diff --git a/.bonsai/Bonsai.config b/.bonsai/Bonsai.config
index ab4ecd0..7e2921c 100644
--- a/.bonsai/Bonsai.config
+++ b/.bonsai/Bonsai.config
@@ -2,45 +2,90 @@
 <PackageConfiguration xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
   <Packages>
     <Package id="Bonsai" version="2.8.5" />
+    <Package id="Bonsai.Arduino" version="2.8.1" />
+    <Package id="Bonsai.Audio" version="2.8.0" />
     <Package id="Bonsai.Core" version="2.8.5" />
     <Package id="Bonsai.Design" version="2.8.5" />
+    <Package id="Bonsai.Design.Visualizers" version="2.8.0" />
+    <Package id="Bonsai.Dsp" version="2.8.0" />
+    <Package id="Bonsai.Dsp.Design" version="2.8.0" />
     <Package id="Bonsai.Editor" version="2.8.5" />
+    <Package id="Bonsai.Osc" version="2.7.0" />
+    <Package id="Bonsai.Scripting.Expressions" version="2.8.0" />
+    <Package id="Bonsai.Scripting.Expressions.Design" version="2.8.0" />
+    <Package id="Bonsai.Shaders" version="0.27.0" />
+    <Package id="Bonsai.Shaders.Design" version="0.27.0" />
+    <Package id="Bonsai.StarterPack" version="2.8.1" />
     <Package id="Bonsai.System" version="2.8.1" />
     <Package id="Bonsai.System.Design" version="2.8.0" />
+    <Package id="Bonsai.Vision" version="2.8.0" />
+    <Package id="Bonsai.Vision.Design" version="2.8.1" />
+    <Package id="Bonsai.Windows.Input" version="2.7.0" />
     <Package id="clroni" version="6.1.2" />
     <Package id="jacobslusser.ScintillaNET" version="3.6.3" />
     <Package id="Markdig" version="0.18.1" />
     <Package id="Microsoft.Web.WebView2" version="1.0.1823.32" />
+    <Package id="openal.redist" version="2.0.7" />
     <Package id="OpenCV.Net" version="3.4.2" />
     <Package id="OpenEphys.Onix1" version="0.1.0" />
+    <Package id="OpenTK" version="3.1.0" />
+    <Package id="OpenTK.GLControl" version="3.1.0" />
     <Package id="Rx-Core" version="2.2.5" />
     <Package id="Rx-Interfaces" version="2.2.5" />
     <Package id="Rx-Linq" version="2.2.5" />
     <Package id="Rx-PlatformServices" version="2.2.5" />
     <Package id="SvgNet" version="3.3.3" />
     <Package id="System.Buffers" version="4.5.1" />
+    <Package id="System.Linq.Dynamic" version="1.0.7" />
     <Package id="System.Memory" version="4.5.5" />
     <Package id="System.Numerics.Vectors" version="4.5.0" />
     <Package id="System.Resources.Extensions" version="8.0.0" />
     <Package id="System.Runtime.CompilerServices.Unsafe" version="4.5.3" />
     <Package id="YamlDotNet" version="13.1.1" />
+    <Package id="ZedGraph" version="5.1.7" />
   </Packages>
   <AssemblyReferences>
     <AssemblyReference assemblyName="Bonsai" />
+    <AssemblyReference assemblyName="Bonsai.Arduino" />
+    <AssemblyReference assemblyName="Bonsai.Audio" />
     <AssemblyReference assemblyName="Bonsai.Core" />
     <AssemblyReference assemblyName="Bonsai.Design" />
+    <AssemblyReference assemblyName="Bonsai.Design.Visualizers" />
+    <AssemblyReference assemblyName="Bonsai.Dsp" />
+    <AssemblyReference assemblyName="Bonsai.Dsp.Design" />
     <AssemblyReference assemblyName="Bonsai.Editor" />
+    <AssemblyReference assemblyName="Bonsai.Osc" />
+    <AssemblyReference assemblyName="Bonsai.Scripting.Expressions" />
+    <AssemblyReference assemblyName="Bonsai.Scripting.Expressions.Design" />
+    <AssemblyReference assemblyName="Bonsai.Shaders" />
+    <AssemblyReference assemblyName="Bonsai.Shaders.Design" />
     <AssemblyReference assemblyName="Bonsai.System" />
     <AssemblyReference assemblyName="Bonsai.System.Design" />
+    <AssemblyReference assemblyName="Bonsai.Vision" />
+    <AssemblyReference assemblyName="Bonsai.Vision.Design" />
+    <AssemblyReference assemblyName="Bonsai.Windows.Input" />
     <AssemblyReference assemblyName="OpenEphys.Onix1" />
   </AssemblyReferences>
   <AssemblyLocations>
     <AssemblyLocation assemblyName="Bonsai" processorArchitecture="MSIL" location="Packages/Bonsai.2.8.5/lib/net48/Bonsai.exe" />
+    <AssemblyLocation assemblyName="Bonsai.Arduino" processorArchitecture="MSIL" location="Packages/Bonsai.Arduino.2.8.1/lib/net462/Bonsai.Arduino.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Audio" processorArchitecture="MSIL" location="Packages/Bonsai.Audio.2.8.0/lib/net462/Bonsai.Audio.dll" />
     <AssemblyLocation assemblyName="Bonsai.Core" processorArchitecture="MSIL" location="Packages/Bonsai.Core.2.8.5/lib/net462/Bonsai.Core.dll" />
     <AssemblyLocation assemblyName="Bonsai.Design" processorArchitecture="MSIL" location="Packages/Bonsai.Design.2.8.5/lib/net462/Bonsai.Design.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Design.Visualizers" processorArchitecture="MSIL" location="Packages/Bonsai.Design.Visualizers.2.8.0/lib/net462/Bonsai.Design.Visualizers.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Dsp" processorArchitecture="MSIL" location="Packages/Bonsai.Dsp.2.8.0/lib/net462/Bonsai.Dsp.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Dsp.Design" processorArchitecture="MSIL" location="Packages/Bonsai.Dsp.Design.2.8.0/lib/net462/Bonsai.Dsp.Design.dll" />
     <AssemblyLocation assemblyName="Bonsai.Editor" processorArchitecture="MSIL" location="Packages/Bonsai.Editor.2.8.5/lib/net472/Bonsai.Editor.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Osc" processorArchitecture="MSIL" location="Packages/Bonsai.Osc.2.7.0/lib/net462/Bonsai.Osc.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Scripting.Expressions" processorArchitecture="MSIL" location="Packages/Bonsai.Scripting.Expressions.2.8.0/lib/net462/Bonsai.Scripting.Expressions.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Scripting.Expressions.Design" processorArchitecture="MSIL" location="Packages/Bonsai.Scripting.Expressions.Design.2.8.0/lib/net462/Bonsai.Scripting.Expressions.Design.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Shaders" processorArchitecture="MSIL" location="Packages/Bonsai.Shaders.0.27.0/lib/net462/Bonsai.Shaders.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Shaders.Design" processorArchitecture="MSIL" location="Packages/Bonsai.Shaders.Design.0.27.0/lib/net462/Bonsai.Shaders.Design.dll" />
     <AssemblyLocation assemblyName="Bonsai.System" processorArchitecture="MSIL" location="Packages/Bonsai.System.2.8.1/lib/net462/Bonsai.System.dll" />
     <AssemblyLocation assemblyName="Bonsai.System.Design" processorArchitecture="MSIL" location="Packages/Bonsai.System.Design.2.8.0/lib/net462/Bonsai.System.Design.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Vision" processorArchitecture="MSIL" location="Packages/Bonsai.Vision.2.8.0/lib/net462/Bonsai.Vision.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Vision.Design" processorArchitecture="MSIL" location="Packages/Bonsai.Vision.Design.2.8.1/lib/net462/Bonsai.Vision.Design.dll" />
+    <AssemblyLocation assemblyName="Bonsai.Windows.Input" processorArchitecture="MSIL" location="Packages/Bonsai.Windows.Input.2.7.0/lib/net462/Bonsai.Windows.Input.dll" />
     <AssemblyLocation assemblyName="clroni" processorArchitecture="Amd64" location="Packages/clroni.6.1.2/lib/net472/clroni.dll" />
     <AssemblyLocation assemblyName="Markdig" processorArchitecture="MSIL" location="Packages/Markdig.0.18.1/lib/net40/Markdig.dll" />
     <AssemblyLocation assemblyName="Microsoft.Web.WebView2.Core" processorArchitecture="MSIL" location="Packages/Microsoft.Web.WebView2.1.0.1823.32/lib/net45/Microsoft.Web.WebView2.Core.dll" />
@@ -48,9 +93,12 @@
     <AssemblyLocation assemblyName="Microsoft.Web.WebView2.Wpf" processorArchitecture="MSIL" location="Packages/Microsoft.Web.WebView2.1.0.1823.32/lib/net45/Microsoft.Web.WebView2.Wpf.dll" />
     <AssemblyLocation assemblyName="OpenCV.Net" processorArchitecture="MSIL" location="Packages/OpenCV.Net.3.4.2/lib/net462/OpenCV.Net.dll" />
     <AssemblyLocation assemblyName="OpenEphys.Onix1" processorArchitecture="Amd64" location="Packages/OpenEphys.Onix1.0.1.0/lib/net472/OpenEphys.Onix1.dll" />
+    <AssemblyLocation assemblyName="OpenTK" processorArchitecture="MSIL" location="Packages/OpenTK.3.1.0/lib/net20/OpenTK.dll" />
+    <AssemblyLocation assemblyName="OpenTK.GLControl" processorArchitecture="MSIL" location="Packages/OpenTK.GLControl.3.1.0/lib/net20/OpenTK.GLControl.dll" />
     <AssemblyLocation assemblyName="ScintillaNET" processorArchitecture="MSIL" location="Packages/jacobslusser.ScintillaNET.3.6.3/lib/net40/ScintillaNET.dll" />
     <AssemblyLocation assemblyName="SVG" processorArchitecture="MSIL" location="Packages/SvgNet.3.3.3/lib/net462/SVG.dll" />
     <AssemblyLocation assemblyName="System.Buffers" processorArchitecture="MSIL" location="Packages/System.Buffers.4.5.1/lib/net461/System.Buffers.dll" />
+    <AssemblyLocation assemblyName="System.Linq.Dynamic" processorArchitecture="MSIL" location="Packages/System.Linq.Dynamic.1.0.7/lib/net40/System.Linq.Dynamic.dll" />
     <AssemblyLocation assemblyName="System.Memory" processorArchitecture="MSIL" location="Packages/System.Memory.4.5.5/lib/net461/System.Memory.dll" />
     <AssemblyLocation assemblyName="System.Numerics.Vectors" processorArchitecture="MSIL" location="Packages/System.Numerics.Vectors.4.5.0/lib/net46/System.Numerics.Vectors.dll" />
     <AssemblyLocation assemblyName="System.Reactive.Core" processorArchitecture="MSIL" location="Packages/Rx-Core.2.2.5/lib/net45/System.Reactive.Core.dll" />
@@ -60,6 +108,7 @@
     <AssemblyLocation assemblyName="System.Resources.Extensions" processorArchitecture="MSIL" location="Packages/System.Resources.Extensions.8.0.0/lib/net462/System.Resources.Extensions.dll" />
     <AssemblyLocation assemblyName="System.Runtime.CompilerServices.Unsafe" processorArchitecture="MSIL" location="Packages/System.Runtime.CompilerServices.Unsafe.4.5.3/lib/net461/System.Runtime.CompilerServices.Unsafe.dll" />
     <AssemblyLocation assemblyName="YamlDotNet" processorArchitecture="MSIL" location="Packages/YamlDotNet.13.1.1/lib/net47/YamlDotNet.dll" />
+    <AssemblyLocation assemblyName="ZedGraph" processorArchitecture="MSIL" location="Packages/ZedGraph.5.1.7/lib/net35-Client/ZedGraph.dll" />
   </AssemblyLocations>
   <LibraryFolders>
     <LibraryFolder path="Packages/clroni.6.1.2/build/native/bin/x64" platform="x64" />
@@ -70,6 +119,8 @@
     <LibraryFolder path="Packages/Microsoft.Web.WebView2.1.0.1823.32/runtimes/win-x64/native_uap" platform="x64" />
     <LibraryFolder path="Packages/Microsoft.Web.WebView2.1.0.1823.32/runtimes/win-x86/native" platform="x86" />
     <LibraryFolder path="Packages/Microsoft.Web.WebView2.1.0.1823.32/runtimes/win-x86/native_uap" platform="x86" />
+    <LibraryFolder path="Packages/openal.redist.2.0.7.0/build/native/bin/x64" platform="x64" />
+    <LibraryFolder path="Packages/openal.redist.2.0.7.0/build/native/bin/x86" platform="x86" />
     <LibraryFolder path="Packages/OpenCV.Net.3.4.2/runtimes/win-x64/native/vc14/bin" platform="x64" />
     <LibraryFolder path="Packages/OpenCV.Net.3.4.2/runtimes/win-x86/native/vc14/bin" platform="x86" />
   </LibraryFolders>
diff --git a/OpenEphys.Commutator/AutoCommutator.bonsai b/OpenEphys.Commutator/AutoCommutator.bonsai
index c8d21f5..ffe3127 100644
--- a/OpenEphys.Commutator/AutoCommutator.bonsai
+++ b/OpenEphys.Commutator/AutoCommutator.bonsai
@@ -20,7 +20,7 @@
         <Property Name="RotationAxis" />
       </Expression>
       <Expression xsi:type="Combinator">
-        <Combinator xsi:type="commutator:QuaternionTwistController">
+        <Combinator xsi:type="commutator:QuaternionToTwist">
           <commutator:RotationAxis>
             <commutator:X>0</commutator:X>
             <commutator:Y>0</commutator:Y>
@@ -32,6 +32,55 @@
         <Format>{{turn : {0}}}</Format>
         <Selector>it</Selector>
       </Expression>
+      <Expression xsi:type="ExternalizedMapping">
+        <Property Name="Value" DisplayName="LedEnable" Description="If true, the commutator's LED will show status information. Otherwise, it will turn off." />
+      </Expression>
+      <Expression xsi:type="Combinator">
+        <Combinator xsi:type="BooleanProperty">
+          <Value>false</Value>
+        </Combinator>
+      </Expression>
+      <Expression xsi:type="rx:Condition">
+        <Workflow>
+          <Nodes>
+            <Expression xsi:type="WorkflowInput">
+              <Name>Source1</Name>
+            </Expression>
+            <Expression xsi:type="WorkflowOutput" />
+          </Nodes>
+          <Edges>
+            <Edge From="0" To="1" Label="Source1" />
+          </Edges>
+        </Workflow>
+      </Expression>
+      <Expression xsi:type="Combinator">
+        <Combinator xsi:type="StringProperty">
+          <Value>{led: true}</Value>
+        </Combinator>
+      </Expression>
+      <Expression xsi:type="rx:Condition">
+        <Workflow>
+          <Nodes>
+            <Expression xsi:type="WorkflowInput">
+              <Name>Source1</Name>
+            </Expression>
+            <Expression xsi:type="BitwiseNot" />
+            <Expression xsi:type="WorkflowOutput" />
+          </Nodes>
+          <Edges>
+            <Edge From="0" To="1" Label="Source1" />
+            <Edge From="1" To="2" Label="Source1" />
+          </Edges>
+        </Workflow>
+      </Expression>
+      <Expression xsi:type="Combinator">
+        <Combinator xsi:type="StringProperty">
+          <Value>{led: false}</Value>
+        </Combinator>
+      </Expression>
+      <Expression xsi:type="Combinator">
+        <Combinator xsi:type="rx:Merge" />
+      </Expression>
       <Expression xsi:type="ExternalizedMapping">
         <Property Name="PortName" />
       </Expression>
@@ -48,9 +97,17 @@
       <Edge From="1" To="3" Label="Source1" />
       <Edge From="2" To="3" Label="Source2" />
       <Edge From="3" To="4" Label="Source1" />
-      <Edge From="4" To="6" Label="Source1" />
-      <Edge From="5" To="6" Label="Source2" />
+      <Edge From="4" To="11" Label="Source1" />
+      <Edge From="5" To="6" Label="Source1" />
       <Edge From="6" To="7" Label="Source1" />
+      <Edge From="6" To="9" Label="Source1" />
+      <Edge From="7" To="8" Label="Source1" />
+      <Edge From="8" To="11" Label="Source2" />
+      <Edge From="9" To="10" Label="Source1" />
+      <Edge From="10" To="11" Label="Source3" />
+      <Edge From="11" To="13" Label="Source1" />
+      <Edge From="12" To="13" Label="Source2" />
+      <Edge From="13" To="14" Label="Source1" />
     </Edges>
   </Workflow>
 </WorkflowBuilder>
\ No newline at end of file
diff --git a/OpenEphys.Commutator/QuaternionTwistController.cs b/OpenEphys.Commutator/QuaternionToTwist.cs
similarity index 71%
rename from OpenEphys.Commutator/QuaternionTwistController.cs
rename to OpenEphys.Commutator/QuaternionToTwist.cs
index b0cada4..f16d504 100644
--- a/OpenEphys.Commutator/QuaternionTwistController.cs
+++ b/OpenEphys.Commutator/QuaternionToTwist.cs
@@ -8,25 +8,30 @@
 namespace OpenEphys.Commutator
 {
     /// <summary>
-    /// Calculates a feedback control signal to compensate for twisting about the specified axis,
-    /// in units of turns.
+    /// Calculates a the rotation about a specified axis (the "twist") that has occurred between successive 3D 
+    /// rotation measurements.
     /// </summary>
     [Description("Calculates a feedback control signal to compensate for twisting about the specified axis, in units of turns.")]
-    public class QuaternionTwistController : Combinator<Quaternion, double>
+    public class QuaternionToTwist : Combinator<Quaternion, double>
     {
         /// <summary>
-        /// Gets or sets the direction vector specifying the axis around which to calculate the twist feedback.
+        /// Gets or sets the direction vector specifying the axis around which to calculate the twist.
         /// </summary>
+        /// <remarks>
+        /// This vector should point, using the reference frame of the device producing rotation measurements, 
+        /// in the direction that the tether exits the headstage. Note that negating this vector will result in
+        /// negating the direction of twisting.
+        /// </remarks>
         [TypeConverter(typeof(NumericRecordConverter))]
-        [Description("The direction vector specifying the axis around which to calculate the twist feedback.")]
+        [Description("The direction vector specifying the axis around which to calculate the twist.")]
         public Vector3 RotationAxis { get; set; } = Vector3.UnitZ;
 
         /// <summary>
-        /// Calculates a feedback control signal from an observable sequence of rotation measurements
-        /// to compensate for twisting about the specified axis.
+        /// Calculates a twist about <see cref="RotationAxis"/> that has occurred between successive rotation 
+        /// measurements provided by the input sequence.
         /// </summary>
         /// <param name="source">The sequence of rotation measurements.</param>
-        /// <returns>The sequence of controller feedback values, in units of turns.</returns>
+        /// <returns>The sequence of twist values, in units of turns.</returns>
         public override IObservable<double> Process(IObservable<Quaternion> source)
         {
             return Observable.Defer(() =>