diff -up ./cmake/internal/SearchForStuff.cmake.enablephidget ./cmake/internal/SearchForStuff.cmake
--- ./cmake/internal/SearchForStuff.cmake.enablephidget	2011-01-08 09:28:15.974551777 -0500
+++ ./cmake/internal/SearchForStuff.cmake	2011-01-08 09:29:23.678551971 -0500
@@ -232,3 +232,41 @@ IF (PLAYER_OS_WIN)
         ${CMAKE_CURRENT_SOURCE_DIR}/cmake/internal/setdlldirectory.c)
 ENDIF (PLAYER_OS_WIN)
 
+# Check for libphidget, see if we have 2.1.7 or later
+SET (PHIDGET_INCLUDE_DIR "" CACHE STRING "Directory containing the Phidget headers")
+SET (PHIDGET_LIB_DIR "" CACHE STRING "Directory containing the Phidget libraries")
+MARK_AS_ADVANCED (PHIDGET_INCLUDE_DIR)
+MARK_AS_ADVANCED (PHIDGET_LIB_DIR)
+
+IF ("${PHIDGET_INCLUDE_DIR}" STREQUAL "")
+    SET (phidgetHeader "phidget21.h")
+    SET (phidgetCFlags "")
+ELSE ("${PHIDGET_INCLUDE_DIR}" STREQUAL "")
+    SET (phidgetHeader "${PHIDGET_INCLUDE_DIR}/phidget21.h")
+    SET (phidgetCFlags "-I${PHIDGET_INCLUDE_DIR}")
+ENDIF ("${PHIDGET_INCLUDE_DIR}" STREQUAL "")
+
+IF ("${PHIDGET_LIB_DIR}" STREQUAL "")
+    SET (phidgetLinkFlags "-lphidget21")
+ELSE ("${PHIDGET_LIB_DIR}" STREQUAL "")
+    SET (phidgetLinkFlags " -L${PHIDGET_LIB_DIR} -lphidget21")
+ENDIF ("${PHIDGET_LIB_DIR}" STREQUAL "")
+
+IF (HAVE_DNS_SD)
+   SET (phidgetLinkFlags "${phidgetLinkFlags} -ldns_sd")
+ENDIF(HAVE_DNS_SD)
+
+CHECK_INCLUDE_FILES(${phidgetHeader} HAVE_PHIDGET_H)
+IF (HAVE_PHIDGET_H)
+    INCLUDE (CheckCSourceCompiles)
+    SET(CMAKE_REQUIRED_FLAGS "${phidgetCFlags} ${phidgetLinkFlags} -lphidget21")
+    SET (CHECK_PHIDGET_SOURCE_CODE "#include <phidget21.h>\n int main () 
+    {CPhidgetInterfaceKitHandle ifk=0; int phidget_num_outputs=0;
+    CPhidgetInterfaceKit_create(&ifk);
+    CPhidgetInterfaceKit_getOutputCount(ifk, &phidget_num_outputs); return 0; }\n")
+    CHECK_C_SOURCE_COMPILES ("${CHECK_PHIDGET_SOURCE_CODE}" HAVE_PHIDGET_2_1_7)
+ENDIF (HAVE_PHIDGET_H)
+
+IF (HAVE_PHIDGET_H)
+   SET(HAVE_PHIDGET true)
+ENDIF (HAVE_PHIDGET_H)
diff -up ./config.h.in.enablephidget ./config.h.in
--- ./config.h.in.enablephidget	2011-01-08 09:42:02.950551971 -0500
+++ ./config.h.in	2011-01-08 09:42:43.419551971 -0500
@@ -15,4 +15,5 @@
 #cmakedefine HAVE_IEEEFP_H 1
 #cmakedefine WORDS_BIGENDIAN 1
 #cmakedefine HAVE_SETDLLDIRECTORY 1
+#cmakedefine HAVE_PHIDGET_2_1_7 1
 
diff -up ./server/drivers/mixed/phidgetIFK/CMakeLists.txt.enablephidget ./server/drivers/mixed/phidgetIFK/CMakeLists.txt
--- ./server/drivers/mixed/phidgetIFK/CMakeLists.txt.enablephidget	2011-01-08 09:30:18.492552601 -0500
+++ ./server/drivers/mixed/phidgetIFK/CMakeLists.txt	2011-01-08 09:31:27.874551975 -0500
@@ -1,16 +1,10 @@
-PLAYERDRIVER_OPTION (phidgetifk build_phidgetifk ON)
-SET (PHIDGETIFK_DIR "" CACHE STRING "Directory containing the Phidget IFK headers and libraries")
-MARK_AS_ADVANCED (PHIDGETIFK_DIR)
-IF ("${PHIDGETIFK_DIR}" STREQUAL "")
-    SET (phidgetReqHeader "phidget21.h")
-    SET (phidgetExtraFlags "")
-    SET (phidgetExtraLibs "-lphidget21")
-ELSE ("${PHIDGETIFK_DIR}" STREQUAL "")
-    SET (phidgetReqHeader "${PHIDGETIFK_DIR}/phidget21.h")
-    SET (phidgetExtraFlags "-I${PHIDGETIFK_DIR}/include")
-    SET (phidgetExtraLibs "-L${PHIDGETIFK_DIR}/lib -lphidget21")
-ENDIF ("${PHIDGETIFK_DIR}" STREQUAL "")
-PLAYERDRIVER_REQUIRE_HEADER (phidgetifk build_phidgetifk ${phidgetReqHeader})
+# libphidget now discovered in SearchForStuff.cmake
+IF (HAVE_PHIDGET)
+  PLAYERDRIVER_OPTION (phidgetifk build_phidgetifk ON)
+ELSE (HAVE_PHIDGET)
+  PLAYERDRIVER_OPTION (phidgetifk build_phidgetifk OFF "Could not find libphidget")
+ENDIF (HAVE_PHIDGET)
+  
 PLAYERDRIVER_ADD_DRIVER (phidgetifk build_phidgetifk
-    LINKFLAGS ${phidgetExtraLibs} CFLAGS ${phidgetExtraFlags}
+    LINKFLAGS ${phidgetLinkFlags} CFLAGS ${phidgetCFlags}
     SOURCES phidgetIFK.cc)
diff -up ./server/drivers/mixed/phidgetIFK/phidgetIFK.cc.enablephidget ./server/drivers/mixed/phidgetIFK/phidgetIFK.cc
--- ./server/drivers/mixed/phidgetIFK/phidgetIFK.cc.enablephidget	2011-01-08 09:43:14.839551971 -0500
+++ ./server/drivers/mixed/phidgetIFK/phidgetIFK.cc	2011-01-08 09:44:01.493551971 -0500
@@ -87,7 +87,6 @@ driver
 /** @} */
 
 
-
 #include <unistd.h>
 #include <string.h>
 #include <iostream>
@@ -97,7 +96,7 @@ driver
 #include "phidget21.h"
 
 #include <libplayercore/playercore.h>
-
+#include "config.h"
 
 //For nanosleep:
 #include <time.h>
@@ -326,8 +325,11 @@ int PhidgetIFK::ProcessMessage(QueuePoin
 
         //the actual ammount of digital outputs of the widget
         int phidget_num_outputs(0);
+#ifdef HAVE_PHIDGET_2_1_7
+        CPhidgetInterfaceKit_getOutputCount(ifk, &phidget_num_outputs);
+#else
         CPhidgetInterfaceKit_getNumOutputs(ifk, &phidget_num_outputs);
-
+#endif
         if (count > static_cast<int>(max_do)) {
             PLAYER_WARN("PhidgetIFK: Received a command with a huge ammount of digital outputs. Check the value of count.\n");
             PLAYER_WARN1("PhidgetIFK: Limiting to the maximum possible value: %d\n",max_do);
@@ -379,10 +381,14 @@ int PhidgetIFK::ProcessMessage(QueuePoin
 
         //Get the size of the LCD screen
         int numcolumns(0);
-        CPhidgetTextLCD_getNumColumns(lcd,&numcolumns);
         int numrows(0);
+#ifdef HAVE_PHIDGET_2_1_7
+        CPhidgetTextLCD_getColumnCount(lcd,&numcolumns);
+        CPhidgetTextLCD_getRowCount(lcd,&numrows);
+#else
+        CPhidgetTextLCD_getNumColumns(lcd,&numcolumns);
         CPhidgetTextLCD_getNumRows(lcd,&numrows);
-
+#endif
         //Copy the text to a string for easier manipulation
         string completemessage;
         completemessage = const_cast<const char *>(cmd->string);
@@ -472,8 +478,11 @@ void PhidgetIFK::Main() {
 
         //Read from the device.
         int numsensors(0);
+#ifdef HAVE_PHIDGET_2_1_7
+        CPhidgetInterfaceKit_getSensorCount(ifk, &numsensors);
+#else
         CPhidgetInterfaceKit_getNumSensors(ifk, &numsensors);
-
+#endif
         std::vector<float> values;
         for (int i = 0 ; i != numsensors ; ++i) {
             values.push_back(0.0);
@@ -502,8 +511,11 @@ void PhidgetIFK::Main() {
         player_dio_data_t data_di;
         //need the digital inputs as a bitfield
         int num_di(0);
+#ifdef HAVE_PHIDGET_2_1_7
+        CPhidgetInterfaceKit_getInputCount(ifk, &num_di);
+#else
         CPhidgetInterfaceKit_getNumInputs(ifk, &num_di);
-
+#endif
         data_di.count=num_di;
 
         std::vector<bool> divalues;
diff -up ./server/drivers/rfid/CMakeLists.txt.enablephidget ./server/drivers/rfid/CMakeLists.txt
--- ./server/drivers/rfid/CMakeLists.txt.enablephidget	2011-01-08 09:30:27.997551861 -0500
+++ ./server/drivers/rfid/CMakeLists.txt	2011-01-08 09:31:54.667551970 -0500
@@ -10,21 +10,15 @@ PLAYERDRIVER_OPTION (skyetekM1 build_sky
 PLAYERDRIVER_REJECT_OS (skyetekM1 build_skyetekM1 PLAYER_OS_WIN)
 PLAYERDRIVER_ADD_DRIVER (skyetekM1 build_skyetekM1 SOURCES skyetekM1.cc)
 
-PLAYERDRIVER_OPTION (phidgetRFID build_phidgetRFID ON)
-SET (PHIDGETRFID_DIR "" CACHE STRING "Directory containing the Phidget RFID headers and libraries")
-MARK_AS_ADVANCED (PHIDGETRFID_DIR)
-IF ("${PHIDGETRFID_DIR}" STREQUAL "")
-    SET (phidgetReqHeader "phidget21.h")
-    SET (phidgetExtraFlags "")
-    SET (phidgetExtraLibs "-lphidget21")
-ELSE ("${PHIDGETRFID_DIR}" STREQUAL "")
-    SET (phidgetReqHeader "${PHIDGETRFID_DIR}/phidget21.h")
-    SET (phidgetExtraFlags "-I${PHIDGETRFID_DIR}/include")
-    SET (phidgetExtraLibs "-L${PHIDGETRFID_DIR}/lib -lphidget21")
-ENDIF ("${PHIDGETRFID_DIR}" STREQUAL "")
-PLAYERDRIVER_REQUIRE_HEADER (phidgetRFID build_phidgetRFID ${phidgetReqHeader})
+# libphidget now discovered in SearchForStuff.cmake
+IF (HAVE_PHIDGET)
+  PLAYERDRIVER_OPTION (phidgetAcc build_phidgetRFID ON)
+ELSE (HAVE_PHIDGET)
+  PLAYERDRIVER_OPTION (phidgetAcc build_phidgetRFID OFF "Could not find libphidget")
+ENDIF (HAVE_PHIDGET)
+
 PLAYERDRIVER_ADD_DRIVER (phidgetRFID build_phidgetRFID
-    LINKFLAGS ${phidgetExtraLibs} CFLAGS "${phidgetExtraFlags}"
+    LINKFLAGS ${phidgetLinkFlags} CFLAGS "${phidgetCFlags}"
     SOURCES phidgetRFID.cc)
 
 PLAYERDRIVER_OPTION (acr120u build_acr120u ON)
diff -up ./server/drivers/rfid/phidgetRFID.cc.enablephidget ./server/drivers/rfid/phidgetRFID.cc
--- ./server/drivers/rfid/phidgetRFID.cc.enablephidget	2011-01-08 09:43:32.178551971 -0500
+++ ./server/drivers/rfid/phidgetRFID.cc	2011-01-08 09:44:33.501551971 -0500
@@ -83,9 +83,9 @@ driver
 /** @} */
 
 
-
 #include "phidget21.h"
 #include <libplayercore/playercore.h>
+#include "config.h"
 
 #include <unistd.h>
 #include <string.h>
@@ -261,7 +261,11 @@ int Phidgetrfid::ProcessMessage(QueuePoi
 
         //the actual ammount of digital outputs of the widget
         int phidget_num_outputs(0);
+#ifdef HAVE_PHIDGET_2_1_7
+        CPhidgetRFID_getOutputCount(rfid, &phidget_num_outputs);
+#else
         CPhidgetRFID_getNumOutputs(rfid, &phidget_num_outputs);
+#endif
         printf("Num of outputs: %d\n", phidget_num_outputs);
 
         if (count > static_cast<int>(max_do)) {
diff -up ./server/drivers/wsn/CMakeLists.txt.enablephidget ./server/drivers/wsn/CMakeLists.txt
--- ./server/drivers/wsn/CMakeLists.txt.enablephidget	2011-01-08 09:30:38.161552089 -0500
+++ ./server/drivers/wsn/CMakeLists.txt	2011-01-08 09:32:14.870551971 -0500
@@ -21,19 +21,12 @@ ELSE (HAVE_STL)
 ENDIF (HAVE_STL)
 PLAYERDRIVER_ADD_DRIVER (accel_calib build_accel_calib SOURCES accel_calib.cc)
 
-PLAYERDRIVER_OPTION (phidgetAcc build_phidgetAcc ON)
-SET (PHIDGETACC_DIR "" CACHE STRING "Directory containing the Phidget Acc headers and libraries")
-MARK_AS_ADVANCED (PHIDGETACC_DIR)
-IF ("${PHIDGETACC_DIR}" STREQUAL "")
-    SET (phidgetReqHeader "phidget21.h")
-    SET (phidgetExtraFlags "")
-    SET (phidgetExtraLibs "-lphidget21")
-ELSE ("${PHIDGETACC_DIR}" STREQUAL "")
-    SET (phidgetReqHeader "${PHIDGETACC_DIR}/phidget21.h")
-    SET (phidgetExtraFlags "-I${PHIDGETACC_DIR}/include")
-    SET (phidgetExtraLibs "-L${PHIDGETACC_DIR}/lib -lphidget21")
-ENDIF ("${PHIDGETACC_DIR}" STREQUAL "")
-PLAYERDRIVER_REQUIRE_HEADER (phidgetAcc build_phidgetAcc ${phidgetReqHeader})
+# libphidget now discovered in SearchForStuff.cmake
+IF (HAVE_PHIDGET)
+  PLAYERDRIVER_OPTION (phidgetAcc build_phidgetAcc ON)
+ELSE (HAVE_PHIDGET)
+  PLAYERDRIVER_OPTION (phidgetAcc build_phidgetAcc OFF "Could not find libphidget")
+ENDIF (HAVE_PHIDGET)
 PLAYERDRIVER_ADD_DRIVER (phidgetAcc build_phidgetAcc
-    LINKFLAGS ${phidgetExtraLibs} CFLAGS ${phidgetExtraFlags}
+    LINKFLAGS ${phidgetLinkFlags} CFLAGS ${phidgetCFlags}
     SOURCES phidgetAcc.cc)
diff -up ./server/drivers/wsn/phidgetAcc.cc.enablephidget ./server/drivers/wsn/phidgetAcc.cc
--- ./server/drivers/wsn/phidgetAcc.cc.enablephidget	2011-01-08 09:43:25.513551970 -0500
+++ ./server/drivers/wsn/phidgetAcc.cc	2011-01-08 09:44:16.546551971 -0500
@@ -79,10 +79,9 @@ driver
  */
 /** @} */
 
-
-
 #include "phidget21.h"
 #include <libplayercore/playercore.h>
+#include "config.h"
 
 #include <unistd.h>
 #include <string.h>
@@ -273,7 +272,11 @@ void PhidgetAcc::Main() {
     	data.data_packet.temperature = -1;
     	data.data_packet.battery     = -1;
 	int n_axis;
+#ifdef HAVE_PHIDGET_2_1_7
+	if(CPhidgetAccelerometer_getAxisCount(accel,&n_axis)) return;
+#else
 	if(CPhidgetAccelerometer_getNumAxis(accel,&n_axis)) return;
+#endif
 	double *p_accel;
 	p_accel= new double[n_axis];
 	for (int i=0;i<n_axis;++i) {