Camelot Software Planning - established in 1990 under the name Sega CD4, but quickly renamed to Sonic! Software Planning. As Sonic!, they were closely involved with Sega and responsible for initial development of the Shining series. By 1998, now known as Camelot, they had partnered with Nintendo & created the Mario Tennis & Mario Golf series of sports games, as well as the RPG series Golden Sun. The creation of the Mario character, Waluigi, can be attributed to Camelot Software.