diff --git a/BoneCentral/Brain/AI/AlignToAngle.js b/BoneCentral/Brain/AI/AlignToAngle.js
new file mode 100644
index 0000000..eb30e8e
--- /dev/null
+++ b/BoneCentral/Brain/AI/AlignToAngle.js
@@ -0,0 +1,87 @@
+var $           = require('../Utilities').Promises
+var wait        = require('../Utilities').Wait;
+var vector      = require('../Utilities/vector.js');
+var ctools      = require('../Utilities/compassTools.js');
+var PID         = require('../Utilities/pid.js');
+var Poseidon    = require('../app.js');
+
+var upInterval,
+    time        = 1.0,
+    pid_sp      = 0;
+var pid         = new PID();
+var imu         = Poseidon.HardwareFactory.createImuSensor();
+var power       = Poseidon.HardwareFactory.createPowerManager();
+var engine      = Poseidon.HardwareFactory.createThrustController();
+var start       = $.Deferred();
+var finish      = $.Deferred();
+const DELTA     = 150;
+const TRANSFORM = 180.0;
+
+pid.setDelta(DELTA);
+pid.setBounds(-TRANSFORM, TRANSFORM);
+pid.calibrate(0.1, 0.5, 0.01);
+
+
+
+start
+.then(function() {
+    console.log("- System Online -");
+    power.turnOnEscs();
+    power.turnOnImu();
+})
+.then(function() {
+    upInterval = setInterval(function(){
+        update();
+        killOutOfTime();
+    }, DELTA);
+});
+
+finish
+.then(function() {
+    console.log("- Shutting Down -");
+    power.turnOffImu();
+    power.turnOffEscs();
+    power.exit()
+    .then(process.exit);
+})
+
+power.connect()
+.then(function(){
+    console.log("Ready? GO!");
+    start.resolve();
+});
+
+
+
+function update() {
+    var waitHeading = $.Deferred();
+    var waitAccel   = $.Deferred();
+    
+    imu.getHeading().done(function(data) {
+        waitHeading.resolve(data);
+    });
+    imu.getAcceleration().done(function(data){
+        waitAccel.resolve(data);
+    });
+    
+    $.WhenAll(waitHeading, waitAccel)
+    .done(function(cdata,adata) {
+        console.log(cdata);
+        console.log(adata);
+        var compass = vector.v3(cData.X,cData.Y,cData.Z);
+        var accel   = vector.v3(aData.X,aData.Y,aData.Z);
+        
+        var pid_pv  = ctools.degrees(compass, accel);
+        var adj     = pid.update(pid_sp, pid_pv) / TRANSFORM;
+        console.log("Adjust: " + (adj*100).toFixed(2) + "%");
+        engine.yaw(adj);
+    });
+}
+
+function killOutOfTime() {
+    time = time - (DELTA/1000.0);
+    if(time <= 0) {
+        clearInterval(upInterval);
+        finish.resolve();
+    }
+}
diff --git a/BoneCentral/Brain/CppInterface/Factory.js b/BoneCentral/Brain/CppInterface/Factory.js
index 2727448..f07ccf2 100644
--- a/BoneCentral/Brain/CppInterface/Factory.js
+++ b/BoneCentral/Brain/CppInterface/Factory.js
@@ -30,7 +30,7 @@ module.exports = (function() {
     };
 
     Factory.prototype.createPowerManager = function () {
-        return new PowerManager(dispatcherSocket.Input);
+        return new PowerManager(this.dispatcherSocket.Input, this.dispatcherSocket.Events);
     };
 
     Factory.prototype.createThrustController = function () {
diff --git a/BoneCentral/Brain/CppInterface/PowerManager.js b/BoneCentral/Brain/CppInterface/PowerManager.js
index d10e7e6..fd9d71b 100644
--- a/BoneCentral/Brain/CppInterface/PowerManager.js
+++ b/BoneCentral/Brain/CppInterface/PowerManager.js
@@ -1,7 +1,8 @@
 module.exports = (function(){
 
-    function PowerManager(cmdOut) {
+    function PowerManager(cmdOut, events) {
         this._cmdOut = cmdOut;
+        this._events = events;
     }
 
     PowerManager.prototype.turnOnEscs = function(){
@@ -19,9 +20,14 @@ module.exports = (function(){
     PowerManager.prototype.turnOffImu = function () {
         this._cmdOut.write("turnOffImuSensor\n");
     };
+    
+    PowerManager.prototype.connect = function() {
+        return this._events.OnConnect;
+    }
 
     PowerManager.prototype.exit = function () {
         this._cmdOut.write("exit\n");
+        return this._events.OnExit;
     };
 
     return PowerManager;
diff --git a/BoneCentral/Brain/Sockets/index.js b/BoneCentral/Brain/Sockets/index.js
index 4882c3a..a2da922 100644
--- a/BoneCentral/Brain/Sockets/index.js
+++ b/BoneCentral/Brain/Sockets/index.js
@@ -3,15 +3,31 @@
  */
 
 var Streams = require('stream');
-var Net = require('net');
+var Net     = require('net');
+var $       = require('../Utilities').Promises
 
 module.exports.createSocket = function (port) {
-    var input = new Streams.PassThrough();
-    var output = new Streams.PassThrough();
+    var input     = new Streams.PassThrough();
+    var output    = new Streams.PassThrough();
+    var onExit    = $.Deferred();
+    var onConnect = $.Deferred();
+    
     Net.createServer(function (socket) {
         _handleClient(socket, input, output);
+        socket.on("close", function() {
+            onExit.resolve();
+        });
+        onConnect.resolve();
     }).listen(port);
-    return {Input: input, Output: output};
+    
+    return {
+        Input: input,
+        Output: output,
+        Events: {
+            OnConnect: onConnect.promise(),
+            OnExit: onExit.promise()
+        }
+    };
 };
 
 var _handleClient = function (socket, input, output) {