diff --git a/CMakeLists.txt b/CMakeLists.txt
index a11bfb5..4b793de 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,7 +55,7 @@ add_library(RoboidControl STATIC
     "DistanceSensor.cpp"
     "Sensor.cpp"
     "Switch.cpp"
-    "Thing.cpp"
+   
     "Quadcopter.cpp"
     #"Messages.cpp"
 )
diff --git a/ControlCore/CMakeLists.txt b/ControlCore_old/CMakeLists.txt
similarity index 98%
rename from ControlCore/CMakeLists.txt
rename to ControlCore_old/CMakeLists.txt
index e5b51a3..cbb5366 100644
--- a/ControlCore/CMakeLists.txt
+++ b/ControlCore_old/CMakeLists.txt
@@ -24,7 +24,7 @@ else()
 
     include_directories(.)
     add_library(ControlCore STATIC 
-        "CoreThing.cpp"
+       
         "LowLevelMessages.cpp"
         "Messages.cpp" 
         "Participant.cpp" 
diff --git a/ControlCore/LowLevelMessages.cpp b/ControlCore_old/LowLevelMessages.cpp
similarity index 100%
rename from ControlCore/LowLevelMessages.cpp
rename to ControlCore_old/LowLevelMessages.cpp
diff --git a/ControlCore/LowLevelMessages.h b/ControlCore_old/LowLevelMessages.h
similarity index 100%
rename from ControlCore/LowLevelMessages.h
rename to ControlCore_old/LowLevelMessages.h
diff --git a/ControlCore/Messages.cpp b/ControlCore_old/Messages.cpp
similarity index 100%
rename from ControlCore/Messages.cpp
rename to ControlCore_old/Messages.cpp
diff --git a/ControlCore/Messages.h b/ControlCore_old/Messages.h
similarity index 100%
rename from ControlCore/Messages.h
rename to ControlCore_old/Messages.h
diff --git a/ControlCore/Participant.cpp b/ControlCore_old/Participant.cpp
similarity index 100%
rename from ControlCore/Participant.cpp
rename to ControlCore_old/Participant.cpp
diff --git a/ControlCore/Participant.h b/ControlCore_old/Participant.h
similarity index 100%
rename from ControlCore/Participant.h
rename to ControlCore_old/Participant.h
diff --git a/ControlCore/Thing.cpp b/ControlCore_old/Thing.cpp
similarity index 100%
rename from ControlCore/Thing.cpp
rename to ControlCore_old/Thing.cpp
diff --git a/ControlCore/Thing.h b/ControlCore_old/Thing.h
similarity index 100%
rename from ControlCore/Thing.h
rename to ControlCore_old/Thing.h
diff --git a/ControlCore/float16.cpp b/ControlCore_old/float16.cpp
similarity index 100%
rename from ControlCore/float16.cpp
rename to ControlCore_old/float16.cpp
diff --git a/ControlCore/float16.h b/ControlCore_old/float16.h
similarity index 100%
rename from ControlCore/float16.h
rename to ControlCore_old/float16.h
diff --git a/ControlCore/pheromone_food.obj b/ControlCore_old/pheromone_food.obj
similarity index 100%
rename from ControlCore/pheromone_food.obj
rename to ControlCore_old/pheromone_food.obj
diff --git a/ControlCore/test/CMakeLists.txt b/ControlCore_old/test/CMakeLists.txt
similarity index 100%
rename from ControlCore/test/CMakeLists.txt
rename to ControlCore_old/test/CMakeLists.txt
diff --git a/ControlCore/test/dummy_test.cc b/ControlCore_old/test/dummy_test.cc
similarity index 100%
rename from ControlCore/test/dummy_test.cc
rename to ControlCore_old/test/dummy_test.cc
diff --git a/LinearAlgebra b/LinearAlgebra
index 2c57c3f..6f30334 160000
--- a/LinearAlgebra
+++ b/LinearAlgebra
@@ -1 +1 @@
-Subproject commit 2c57c3f6c07537a3d5f066dc970f5472f68c586b
+Subproject commit 6f30334e12a3872deb3788cb00bac6edbcc9d6bb