diff --git a/.pylintrc b/.pylintrc
index 9eb3a1b5..0849f009 100644
--- a/.pylintrc
+++ b/.pylintrc
@@ -1,6 +1,3 @@
-# This file was mostly generated with pylint --generate-rcfile. To see changes
-# from the default values, search for "DEFAULT" in this file.
-
 [MASTER]
 
 # Specify a configuration file.
@@ -10,14 +7,13 @@
 # pygtk.require().
 #init-hook=
 
+# Profiled execution.
+profile=no
+
 # Add files or directories to the blacklist. They should be base names, not
 # paths.
 ignore=CVS
 
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
 # Pickle collected data for later comparisons.
 persistent=yes
 
@@ -37,15 +33,6 @@ unsafe-load-any-extension=no
 # run arbitrary code
 extension-pkg-whitelist=
 
-# Allow optimization of some AST trees. This will activate a peephole AST
-# optimizer, which will apply various small optimizations. For instance, it can
-# be used to obtain the result of joining multiple strings with the addition
-# operator. Joining a lot of strings can lead to a maximum recursion error in
-# Pylint and this flag can prevent that. It has one side effect, the resulting
-# AST will be different than the one from reality. This option is deprecated
-# and it will be removed in Pylint 2.0.
-optimize-ast=no
-
 
 [MESSAGES CONTROL]
 
@@ -55,8 +42,7 @@ confidence=
 
 # Enable the message, report, category or checker with the given id(s). You can
 # either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
+# multiple time. See also the "--disable" option for examples.
 #enable=
 
 # Disable the message, report, category or checker with the given id(s). You
@@ -68,11 +54,7 @@ confidence=
 # --enable=similarities". If you want to run only the classes checker, but have
 # no Warning level messages displayed, use"--disable=all --enable=classes
 # --disable=W"
-# DEFAULT: without fixme,invalid-name,no-self-use
-# RATIONALE: (fixme) It generates warnings for TODOs.
-# RATIONALE: (invalid-name) It rejects class-level constants and short names.
-# RATIONALE: (no-self-use) @staticmethod is discouraged by Google style.
-disable=backtick,reduce-builtin,nonzero-method,long-suffix,file-builtin,indexing-exception,buffer-builtin,standarderror-builtin,apply-builtin,delslice-method,unicode-builtin,suppressed-message,zip-builtin-not-iterating,intern-builtin,old-octal-literal,old-division,range-builtin-not-iterating,useless-suppression,print-statement,filter-builtin-not-iterating,cmp-builtin,coerce-builtin,input-builtin,setslice-method,execfile-builtin,long-builtin,raising-string,getslice-method,cmp-method,coerce-method,next-method-called,raw_input-builtin,oct-method,import-star-module-level,unichr-builtin,round-builtin,parameter-unpacking,map-builtin-not-iterating,unpacking-in-except,dict-view-method,dict-iter-method,hex-method,old-raise-syntax,basestring-builtin,metaclass-assignment,using-cmp-argument,no-absolute-import,xrange-builtin,old-ne-operator,reload-builtin,fixme,invalid-name,no-self-use
+disable=E0611,C0103,W1609,W1608,W1607,W1606,W1605,W1604,W1603,W1602,W1601,W0633,C0111,W1618,W1619,W1610,W1611,W1612,W1613,W1614,W1615,W1616,W1617,C0303,W0142,W0141,W0703,I0020,I0021,W0511,R0915,R0914,R0911,R0913,R0912,W0301,W0611,R0801,W0122,I0012,I0011,I0010,W0603,C1001,R0904,R0902,R0903,R0901,E0235,W0311,R0201,E1310,C0304,W0120,W0123,C0302,W0404,W0402,W1401,E1002,E1121,W1201,W0704,W0232,W0110,R0921,R0922,E1102,E1608,E1601,E1603,E1602,E1605,E1604,E1607,E1606,W1621,W1620,W1623,W1622,W1625,W1624,W1627,W1626,W1629,W1628,C0326,C0325,F0401,C0330,E0102,W1632,W1633,W1630,W1631,W0212,W0640
 
 
 [REPORTS]
@@ -84,12 +66,11 @@ output-format=text
 
 # Put messages in a separate file for each module / package specified on the
 # command line instead of printing them on stdout. Reports (if any) will be
-# written in a file name "pylint_global.[txt|html]". This option is deprecated
-# and it will be removed in Pylint 2.0.
+# written in a file name "pylint_global.[txt|html]".
 files-output=no
 
 # Tells whether to display a full report or only the messages
-reports=yes
+reports=no
 
 # Python expression which should return a note less than 10 (10 is the highest
 # note). You have access to the variables errors warning, statement which
@@ -98,11 +79,22 @@ reports=yes
 # (RP0004).
 evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
 
+# Add a comment according to your evaluation note. This is used by the global
+# evaluation report (RP0004).
+comment=no
+
 # Template used to display messages. This is a python new-style format string
 # used to format the message information. See doc for all details
 #msg-template=
 
 
+[LOGGING]
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format
+logging-modules=logging
+
+
 [SPELLING]
 
 # Spelling dictionary name. Available dictionaries: none. To make it working
@@ -120,6 +112,55 @@ spelling-private-dict-file=
 spelling-store-unknown-words=no
 
 
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,XXX,TODO
+
+
+[TYPECHECK]
+
+# Tells whether missing members accessed in mixin class should be ignored. A
+# mixin class is detected if its name ends with "mixin" (case insensitive).
+ignore-mixin-members=yes
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis
+ignored-modules=
+
+# List of classes names for which member attributes should not be checked
+# (useful for classes with attributes dynamically set).
+ignored-classes=SQLObject,twisted.internet.reactor,hashlib,google.appengine.api.memcache
+
+# When zope mode is activated, add a predefined set of Zope acquired attributes
+# to generated-members.
+zope=no
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E0201 when accessed. Python regular
+# expressions are accepted.
+generated-members=REQUEST,acl_users,aq_parent,multiprocessing.managers.SyncManager
+
+
+[VARIABLES]
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# A regular expression matching the name of dummy variables (i.e. expectedly
+# not used).
+dummy-variables-rgx=_|dummy
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid to define new builtins when possible.
+additional-builtins=
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,_cb
+
+
 [FORMAT]
 
 # Maximum number of characters on a single line.
@@ -132,67 +173,23 @@ ignore-long-lines=^\s*(# )?<?https?://\S+>?$
 # else.
 single-line-if-stmt=no
 
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
+# List of optional constructs for which whitespace checking is disabled
 no-space-check=trailing-comma,dict-separator
 
 # Maximum number of lines in a module
 max-module-lines=1000
 
-# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1
 # tab).
 indent-string='    '
 
-# Number of spaces of indent required inside a hanging  or continued line.
+# Number of spaces of indent required inside a hanging or continued line.
 indent-after-paren=4
 
 # Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
 expected-line-ending-format=
 
 
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,XXX,TODO
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[TYPECHECK]
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=configargparse,google,grpc,numpy,oauth2client,RPi.GPIO,scipy,googlesamples
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=.*Response.*
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-
 [SIMILARITIES]
 
 # Minimum lines number of a similarity.
@@ -210,6 +207,12 @@ ignore-imports=no
 
 [BASIC]
 
+# Required attributes for module, separated by a comma
+required-attributes=
+
+# List of builtins function names that should not be used, separated by a comma
+bad-functions=map,filter,apply,input
+
 # Good variable names which should always be accepted, separated by a comma
 good-names=i,j,k,ex,Run,_
 
@@ -223,9 +226,11 @@ name-group=
 # Include a hint for the correct naming format with invalid-name
 include-naming-hint=no
 
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
+# Regular expression matching correct function names
+function-rgx=[a-z_][a-z0-9_]{2,30}$
+
+# Naming hint for function names
+function-name-hint=[a-z_][a-z0-9_]{2,30}$
 
 # Regular expression matching correct variable names
 variable-rgx=[a-z_][a-z0-9_]{2,30}$
@@ -239,6 +244,18 @@ const-rgx=(([A-Z_][A-Z0-9_]*)|(__.*__))$
 # Naming hint for constant names
 const-name-hint=(([A-Z_][A-Z0-9_]*)|(__.*__))$
 
+# Regular expression matching correct attribute names
+attr-rgx=[a-z_][a-z0-9_]{2,30}$
+
+# Naming hint for attribute names
+attr-name-hint=[a-z_][a-z0-9_]{2,30}$
+
+# Regular expression matching correct argument names
+argument-rgx=[a-z_][a-z0-9_]{2,30}$
+
+# Naming hint for argument names
+argument-name-hint=[a-z_][a-z0-9_]{2,30}$
+
 # Regular expression matching correct class attribute names
 class-attribute-rgx=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$
 
@@ -251,30 +268,12 @@ inlinevar-rgx=[A-Za-z_][A-Za-z0-9_]*$
 # Naming hint for inline iteration names
 inlinevar-name-hint=[A-Za-z_][A-Za-z0-9_]*$
 
-# Regular expression matching correct function names
-function-rgx=[a-z_][a-z0-9_]{2,30}$
-
-# Naming hint for function names
-function-name-hint=[a-z_][a-z0-9_]{2,30}$
-
 # Regular expression matching correct class names
 class-rgx=[A-Z_][a-zA-Z0-9]+$
 
 # Naming hint for class names
 class-name-hint=[A-Z_][a-zA-Z0-9]+$
 
-# Regular expression matching correct attribute names
-attr-rgx=[a-z_][a-z0-9_]{2,30}$
-
-# Naming hint for attribute names
-attr-name-hint=[a-z_][a-z0-9_]{2,30}$
-
-# Regular expression matching correct argument names
-argument-rgx=[a-z_][a-z0-9_]{2,30}$
-
-# Naming hint for argument names
-argument-name-hint=[a-z_][a-z0-9_]{2,30}$
-
 # Regular expression matching correct module names
 module-rgx=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$
 
@@ -289,49 +288,37 @@ method-name-hint=[a-z_][a-z0-9_]{2,30}$
 
 # Regular expression which should only match function or class names that do
 # not require a docstring.
-# DEFAULT: ^_
-# RATIONALE: Docstring for main would duplicate file docstring.
-no-docstring-rgx=^_|^main$
+no-docstring-rgx=__.*__
 
 # Minimum line length for functions/classes that require docstrings, shorter
 # ones are exempt.
-# DEFAULT: -1
-# RATIONALE: Lots of short methods, where docstrings would be repetitive.
-docstring-min-length=10
-
-
-[ELIF]
+docstring-min-length=-1
 
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
 
+[IMPORTS]
 
-[VARIABLES]
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=(_+[a-zA-Z0-9]*?$)|dummy
+# Deprecated modules which should not be used, separated by a comma
+deprecated-modules=regsub,string,TERMIOS,Bastion,rexec
 
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-# DEFAULT: none
-# RATIONALE: Provided by gettext.
-additional-builtins=_
+# Create a graph of every (i.e. internal and external) dependencies in the
+# given file (report RP0402 must not be disabled)
+import-graph=
 
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,_cb
+# Create a graph of external dependencies in the given file (report RP0402 must
+# not be disabled)
+ext-import-graph=
 
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,future.builtins
+# Create a graph of internal dependencies in the given file (report RP0402 must
+# not be disabled)
+int-import-graph=
 
 
 [CLASSES]
 
+# List of interface methods to ignore, separated by a comma. This is used for
+# instance to not check methods defines in Zope's Interface base class.
+ignore-iface-methods=isImplementedBy,deferred,extends,names,namesAndDescriptions,queryDescriptionFor,getBases,getDescriptionFor,getDoc,getName,getTaggedValue,getTaggedValueTags,isEqualOrExtendedBy,setTaggedValue,isImplementedByInstancesOf,adaptWith,is_implemented_by
+
 # List of method names used to declare (i.e. assign) instance attributes.
 defining-attr-methods=__init__,__new__,setUp
 
@@ -349,9 +336,7 @@ exclude-protected=_asdict,_fields,_replace,_source,_make
 [DESIGN]
 
 # Maximum number of arguments for function / method
-# DEFAULT: 5
-# RATIONALE: Keyword arguments make this manageable.
-max-args=10
+max-args=5
 
 # Argument names that match this expression will be ignored. Default to name
 # with leading underscore
@@ -376,46 +361,11 @@ max-parents=7
 max-attributes=7
 
 # Minimum number of public methods for a class (see R0903).
-# DEFAULT: 2
-# RATIONALE: Classes can have docstrings, namedtuples can't.
-min-public-methods=0
+min-public-methods=2
 
 # Maximum number of public methods for a class (see R0904).
 max-public-methods=20
 
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-
-[IMPORTS]
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=optparse
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=audioop
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
 
 [EXCEPTIONS]
 
diff --git a/Makefile b/Makefile
index a89fa7d0..848bbe44 100644
--- a/Makefile
+++ b/Makefile
@@ -21,6 +21,9 @@ test: test-download
 deb:
 	dpkg-buildpackage -b -rfakeroot -us -uc -tc
 
+lint:
+	find src -iname "*.py" | grep -v protocol_pb2 | xargs pylint --rcfile .pylintrc
+
 # enable, disable, start, stop, restart, status
 joy-demo-%:
 	sudo systemctl $* joy_detection_demo.service