diff --git a/RCMv2/RCMv2.ino b/RCMv2/RCMv2.ino
index 932843d..023572a 100644
--- a/RCMv2/RCMv2.ino
+++ b/RCMv2/RCMv2.ino
@@ -5,12 +5,17 @@
 /**
 uncomment one of the following lines depending on which hardware you have
 */
-// leave all lines commented if you have a standard RCM board
-// #define RCM_HARDWARE_VERSION 10 // RCM BYTE V1
+#define RCM_HARDWARE_VERSION RCM_ORIGINAL // versions 1 to 3 of the original RCM hardware // https://github.com/RCMgames/RCM_hardware_documentation_and_user_guide
+// #define RCM_HARDWARE_VERSION RCM_BYTE_V2 // version 2.1 of the RCM BYTE // https://github.com/RCMgames/RCM-Hardware-BYTE
+// #define RCM_HARDWARE_VERSION RCM_NIBBLE_V1 // version 1 of the RCM Nibble //
+// retired hardware
+// #define RCM_HARDWARE_VERSION RCM_BYTE_V1 // version 1 of the RCM BYTE // https://github.com/RCMgames/RCM-Hardware-BYTE/tree/v1---archive
 
 /**
- to use ROS mode switch the platformio project environment to one of the environments that says ROS in the name
+uncomment one of the following lines depending on which communication method you want to use
 */
+#define RCM_COMM_METHOD RCM_COMM_EWD // use the normal communication method for RCM robots
+// #define RCM_COMM_METHOD RCM_COMM_ROS // use the ROS communication method
 
 #include "rcm.h" //defines pins
 
@@ -46,7 +51,7 @@ void Always()
     delay(1);
 }
 
-#ifndef RCM_ROS
+#if RCM_COMM_METHOD == RCM_COMM_EWD
 void WifiDataToParse()
 {
     enabled = EWD::recvBl();
@@ -70,7 +75,7 @@ void configWifi()
     // EWD::APPassword = "rcmPassword";
     // EWD::APPort = 25210;
 }
-#else ////////////// ignore everything below this line unless you're using ROS mode/////////////////////////////////////////////
+#elif RCM_COMM_METHOD == RCM_COMM_ROS ////////////// ignore everything below this line unless you're using ROS mode/////////////////////////////////////////////
 void ROSWifiSettings()
 {
     // SSID, password, IP, port (on a computer run: sudo docker run -it --rm --net=host microros/micro-ros-agent:iron udp4 --port 8888 )
diff --git a/RCMv2/rcm.h b/RCMv2/rcm.h
index c38aec7..3608d74 100644
--- a/RCMv2/rcm.h
+++ b/RCMv2/rcm.h
@@ -4,7 +4,15 @@
 #include <Arduino.h>
 #include <JMotor.h> //https://github.com/joshua-8/JMotor
 
-#ifndef RCM_HARDWARE_VERSION
+#define RCM_ORIGINAL 1
+#define RCM_BYTE_V1 2
+#define RCM_BYTE_V2 3
+#define RCM_NIBBLE_V1 4
+
+#define RCM_COMM_EWD 1
+#define RCM_COMM_ROS 2
+
+#if RCM_HARDWARE_VERSION == RCM_ORIGINAL
 #define port1Pin 32
 #define port2Pin 33
 #define port3Pin 25
@@ -38,7 +46,7 @@ void setupMotors() { }
 #define EWDmaxWifiRecvBufSize 41
 #endif
 
-#elif RCM_HARDWARE_VERSION == 10 // rcmByte_1
+#elif RCM_HARDWARE_VERSION == RCM_BYTE_V1
 
 #include <FastLED.h>
 #include <TMC7300.h>
@@ -127,12 +135,14 @@ void setupMotors()
     digitalWrite(motorsEnablePin, HIGH);
 }
 
+#else
+void setupMotors() { }
 #endif // RCM_HARDWARE_VERSION
 
 boolean enabled = false;
 boolean wasEnabled = false;
 
-#ifndef RCM_ROS
+#if RCM_COMM_METHOD == RCM_COMM_EWD
 
 #ifndef EWDmaxWifiSendBufSize
 #define EWDmaxWifiSendBufSize 200
@@ -142,7 +152,9 @@ boolean wasEnabled = false;
 #endif
 
 #include <ESP32_easy_wifi_data.h> //https://github.com/joshua-8/ESP32_easy_wifi_data >=v1.0.0
-#else
+
+#elif RCM_COMM_METHOD == RCM_COMM_ROS
+
 #include <micro_ros_arduino.h>
 #include <rcl/error_handling.h>
 #include <rcl/rcl.h>
diff --git a/RCMv2/rcmutil.h b/RCMv2/rcmutil.h
index 22495b1..aa7f1c6 100644
--- a/RCMv2/rcmutil.h
+++ b/RCMv2/rcmutil.h
@@ -17,7 +17,7 @@ extern void WifiDataToParse();
 extern void WifiDataToSend();
 extern void setupMotors();
 
-#ifndef RCM_HARDWARE_VERSION
+#if RCM_HARDWARE_VERSION == RCM_ORIGINAL
 
 void setupRSL()
 {
@@ -40,7 +40,7 @@ void disabledRSL()
     digitalWrite(ONBOARD_LED, HIGH); // on, disabled
 }
 
-#elif RCM_HARDWARE_VERSION == 10
+#elif RCM_HARDWARE_VERSION == RCM_BYTE_V1
 
 void setupRSL()
 {
@@ -98,27 +98,27 @@ void setup()
     setupMotors();
     PowerOn();
     Disable();
-#ifndef RCM_ROS
+#if RCM_COMM_METHOD == RCM_COMM_EWD
     configWifi();
     EWD::setupWifi(WifiDataToParse, WifiDataToSend);
-#else
+#elif RCM_COMM_METHOD == RCM_COMM_ROS
     setupROS();
 #endif
 }
 
 boolean connectedToWifi()
 {
-#ifndef RCM_ROS
+#if RCM_COMM_METHOD == RCM_COMM_EWD
     return EWD::wifiConnected;
-#else
+#elif RCM_COMM_METHOD == RCM_COMM_ROS
     return !ROSCheckFail;
 #endif
 }
 boolean connectionTimedOut()
 {
-#ifndef RCM_ROS
+#if RCM_COMM_METHOD == RCM_COMM_EWD
     return EWD::timedOut();
-#else
+#elif RCM_COMM_METHOD == RCM_COMM_ROS
     return (millis() - lastEnableSentMillis) > rosWifiTimeout;
 #endif
 }
@@ -127,9 +127,9 @@ extern void ROSrun();
 
 void loop()
 {
-#ifndef RCM_ROS
+#if RCM_COMM_METHOD == RCM_COMM_EWD
     EWD::runWifiCommunication();
-#else
+#elif RCM_COMM_METHOD == RCM_COMM_ROS
     ROSrun();
 #endif
     if (!connectedToWifi() || connectionTimedOut()) {
@@ -137,7 +137,7 @@ void loop()
     }
     Always();
     if (enabled && !wasEnabled) {
-#if RCM_HARDWARE_VERSION == 10
+#if RCM_HARDWARE_VERSION == RCM_BYTE_V1
 #ifndef RCM_BYTE_DO_NOT_USE_SAFE_DISABLE
         digitalWrite(motorsEnablePin, HIGH);
 #endif
@@ -148,7 +148,7 @@ void loop()
     if (!enabled && wasEnabled) {
         Disable();
 
-#if RCM_HARDWARE_VERSION == 10
+#if RCM_HARDWARE_VERSION == RCM_BYTE_V1
 #ifndef RCM_BYTE_DO_NOT_USE_SAFE_DISABLE
         digitalWrite(motorsEnablePin, LOW);
 #endif