalogModule() {
-        return SensorBase.m_defaultAnalogModule;
-    }
-
-    /**
-     * Get the number of the default analog module.
-     *
-     * @return The number of the default analog module.
-     */
-    public static int getDefaultDigitalModule() {
-        return SensorBase.m_defaultDigitalModule;
-    }
-
     /**
      * Get the number of the default analog module.
      *