diff --git a/sense_control.c b/sense_control.c
new file mode 100644
index 000000000..d85f9511d
--- /dev/null
+++ b/sense_control.c
@@ -0,0 +1,97 @@
+/*
+  io_control.h - controlling sensors and actuators
+  Part of LasaurGrbl
+
+  Copyright (c) 2011 Stefan Hechenberger
+
+  LasaurGrbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  LasaurGrbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+*/
+
+#include <avr/io.h>
+#include <util/delay.h>
+#include <math.h>
+#include <stdlib.h>
+#include "io_control.h"
+#include "stepper.h"
+#include "planner.h"
+
+
+
+void sense_init() {
+  //// power, chiller, door
+  SENSE_DDR &= ~(SENSE_MASK);  // set as input pins 
+  // LIMIT_PORT |= LIMIT_MASK;    //activate pull-up resistors 
+  
+  //// x1_lmit, x2_limit, y1_limit, y2_limit
+  LIMIT_DDR &= ~(LIMIT_MASK);  // set as input pins
+  LIMIT_PORT |= LIMIT_MASK;    //activate pull-up resistors   
+}
+
+
+void control_init() {
+  //// laser control
+  // Setup Timer0 for a 31.25kH "phase correct PWM" wave (assuming a 16Mhz clock)
+  // Timer0 can pwm either PD5 (OC0B) or PD6 (OC0A), we use PD6
+  // TCCR0A and TCCR0B are the registers to setup Timer0
+  // see chapter "8-bit Timer/Counter0 with PWM" in Atmga328 specs
+  // OCR0A sets the duty cycle 0-255 corresponding to 0-100%
+  DDRD |= (1 << DDD6);      // set PD6 as an output
+  OCR0A = 0;              // set PWM to a 0% duty cycle
+  TCCR0A |= (1 << COM0A1);  // set non-inverting mode on OC0A, PD6, Arduino pin 6
+  TCCR0A |= (1 << WGM00);   // set phase correct PWM mode, has half the freq of fast PWM
+  TCCR0B |= (1 << CS00);    // prescaler to 1, PWMfreq = 16000/(2*256*1) = 31.25kH
+  
+  //// air and gas assist control
+  AIRGAS_DDR |= (1 << AIR_BIT);  // set as output pin
+  AIRGAS_DDR |= (1 << GAS_BIT);  // set as output pin
+  control_air(false);
+  control_gas(false);
+  
+  //// limits overwrite control
+  LIMITS_OVERWRITE_DDR |= 1<<LIMITS_OVERWRITE_BIT;  // define as output pin
+  control_limits_overwrite(false);    
+}
+
+
+void control_laser_intensity(uint8_t intensity) {
+  OCR0A = intensity;
+}
+
+
+
+void control_air(bool enable) {
+  if (enable) {
+    AIRGAS_PORT &= ~(1 << AIR_BIT);
+  } else {
+    AIRGAS_PORT |= (1 << AIR_BIT);
+  }
+}
+
+void control_gas(bool enable) {
+  if (enable) {
+    AIRGAS_PORT &= ~(1 << GAS_BIT);
+  } else {
+    AIRGAS_PORT |= (1 << GAS_BIT);
+  }  
+}
+
+
+void control_limits_overwrite(bool enable) {
+  if (enable) {
+    // sinking the pin overwrites the limit stop hard logic
+    LIMITS_OVERWRITE_PORT &= ~(1<<LIMITS_OVERWRITE_BIT);  
+  } else {
+    LIMITS_OVERWRITE_PORT |= (1<<LIMITS_OVERWRITE_BIT);  
+  }
+}
+
+
+
diff --git a/sense_control.h b/sense_control.h
new file mode 100644
index 000000000..2136552b9
--- /dev/null
+++ b/sense_control.h
@@ -0,0 +1,48 @@
+/*
+  io_control.h - controlling sensors and actuators
+  Part of LasaurGrbl
+
+  Copyright (c) 2011 Stefan Hechenberger
+
+  LasaurGrbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  LasaurGrbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+*/
+
+#ifndef io_control_h
+#define io_control_h
+
+#include <stdbool.h>
+
+
+void sense_init();
+#define SENSE_POWER ((SENSE_PORT >> POWER_BIT) & 1)
+#define SENSE_CHILLER ((SENSE_PORT >> CHILLER_BIT) & 1)
+#define SENSE_DOOR ((SENSE_PORT >> DOOR_BIT) & 1)
+#define SENSE_X1_LIMIT ((SENSE_PORT >> X1_LIMIT_BIT) & 1)
+#define SENSE_X2_LIMIT ((SENSE_PORT >> X2_LIMIT_BIT) & 1)
+#define SENSE_Y1_LIMIT ((SENSE_PORT >> Y1_LIMIT_BIT) & 1)
+#define SENSE_Y2_LIMIT (SENSE_PORT >> Y2_LIMIT_BIT) & 1
+#define SENSE_LIMITS ((LIMIT_PORT & LIMIT_MASK) > 0)
+#define SENSE_ANY (((LIMIT_PORT & LIMIT_MASK) > 0) && ((SENSE_PORT & SENSE_MASK) > 0))
+
+
+void control_init();
+
+void control_laser_intensity(uint8_t intensity);  //0-255 is 0-100%
+
+void control_air(bool enable);
+void control_gas(bool enable);
+
+// dis/enable if steppers can still 
+// move when a limit switch is triggering
+void control_limits_overwrite(bool enable);
+
+
+#endif