Merge branch 'hotfix/v2.0.2' into develop
Merge branch 'hotfix/v2.0.3' into develop
Merge branch 'hotfix/v2.0.4' into develop
Merge branch 'hotfix/v2.0.5' into develop
version 2.1, cleaned up a lot of code, nicer output, removed automaton reliance
Merge branch 'release/v2.1.0'