diff --git a/Arduino/Things/DRV8833.cpp b/Arduino/Things/DRV8833.cpp
index dfd659c..5db7504 100644
--- a/Arduino/Things/DRV8833.cpp
+++ b/Arduino/Things/DRV8833.cpp
@@ -5,6 +5,46 @@
 namespace RoboidControl {
 namespace Arduino {
 
+DRV8833::DRV8833(Configuration config, Participant* participant)
+    : Thing(participant) {
+  this->pinStandby = pinStandby;
+  if (pinStandby != 255)
+    pinMode(pinStandby, OUTPUT);
+
+  this->motorA = new DRV8833Motor(this, config.AIn1, config.AIn2);
+  this->motorA->SetName("Motor A");
+  this->motorB = new DRV8833Motor(this, config.BIn1, config.BIn2);
+  this->motorB->SetName("Motor B");
+}
+
+DRV8833::DRV8833(Configuration config, Thing* parent)
+    : DRV8833(config, parent->owner) {
+  this->SetParent(parent);
+}
+
+#pragma region Differential drive
+
+DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config,
+                                              Participant* owner)
+    : RoboidControl::DifferentialDrive(owner), drv8833(config, owner) {
+  this->leftWheel = this->drv8833.motorA;
+  this->rightWheel = this->drv8833.motorB;
+}
+
+DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config,
+                                              Thing* parent)
+    : RoboidControl::DifferentialDrive(parent), drv8833(config) {}
+
+void DRV8833::DifferentialDrive::Update(unsigned long currentTimeMs,
+                                        bool recurse) {
+  RoboidControl::DifferentialDrive::Update(currentTimeMs, recurse);
+  this->drv8833.Update(currentTimeMs, recurse);
+}
+
+#pragma endregion Differential drive
+
+#pragma region Motor
+
 #if (ESP32)
 uint8_t DRV8833Motor::nextAvailablePwmChannel = 0;
 #endif
@@ -13,9 +53,9 @@ DRV8833Motor::DRV8833Motor(DRV8833* driver,
                            unsigned char pinIn1,
                            unsigned char pinIn2,
                            bool reverse)
-    : Thing(driver->owner) {
+    : Motor(driver->owner) {
   this->SetParent(driver);
-  
+
   this->pinIn1 = pinIn1;
   this->pinIn2 = pinIn2;
 
@@ -33,34 +73,39 @@ DRV8833Motor::DRV8833Motor(DRV8833* driver,
   pinMode(pinIn2, OUTPUT);  // configure the in1 pin to output mode
 #endif
 
-  this->reverse = reverse;
+  // this->reverse = reverse;
 }
 
-void DRV8833Motor::SetMaxRPM(unsigned int rpm) {
-  this->maxRpm = rpm;
-}
+// void DRV8833Motor::SetMaxRPM(unsigned int rpm) {
+//   this->maxRpm = rpm;
+// }
 
-void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
-  Thing::SetAngularVelocity(velocity);
-  // ignoring rotation axis for now.
-  // Spherical angularVelocity = this->GetAngularVelocity();
-  float angularSpeed = velocity.distance;  // in degrees/sec
+// void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
+void DRV8833Motor::SetTargetSpeed(float motorSpeed) {
+  Motor::SetTargetSpeed(motorSpeed);
+  // Thing::SetAngularVelocity(velocity);
+  //  ignoring rotation axis for now.
+  //  Spherical angularVelocity = this->GetAngularVelocity();
+  // float angularSpeed = velocity.distance;  // in degrees/sec
 
-  float rpm = angularSpeed / 360 * 60;
-  float motorSpeed = rpm / this->maxRpm;
+  // float rpm = angularSpeed / 360 * 60;
+  // float motorSpeed = rpm / this->maxRpm;
 
-  uint8_t motorSignal = (uint8_t)(motorSpeed * 255);
-  // if (direction == RotationDirection::CounterClockwise)
-  //   speed = -speed;
-  // Determine the rotation direction
-  if (velocity.direction.horizontal.InDegrees() < 0)
-    motorSpeed = -motorSpeed;
-  if (this->reverse)
-    motorSpeed = -motorSpeed;
+  uint8_t motorSignal =
+      (uint8_t)(motorSpeed > 0 ? motorSpeed * 255 : -motorSpeed * 255);
+  // // if (direction == RotationDirection::CounterClockwise)
+  // //   speed = -speed;
+  // // Determine the rotation direction
+  // if (velocity.direction.horizontal.InDegrees() < 0)
+  //   motorSpeed = -motorSpeed;
+  // if (this->reverse)
+  //   motorSpeed = -motorSpeed;
 
   // std::cout << "ang speed " << this->name << " = " << angularSpeed << "   rpm
-  // " << rpm
-  //           << ", motor signal = " << (int)motorSignal << "\n";
+  // "
+  //           << rpm << ", motor signal = " << (int)motorSignal << "\n";
+  std::cout << "moto speed " << this->name << " = " << motorSpeed
+            << ", motor signal = " << (int)motorSignal << "\n";
 
 #if (ESP32)
   if (motorSpeed == 0) {  // stop
@@ -109,43 +154,7 @@ void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
 #endif
 }
 
-DRV8833::DRV8833(Participant* participant,
-                 unsigned char pinAIn1,
-                 unsigned char pinAIn2,
-                 unsigned char pinBIn1,
-                 unsigned char pinBIn2,
-                 unsigned char pinStandby,
-                 bool reverseA,
-                 bool reverseB)
-    : Thing(participant) {
-  this->pinStandby = pinStandby;
-  if (pinStandby != 255)
-    pinMode(pinStandby, OUTPUT);
-
-  this->motorA = new DRV8833Motor(this, pinAIn1, pinAIn2, reverseA);
-  this->motorA->SetName("Motor A");
-  this->motorB = new DRV8833Motor(this, pinBIn1, pinBIn2, reverseB);
-  this->motorB->SetName("Motor B");
-}
-
-DRV8833::DRV8833(Thing* parent,
-                 unsigned char pinAIn1,
-                 unsigned char pinAIn2,
-                 unsigned char pinBIn1,
-                 unsigned char pinBIn2,
-                 unsigned char pinStandby,
-                 bool reverseA,
-                 bool reverseB)
-    : DRV8833(parent->owner,
-              pinAIn1,
-              pinAIn2,
-              pinBIn1,
-              pinBIn2,
-              pinStandby,
-              reverseA,
-              reverseB) {
-                this->SetParent(parent);
-}
+#pragma endregion Motor
 
 }  // namespace Arduino
 }  // namespace RoboidControl
\ No newline at end of file
diff --git a/Arduino/Things/DRV8833.h b/Arduino/Things/DRV8833.h
index cbd63d6..838bb9a 100644
--- a/Arduino/Things/DRV8833.h
+++ b/Arduino/Things/DRV8833.h
@@ -1,8 +1,10 @@
 #pragma once
 
 #include <Arduino.h>
+#include "Participants/IsolatedParticipant.h"
 #include "Thing.h"
 #include "Things/DifferentialDrive.h"
+#include "Things/Motor.h"
 
 namespace RoboidControl {
 namespace Arduino {
@@ -11,43 +13,49 @@ class DRV8833Motor;
 
 class DRV8833 : public Thing {
  public:
+  struct Configuration {
+    int AIn1;
+    int AIn2;
+    int BIn1;
+    int BIn2;
+  };
+
   /// @brief Setup a DRV8833 motor controller
-  /// @param pinAIn1 The pin number connected to the AIn1 port
-  /// @param pinAIn2 The pin number connected to the AIn2 port
-  /// @param pinBIn1 The pin number connected to the BIn1 port
-  /// @param pinBIn2 The pin number connceted to the BIn2 port
-  /// @param pinStandby The pin number connected to the standby port, 255
-  /// indicated that the port is not connected
-  /// @param reverseA The forward turning direction of motor A
-  /// @param reverseB The forward turning direction of motor B
-  DRV8833(Participant* participant,
-          unsigned char pinAIn1,
-          unsigned char pinAIn2,
-          unsigned char pinBIn1,
-          unsigned char pinBIn2,
-          unsigned char pinStandby = 255,
-          bool reverseA = false,
-          bool reverseB = false);
-  DRV8833(Thing* parent,
-          unsigned char pinAIn1,
-          unsigned char pinAIn2,
-          unsigned char pinBIn1,
-          unsigned char pinBIn2,
-          unsigned char pinStandby = 255,
-          bool reverseA = false,
-          bool reverseB = false);
+  DRV8833(Configuration config, Participant* owner = nullptr);
+  DRV8833(Configuration config, Thing* parent);
+
   DRV8833Motor* motorA = nullptr;
   DRV8833Motor* motorB = nullptr;
 
  protected:
   unsigned char pinStandby = 255;
+
+ public:
+  class DifferentialDrive;
 };
 
-/// @brief Support for a DRV8833 motor controller
-class DRV8833Motor : public Thing {
+#pragma region Differential drive
+
+class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
+ public:
+  DifferentialDrive(DRV8833::Configuration config,
+                    Participant* participant = nullptr);
+  DifferentialDrive(DRV8833::Configuration config, Thing* parent);
+
+  virtual void Update(unsigned long currentTimeMs,
+                      bool recurse = false) override;
+
+ protected:
+  DRV8833 drv8833;
+};
+
+#pragma endregion Differential drive
+
+#pragma region Motor
+
+/// @brief Support for a DRV8833 motor controller
+class DRV8833Motor : public Motor {
  public:
-  /// @brief Motor turning direction
-  enum class RotationDirection { Clockwise = 1, CounterClockwise = -1 };
 
   /// @brief Setup the DC motor
   /// @param pinIn1 the pin number for the in1 signal
@@ -57,16 +65,16 @@ class DRV8833Motor : public Thing {
                unsigned char pinIn1,
                unsigned char pinIn2,
                bool reverse = false);
-  void SetMaxRPM(unsigned int rpm);
+  //void SetMaxRPM(unsigned int rpm);
 
-  virtual void SetAngularVelocity(Spherical velocity) override;
-
-  bool reverse = false;
+  //virtual void SetAngularVelocity(Spherical velocity) override;
+    virtual void SetTargetSpeed(float targetSpeed) override;
+  //bool reverse = false;
 
  protected:
   unsigned char pinIn1 = 255;
   unsigned char pinIn2 = 255;
-  unsigned int maxRpm = 200;
+  //unsigned int maxRpm = 200;
 
 #if (ESP32)
   uint8_t in1Ch;
@@ -75,5 +83,7 @@ class DRV8833Motor : public Thing {
 #endif
 };
 
+#pragma endregion Moto
+
 }  // namespace Arduino
 }  // namespace RoboidControl
\ No newline at end of file
diff --git a/Arduino/Things/UltrasonicSensor.cpp b/Arduino/Things/UltrasonicSensor.cpp
index c4c960e..f86a6d1 100644
--- a/Arduino/Things/UltrasonicSensor.cpp
+++ b/Arduino/Things/UltrasonicSensor.cpp
@@ -1,39 +1,37 @@
 #include "UltrasonicSensor.h"
 
 #include <Arduino.h>
+#include <iostream>
 
 namespace RoboidControl {
 namespace Arduino {
 
-UltrasonicSensor::UltrasonicSensor(Participant* participant,
-                                   unsigned char pinTrigger,
-                                   unsigned char pinEcho)
+UltrasonicSensor::UltrasonicSensor(Configuration config,
+                                   Participant* participant)
     : Thing(participant) {
-  this->pinTrigger = pinTrigger;
-  this->pinEcho = pinEcho;
+  this->pinTrigger = config.triggerPin;
+  this->pinEcho = config.echoPin;
 
   pinMode(pinTrigger, OUTPUT);  // configure the trigger pin to output mode
   pinMode(pinEcho, INPUT);      // configure the echo pin to input mode
 }
 
-UltrasonicSensor::UltrasonicSensor(Thing* parent,
-                                   unsigned char pinTrigger,
-                                   unsigned char pinEcho)
-    : UltrasonicSensor(parent->owner, pinTrigger, pinEcho) {
+UltrasonicSensor::UltrasonicSensor(Configuration config, Thing* parent)
+    : UltrasonicSensor(config, parent->owner) {
   this->SetParent(parent);
 }
 
 float UltrasonicSensor::GetDistance() {
   // Start the ultrasonic 'ping'
   digitalWrite(pinTrigger, LOW);
-  delayMicroseconds(5);
+  delayMicroseconds(2);
   digitalWrite(pinTrigger, HIGH);
   delayMicroseconds(10);
   digitalWrite(pinTrigger, LOW);
 
   // Measure the duration of the pulse on the echo pin
-  float duration_us =
-      pulseIn(pinEcho, HIGH, 100000);  // the result is in microseconds
+  unsigned long duration_us =
+      pulseIn(pinEcho, HIGH);  // the result is in microseconds
 
   // Calculate the distance:
   // * Duration should be divided by 2, because the ping goes to the object
@@ -44,14 +42,18 @@ float UltrasonicSensor::GetDistance() {
   // * Now we calculate the distance based on the speed of sound (340 m/s):
   // distance = duration_sec * 340;
   // * The result calculation is therefore:
-  this->distance = duration_us / 2 / 1000000 * 340;
+  this->distance = (float)duration_us / 2 / 1000000 * 340;
+
+  // Serial.println(this->distance);
+
+  // std::cout << "US distance " << this->distance << std::endl;
 
   // Filter faulty measurements. The sensor can often give values > 30 m which
   // are not correct
   // if (distance > 30)
   //   distance = 0;
 
-  return distance;
+  return this->distance;
 }
 
 void UltrasonicSensor::Update(unsigned long currentTimeMs, bool recursive) {
@@ -59,11 +61,18 @@ void UltrasonicSensor::Update(unsigned long currentTimeMs, bool recursive) {
   Thing::Update(currentTimeMs, recursive);
 }
 
-UltrasonicSensor::TouchSensor::TouchSensor(Thing& parent,
-                                           unsigned char pinTrigger,
-                                           unsigned char pinEcho)
-    : RoboidControl::TouchSensor(&parent),
-      ultrasonic(&parent, pinTrigger, pinEcho) {
+#pragma region Touch sensor
+
+UltrasonicSensor::TouchSensor::TouchSensor(
+    UltrasonicSensor::Configuration config,
+    Thing& parent)
+    : RoboidControl::TouchSensor(&parent), ultrasonic(config, &parent) {
+  this->touchedSomething = false;
+}
+UltrasonicSensor::TouchSensor::TouchSensor(
+    UltrasonicSensor::Configuration config,
+    Thing* parent)
+    : RoboidControl::TouchSensor(parent), ultrasonic(config, parent) {
   this->touchedSomething = false;
 }
 
@@ -74,5 +83,7 @@ void UltrasonicSensor::TouchSensor::Update(unsigned long currentTimeMs,
                             this->ultrasonic.distance <= this->touchDistance);
 }
 
+#pragma region Touch sensor
+
 }  // namespace Arduino
 }  // namespace RoboidControl
\ No newline at end of file
diff --git a/Arduino/Things/UltrasonicSensor.h b/Arduino/Things/UltrasonicSensor.h
index 1e49220..d612777 100644
--- a/Arduino/Things/UltrasonicSensor.h
+++ b/Arduino/Things/UltrasonicSensor.h
@@ -8,16 +8,17 @@ namespace Arduino {
 /// @brief An HC-SR04 ultrasonic distance sensor
 class UltrasonicSensor : Thing {
  public:
+  struct Configuration {
+    int triggerPin;
+    int echoPin;
+  };
+
   /// @brief  Setup an ultrasonic sensor
   /// @param participant The participant to use
   /// @param pinTrigger The pin number of the trigger signal
   /// @param pinEcho The pin number of the echo signal
-  UltrasonicSensor(Participant* participant,
-                   unsigned char pinTrigger,
-                   unsigned char pinEcho);
-  UltrasonicSensor(Thing* parent,
-                   unsigned char pinTrigger,
-                   unsigned char pinEcho);
+  UltrasonicSensor(Configuration config, Participant* participant);
+  UltrasonicSensor(Configuration config, Thing* parent);
 
   // parameters
 
@@ -47,9 +48,12 @@ class UltrasonicSensor : Thing {
   class TouchSensor;
 };
 
+#pragma region Touch sensor
+
 class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
  public:
-  TouchSensor(Thing& parent, unsigned char pinTrigger, unsigned char pinEcho);
+  TouchSensor(UltrasonicSensor::Configuration config, Thing& parent);
+  TouchSensor(UltrasonicSensor::Configuration config, Thing* parent);
 
   float touchDistance = 0.2f;
 
@@ -61,5 +65,7 @@ class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
   UltrasonicSensor ultrasonic;
 };
 
+#pragma region Touch sensor
+
 }  // namespace Arduino
 }  // namespace RoboidControl
\ No newline at end of file
diff --git a/Thing.cpp b/Thing.cpp
index 4fe968a..0807295 100644
--- a/Thing.cpp
+++ b/Thing.cpp
@@ -5,6 +5,7 @@
 #include "Participants/IsolatedParticipant.h"
 
 #include <string.h>
+// #include <iostream>
 
 #if defined(ARDUINO)
 #include "Arduino.h"
@@ -19,12 +20,14 @@ namespace RoboidControl {
 
 #pragma region Init
 
-Thing::Thing(unsigned char thingType)
-    : Thing(IsolatedParticipant::Isolated(), thingType) {}
+// Thing::Thing(unsigned char thingType)
+//     : Thing(IsolatedParticipant::Isolated(), thingType) {}
 
 Thing::Thing(Participant* owner,
              unsigned char thingType,
              unsigned char thingId) {
+  if (owner == nullptr)
+    owner = IsolatedParticipant::Isolated();
   this->owner = owner;
   this->id = thingId;
   this->type = thingType;
@@ -245,6 +248,7 @@ void Thing::Update(unsigned long currentTimeMs, bool recursive) {
   this->nameChanged = false;
 
   if (recursive) {
+    // std::cout << "# chilren: " << (int)this->childCount << std::endl;
     for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
       Thing* child = this->children[childIx];
       if (child == nullptr)
diff --git a/Thing.h b/Thing.h
index 691b6f5..536d050 100644
--- a/Thing.h
+++ b/Thing.h
@@ -43,14 +43,14 @@ class Thing {
 
   /// @brief Create a new thing without communication abilities
   /// @param thingType The type of thing (can use Thing::Type)
-  Thing(unsigned char thingType = Type::Undetermined);
+  //Thing(unsigned char thingType = Type::Undetermined);
 
   /// @brief Create a new thing for a participant
   /// @param owner The owning participant
   /// @param thingType The type of thing (can use Thing::Type)
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  Thing(Participant* owner,
+  Thing(Participant* owner = nullptr,
         unsigned char thingType = Type::Undetermined,
         unsigned char thingId = 0);
 
diff --git a/Things/DifferentialDrive.cpp b/Things/DifferentialDrive.cpp
index 80567a1..f8fc0ca 100644
--- a/Things/DifferentialDrive.cpp
+++ b/Things/DifferentialDrive.cpp
@@ -2,12 +2,15 @@
 
 namespace RoboidControl {
 
-  DifferentialDrive::DifferentialDrive() : Thing(Thing::Type::DifferentialDrive) {}
+DifferentialDrive::DifferentialDrive(Participant* participant,
+                                     unsigned char thingId)
+    : Thing(participant, Thing::Type::DifferentialDrive, thingId) {
+  this->leftWheel = new Motor();
+  this->rightWheel = new Motor();
+}
 
-DifferentialDrive::DifferentialDrive(Participant* participant, unsigned char thingId)
-    : Thing(participant, Thing::Type::DifferentialDrive, thingId) {}
-
-DifferentialDrive::DifferentialDrive(Thing* parent, unsigned char thingId) : Thing(parent, Thing::Type::DifferentialDrive, thingId) {}
+DifferentialDrive::DifferentialDrive(Thing* parent, unsigned char thingId)
+    : Thing(parent, Thing::Type::DifferentialDrive, thingId) {}
 
 void DifferentialDrive::SetDriveDimensions(float wheelDiameter,
                                            float wheelSeparation) {
@@ -24,17 +27,17 @@ void DifferentialDrive::SetDriveDimensions(float wheelDiameter,
     this->rightWheel->SetPosition(Spherical(distance, Direction::right));
 }
 
-void DifferentialDrive::SetMotors(Thing* leftWheel, Thing* rightWheel) {
-  float distance = this->wheelSeparation / 2;
-  this->leftWheel = leftWheel;
-  ;
-  if (leftWheel != nullptr)
-    this->leftWheel->SetPosition(Spherical(distance, Direction::left));
+// void DifferentialDrive::SetMotors(Thing* leftWheel, Thing* rightWheel) {
+//   float distance = this->wheelSeparation / 2;
+//   this->leftWheel = leftWheel;
+//   ;
+//   if (leftWheel != nullptr)
+//     this->leftWheel->SetPosition(Spherical(distance, Direction::left));
 
-  this->rightWheel = rightWheel;
-  if (rightWheel != nullptr)
-    this->rightWheel->SetPosition(Spherical(distance, Direction::right));
-}
+//   this->rightWheel = rightWheel;
+//   if (rightWheel != nullptr)
+//     this->rightWheel->SetPosition(Spherical(distance, Direction::right));
+// }
 
 void DifferentialDrive::SetWheelVelocity(float speedLeft, float speedRight) {
   if (this->leftWheel != nullptr)
diff --git a/Things/DifferentialDrive.h b/Things/DifferentialDrive.h
index 000d8fd..f352611 100644
--- a/Things/DifferentialDrive.h
+++ b/Things/DifferentialDrive.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "Thing.h"
+#include "Motor.h"
 
 namespace RoboidControl {
 
@@ -9,13 +10,14 @@ namespace RoboidControl {
 /// @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
 class DifferentialDrive : public Thing {
  public:
-  /// @brief Create a differential drive without networking support
-  DifferentialDrive();
+  // /// @brief Create a differential drive without networking support
+  // DifferentialDrive();
   /// @brief Create a differential drive with networking support
   /// @param participant The local participant
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  DifferentialDrive(Participant* participant, unsigned char thingId = 0);
+  DifferentialDrive(Participant* participant = nullptr,
+                    unsigned char thingId = 0);
   /// @brief Create a new child differential drive
   /// @param parent The parent thing
   /// @param thingId The ID of the thing, leave out or set to zero to generate
@@ -45,6 +47,11 @@ class DifferentialDrive : public Thing {
   /// @copydoc RoboidControl::Thing::Update(unsigned long)
   virtual void Update(unsigned long currentMs, bool recursive = true) override;
 
+  /// @brief The left wheel
+  Motor* leftWheel = nullptr;
+  /// @brief The right wheel
+  Motor* rightWheel = nullptr;
+
  protected:
   /// @brief The radius of a wheel in meters
   float wheelRadius = 1.0f;
@@ -53,11 +60,6 @@ class DifferentialDrive : public Thing {
 
   /// @brief Convert revolutions per second to meters per second
   float rpsToMs = 1.0f;
-
-  /// @brief The left wheel
-  Thing* leftWheel = nullptr;
-  /// @brief The right wheel
-  Thing* rightWheel = nullptr;
 };
 
 }  // namespace RoboidControl
\ No newline at end of file
diff --git a/Things/DigitalSensor.cpp b/Things/DigitalSensor.cpp
index 528bd7a..5eae131 100644
--- a/Things/DigitalSensor.cpp
+++ b/Things/DigitalSensor.cpp
@@ -2,7 +2,7 @@
 
 namespace RoboidControl {
 
-DigitalSensor::DigitalSensor() : Thing(Type::Switch) {}
+//DigitalSensor::DigitalSensor() : Thing(Type::Switch) {}
 
 DigitalSensor::DigitalSensor(Participant* owner, unsigned char thingId)
     : Thing(owner, Type::Switch, thingId) {}
diff --git a/Things/DigitalSensor.h b/Things/DigitalSensor.h
index 95ab1b3..520ae4c 100644
--- a/Things/DigitalSensor.h
+++ b/Things/DigitalSensor.h
@@ -8,12 +8,12 @@ namespace RoboidControl {
 class DigitalSensor : public Thing {
  public:
   /// @brief Create a digital sensor without communication abilities
-  DigitalSensor();
+  //DigitalSensor();
   /// @brief Create a digital sensor for a participant
   /// @param owner The owning participant
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  DigitalSensor(Participant* owner, unsigned char thingId = 0);
+  DigitalSensor(Participant* owner = nullptr, unsigned char thingId = 0);
   /// @brief Create a new child digital sensor
   /// @param parent The parent thing
   /// @param thingId The ID of the thing, leave out or set to zero to generate
diff --git a/Things/Motor.cpp b/Things/Motor.cpp
new file mode 100644
index 0000000..7d3abd7
--- /dev/null
+++ b/Things/Motor.cpp
@@ -0,0 +1,9 @@
+#include "Motor.h"
+
+RoboidControl::Motor::Motor(Participant* owner) {}
+
+RoboidControl::Motor::Motor(Thing* parent) {}
+
+void RoboidControl::Motor::SetTargetSpeed(float targetSpeed) {
+    this->targetSpeed = targetSpeed;
+}
diff --git a/Things/Motor.h b/Things/Motor.h
new file mode 100644
index 0000000..1ff6716
--- /dev/null
+++ b/Things/Motor.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include "Thing.h"
+
+namespace RoboidControl {
+
+class Motor : public Thing {
+ public:
+  Motor(Participant* owner = nullptr);
+  Motor(Thing* parent);
+
+  /// @brief Motor turning direction
+  enum class Direction { Clockwise = 1, CounterClockwise = -1 };
+  /// @brief The forward turning direction of the motor
+  Direction direction;
+
+  virtual void SetTargetSpeed(float targetSpeed); // -1..0..1
+
+ protected:
+  float targetSpeed = 0;
+};
+
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Things/TouchSensor.cpp b/Things/TouchSensor.cpp
index cef0c9e..809fa9d 100644
--- a/Things/TouchSensor.cpp
+++ b/Things/TouchSensor.cpp
@@ -2,7 +2,7 @@
 
 namespace RoboidControl {
 
-TouchSensor::TouchSensor() : Thing(Thing::Type::TouchSensor) {}
+//TouchSensor::TouchSensor() : Thing(Thing::Type::TouchSensor) {}
 
 TouchSensor::TouchSensor(Participant* owner, unsigned char thingId)
     : Thing(owner, Thing::Type::TouchSensor, thingId) {}
diff --git a/Things/TouchSensor.h b/Things/TouchSensor.h
index 42d6a0b..c176145 100644
--- a/Things/TouchSensor.h
+++ b/Things/TouchSensor.h
@@ -9,12 +9,12 @@ class TouchSensor : public Thing {
 // Why finishing this release (0.3), I notice that this is equivalent to a digital sensor
  public:
   /// @brief Create a touch sensor without communication abilities
-  TouchSensor();
+  //TouchSensor();
   /// @brief Create a touch sensor for a participant
   /// @param owner The owning participant
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  TouchSensor(Participant* owner, unsigned char thingId = 0);
+  TouchSensor(Participant* owner = nullptr, unsigned char thingId = 0);
   /// @brief Create a new child touch sensor
   /// @param parent The parent thing
   /// @param thingId The ID of the thing, leave out or set to zero to generate