diff --git a/Participant.cpp b/Participant.cpp
index c3cf0ad..b8e0d16 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -70,7 +70,7 @@ bool Participant::Send(IMessage* msg) {
   return thisWindows->Send(remoteParticipant, bufferSize);
 #elif defined(__unix__) || defined(__APPLE__)
   Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
-  return thisPosix->Send(remoteParticipant, bufferSize);
+  return thisPosix->Send(this, bufferSize);
 #elif defined(ARDUINO)
   Arduino::ParticipantUDP* thisArduino =
       static_cast<Arduino::ParticipantUDP*>(this);
diff --git a/examples/BB2B.cpp b/examples/BB2B.cpp
index 8a51d01..05d80f4 100644
--- a/examples/BB2B.cpp
+++ b/examples/BB2B.cpp
@@ -27,10 +27,10 @@ int main() {
   while (true) {
     // The left wheel turns forward when nothing is touched on the right side
     // and turn backward when the roboid hits something on the right
-    float leftWheelSpeed = (touchRight.internalTouch) ? -600.0f : 600.0f;
+    float leftWheelSpeed = (touchRight.IsTouching()) ? -600.0f : 600.0f;
     // The right wheel does the same, but instead is controlled by
     // touches on the left side
-    float rightWheelSpeed = (touchLeft.internalTouch) ? -600.0f : 600.0f;
+    float rightWheelSpeed = (touchLeft.IsTouching()) ? -600.0f : 600.0f;
     // When both sides are touching something, both wheels will turn backward
     // and the roboid will move backwards
     bb2b.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
diff --git a/test/thing_test.cc b/test/thing_test.cc
index ff651c3..9414754 100644
--- a/test/thing_test.cc
+++ b/test/thing_test.cc
@@ -15,7 +15,7 @@ TEST(RoboidControlSuite, HiddenParticipant) {
   unsigned long milliseconds = Thing::GetTimeMs();
   unsigned long startTime = milliseconds;
   while (milliseconds < startTime + 1000) {
-    Thing::UpdateThings();
+    thing->Update();
 
     milliseconds = Thing::GetTimeMs();
   }
@@ -23,7 +23,7 @@ TEST(RoboidControlSuite, HiddenParticipant) {
 }
 
 TEST(RoboidControlSuite, IsolatedParticipant) {
-  ParticipantUDP* participant = ParticipantUDP::Isolated();
+  ParticipantUDP* participant = new ParticipantUDP(0);
   Thing* thing = new Thing();
 
   unsigned long milliseconds = Thing::GetTimeMs();