diff --git a/api.go b/api.go
index 73cfe3fd6..2fa487102 100644
--- a/api.go
+++ b/api.go
@@ -4,6 +4,7 @@ import (
 	"encoding/json"
 	"github.com/codegangsta/martini"
 	"net/http"
+	"reflect"
 )
 
 type api struct{}
@@ -20,6 +21,23 @@ func Api(bot *Master) {
 		return toJson(bot.FindRobot(params["robotname"]))
 	})
 
+	m.Get("/robots/:robotname/commands", func(params martini.Params) string {
+		return toJson(bot.FindRobot(params["robotname"]).RobotCommands)
+	})
+
+	robot_command_route := "/robots/:robotname/commands/:command"
+
+	m.Get(robot_command_route, func(params martini.Params, res http.ResponseWriter, req *http.Request) string {
+		decoder := json.NewDecoder(req.Body)
+		var body map[string]interface{}
+		decoder.Decode(&body)
+		if len(body) == 0 {
+			body = map[string]interface{}{}
+		}
+		body["robotname"] = params["robotname"]
+		return a.executeRobotCommand(bot, params, body)
+	})
+
 	m.Get("/robots/:robotname/devices", func(params martini.Params) string {
 		return toJson(bot.FindRobot(params["robotname"]).GetDevices())
 	})
@@ -58,3 +76,13 @@ func (a *api) executeCommand(bot *Master, params martini.Params, res http.Respon
 	}
 	return toJson(map[string]interface{}{"results": "Unknown Command"})
 }
+
+func (a *api) executeRobotCommand(bot *Master, m_params martini.Params, params ...interface{}) string {
+	robot := bot.FindRobot(m_params["robotname"])
+	in := make([]reflect.Value, len(params))
+	for k, param := range params {
+		in[k] = reflect.ValueOf(param)
+	}
+	ret := reflect.ValueOf(robot.Commands[m_params["command"]]).Call(in)
+	return toJson(map[string]interface{}{"results": ret[0].Interface()})
+}
diff --git a/examples/hello.go b/examples/hello.go
index 01e3b5ad2..11722d912 100644
--- a/examples/hello.go
+++ b/examples/hello.go
@@ -2,15 +2,13 @@ package main
 
 import (
 	"fmt"
-	. "gobot"
-	"time"
+	"github.com/hybridgroup/gobot"
 )
 
 func main() {
-
-	robot := Robot{
+	robot := gobot.Robot{
 		Work: func() {
-			Every(300*time.Millisecond, func() { fmt.Println("Greetings human") })
+			gobot.Every("0.5s", func() { fmt.Println("Greetings human") })
 		},
 	}
 
diff --git a/examples/hello_api.go b/examples/hello_api.go
new file mode 100644
index 000000000..969a5df82
--- /dev/null
+++ b/examples/hello_api.go
@@ -0,0 +1,25 @@
+package main
+
+import (
+	"fmt"
+	"github.com/hybridgroup/gobot"
+)
+
+func Hello(params map[string]interface{}) string {
+	name := params["name"].(string)
+	return fmt.Sprintf("hi %v", name)
+}
+
+func main() {
+	master := gobot.GobotMaster()
+	gobot.Api(master)
+
+	hello := new(gobot.Robot)
+	hello.Name = "hello"
+	hello.Work = func() {}
+	hello.Commands = map[string]interface{}{"Hello": Hello}
+
+	master.Robots = append(master.Robots, *hello)
+
+	master.Start()
+}
diff --git a/examples/sphero_api.go b/examples/sphero_api.go
index e06c66f82..ae111077d 100644
--- a/examples/sphero_api.go
+++ b/examples/sphero_api.go
@@ -5,9 +5,16 @@ import (
 	"github.com/hybridgroup/gobot-sphero"
 )
 
+var Master *gobot.Master = gobot.GobotMaster()
+
+func TurnBlue(params map[string]interface{}) bool {
+	sphero := Master.FindRobotDevice(params["robotname"].(string), "sphero")
+	gobot.Call(sphero.Driver, "SetRGB", uint8(0), uint8(0), uint8(255))
+	return true
+}
+
 func main() {
-	master := gobot.GobotMaster()
-	gobot.Api(master)
+	gobot.Api(Master)
 
 	spheros := map[string]string{
 		"Sphero-BPO": "127.0.0.1:4560",
@@ -26,13 +33,14 @@ func main() {
 			sphero.SetRGB(uint8(255), uint8(0), uint8(0))
 		}
 
-		master.Robots = append(master.Robots, gobot.Robot{
+		Master.Robots = append(Master.Robots, gobot.Robot{
 			Name:        name,
 			Connections: []interface{}{spheroAdaptor},
 			Devices:     []interface{}{sphero},
 			Work:        work,
+			Commands:    map[string]interface{}{"TurnBlue": TurnBlue},
 		})
 	}
 
-	master.Start()
+	Master.Start()
 }
diff --git a/master.go b/master.go
index c87fa52ae..d1aaddbe6 100644
--- a/master.go
+++ b/master.go
@@ -1,7 +1,5 @@
 package gobot
 
-import "time"
-
 type Master struct {
 	Robots []Robot
 }
@@ -15,10 +13,7 @@ func (m *Master) Start() {
 	for s := range m.Robots {
 		go m.Robots[s].Start()
 	}
-
-	for {
-		time.Sleep(10 * time.Millisecond)
-	}
+	select {}
 }
 
 func (m *Master) FindRobot(name string) *Robot {
@@ -29,6 +24,7 @@ func (m *Master) FindRobot(name string) *Robot {
 	}
 	return nil
 }
+
 func (m *Master) FindRobotDevice(name string, device string) *Device {
 	for r := range m.Robots {
 		if m.Robots[r].Name == name {
@@ -41,6 +37,7 @@ func (m *Master) FindRobotDevice(name string, device string) *Device {
 	}
 	return nil
 }
+
 func (m *Master) FindRobotConnection(name string, connection string) *Connection {
 	for r := range m.Robots {
 		if m.Robots[r].Name == name {
diff --git a/robot.go b/robot.go
index 97e166744..313a24d37 100644
--- a/robot.go
+++ b/robot.go
@@ -8,12 +8,14 @@ import (
 )
 
 type Robot struct {
-	Connections []interface{}
-	Devices     []interface{}
-	Name        string
-	Work        func()        `json:"-"`
-	connections []*Connection `json:"-"`
-	devices     []*Device     `json:"-"`
+	Connections   []interface{}
+	Devices       []interface{}
+	Name          string
+	Commands      map[string]interface{} `json:"-"`
+	RobotCommands []string
+	Work          func()        `json:"-"`
+	connections   []*Connection `json:"-"`
+	devices       []*Device     `json:"-"`
 }
 
 func (r *Robot) Start() {
@@ -22,14 +24,15 @@ func (r *Robot) Start() {
 		i := rand.Int()
 		r.Name = fmt.Sprintf("Robot %v", i)
 	}
+	for k, _ := range r.Commands {
+		r.RobotCommands = append(r.RobotCommands, k)
+	}
 	r.initConnections()
 	r.initDevices()
 	r.startConnections()
 	r.startDevices()
 	r.Work()
-	for {
-		time.Sleep(10 * time.Millisecond)
-	}
+	select {}
 }
 
 func (r *Robot) initConnections() {