diff --git a/Thing.h b/Thing.h
index 2fac262..ebc546c 100644
--- a/Thing.h
+++ b/Thing.h
@@ -36,6 +36,7 @@ class Thing {
     Roboid,
     Humanoid,
     ExternalSensor,
+    DifferentialDrive
   };
 
 #pragma region Init
diff --git a/Things/DifferentialDrive.cpp b/Things/DifferentialDrive.cpp
index ad7ad14..80567a1 100644
--- a/Things/DifferentialDrive.cpp
+++ b/Things/DifferentialDrive.cpp
@@ -1,10 +1,13 @@
 #include "DifferentialDrive.h"
 
 namespace RoboidControl {
-DifferentialDrive::DifferentialDrive() : Thing() {}
 
-RoboidControl::DifferentialDrive::DifferentialDrive(Participant* participant)
-    : Thing(participant) {}
+  DifferentialDrive::DifferentialDrive() : Thing(Thing::Type::DifferentialDrive) {}
+
+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) {}
 
 void DifferentialDrive::SetDriveDimensions(float wheelDiameter,
                                            float wheelSeparation) {
diff --git a/Things/DifferentialDrive.h b/Things/DifferentialDrive.h
index 03e6318..000d8fd 100644
--- a/Things/DifferentialDrive.h
+++ b/Things/DifferentialDrive.h
@@ -13,7 +13,14 @@ class DifferentialDrive : public Thing {
   DifferentialDrive();
   /// @brief Create a differential drive with networking support
   /// @param participant The local participant
-  DifferentialDrive(Participant* 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);
+  /// @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
+  /// an ID
+  DifferentialDrive(Thing* parent, unsigned char thingId = 0);
 
   /// @brief Configures the dimensions of the drive
   /// @param wheelDiameter The diameter of the wheels in meters
@@ -33,7 +40,6 @@ class DifferentialDrive : public Thing {
   /// Positive moves the robot in the forward direction.
   /// @param speedRight The speed of the right wheel in degrees per second.
   /// Positive moves the robot in the forward direction.
-
   void SetWheelVelocity(float speedLeft, float speedRight);
 
   /// @copydoc RoboidControl::Thing::Update(unsigned long)
diff --git a/Things/DigitalSensor.cpp b/Things/DigitalSensor.cpp
index 3f460cb..528bd7a 100644
--- a/Things/DigitalSensor.cpp
+++ b/Things/DigitalSensor.cpp
@@ -2,8 +2,21 @@
 
 namespace RoboidControl {
 
-//DigitalSensor::DigitalSensor() {}
+DigitalSensor::DigitalSensor() : Thing(Type::Switch) {}
 
-DigitalSensor::DigitalSensor(Participant* participant, unsigned char networkId, unsigned char thingId) : Thing(participant) {}
+DigitalSensor::DigitalSensor(Participant* owner, unsigned char thingId)
+    : Thing(owner, Type::Switch, thingId) {}
+
+DigitalSensor::DigitalSensor(Thing* parent, unsigned char thingId)
+    : Thing(parent, Type::Switch) {}
+
+int DigitalSensor::GenerateBinary(char* bytes, unsigned char* ix) {
+  bytes[(*ix)++] = state ? 1 : 0;
+  return 1;
+}
+
+void DigitalSensor::ProcessBinary(char* bytes) {
+  this->state |= (bytes[0] == 1);
+}
 
 }  // namespace RoboidControl
diff --git a/Things/DigitalSensor.h b/Things/DigitalSensor.h
index 5e4bc8a..95ab1b3 100644
--- a/Things/DigitalSensor.h
+++ b/Things/DigitalSensor.h
@@ -7,15 +7,30 @@ namespace RoboidControl {
 /// @brief A digital (on/off, 1/0, true/false) sensor
 class DigitalSensor : public Thing {
  public:
+  /// @brief Create a digital sensor without communication abilities
+  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);
+  /// @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
+  /// an ID
+  DigitalSensor(Thing* parent, unsigned char thingId = 0);
+
   /// @brief The sigital state
   bool state = 0;
 
-  /// @brief The default constructor
-  //DigitalSensor();
-  /// @brief Create a temperature sensor with the given ID
-  /// @param networkId The network ID of the sensor
-  /// @param thingId The ID of the thing
-  DigitalSensor(Participant* participant, unsigned char networkId, unsigned char thingId);
+  /// @brief Function used to generate binary data for this digital sensor
+  /// @param buffer The byte array for thw binary data
+  /// @param ix The starting position for writing the binary data
+  int GenerateBinary(char* bytes, unsigned char* ix) override;
+  /// @brief Function used to process binary data received for this digital
+  /// sensor
+  /// @param bytes The binary data to process
+  virtual void ProcessBinary(char* bytes) override;
 };
 
 }  // namespace RoboidControl
diff --git a/Things/TemperatureSensor.h b/Things/TemperatureSensor.h
index 8d58d9c..a447385 100644
--- a/Things/TemperatureSensor.h
+++ b/Things/TemperatureSensor.h
@@ -7,9 +7,6 @@ namespace RoboidControl {
 /// @brief A temperature sensor
 class TemperatureSensor : public Thing {
  public:
-  /// @brief The measured temperature
-  float temperature = 0;
-
   /// @brief The default constructor
   //TemperatureSensor();
   /// @brief Create a temperature sensor with the given ID
@@ -17,6 +14,9 @@ class TemperatureSensor : public Thing {
   /// @param thingId The ID of the thing
   TemperatureSensor(Participant* participant, unsigned char thingId);
 
+      /// @brief The measured temperature
+      float temperature = 0;
+
   /// @brief Manually override the measured temperature
   /// @param temperature The new temperature
   virtual void SetTemperature(float temperature);
diff --git a/Things/TouchSensor.cpp b/Things/TouchSensor.cpp
index be98aeb..cef0c9e 100644
--- a/Things/TouchSensor.cpp
+++ b/Things/TouchSensor.cpp
@@ -1,22 +1,22 @@
 #include "TouchSensor.h"
 
 namespace RoboidControl {
+
 TouchSensor::TouchSensor() : Thing(Thing::Type::TouchSensor) {}
 
-TouchSensor::TouchSensor(Participant* participant)
-    : Thing(participant, Thing::Type::TouchSensor) {}
+TouchSensor::TouchSensor(Participant* owner, unsigned char thingId)
+    : Thing(owner, Thing::Type::TouchSensor, thingId) {}
 
-TouchSensor::TouchSensor(Thing* parent) : Thing(parent->owner) {
+TouchSensor::TouchSensor(Thing* parent, unsigned char thingId) : Thing(parent->owner, Thing::Type::TouchSensor, thingId) {
   this->SetParent(parent);
 }
 
 int TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {
-  return 0;
+  bytes[(*ix)++] = touchedSomething ? 1 : 0;
+  return 1;
 }
 
 void TouchSensor::ProcessBinary(char* bytes) {
-  if (bytes[0] == 1)
-    std::cout << this->GetName() << " is Touching something!\n";
   this->touchedSomething |= (bytes[0] == 1);
 }
 
diff --git a/Things/TouchSensor.h b/Things/TouchSensor.h
index 4e6d483..42d6a0b 100644
--- a/Things/TouchSensor.h
+++ b/Things/TouchSensor.h
@@ -6,31 +6,31 @@ namespace RoboidControl {
 
 /// @brief A sensor which can detect touches
 class TouchSensor : public Thing {
+// Why finishing this release (0.3), I notice that this is equivalent to a digital sensor
  public:
-  // Inherit all constructors
-  using Thing::Thing;
-  
-  /// @brief Create a touch sensor with isolated participant
+  /// @brief Create a touch sensor without communication abilities
   TouchSensor();
-  /// @brief Create a touch sensor
-  TouchSensor(Participant* participant);
-  /// @brief Create a temperature sensor with the given ID
-  /// @param networkId The network ID of the sensor
-  /// @param thingId The ID of the thing
-  TouchSensor(Thing* parent);
-  // TouchSensor(RemoteParticipant* participant, unsigned char networkId,
-  // unsigned char thingId);
+  /// @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);
+  /// @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
+  /// an ID
+  TouchSensor(Thing* parent, unsigned char thingId = 0);
 
   /// @brief Value which is true when the sensor is touching something, false
   /// otherwise
   bool touchedSomething = false;
 
-  /// @brief Function to create a binary message with the temperature
+  /// @brief Function used to generate binary data for this touch sensor
   /// @param buffer The byte array for thw binary data
   /// @param ix The starting position for writing the binary data
   int GenerateBinary(char* bytes, unsigned char* ix) override;
-  /// @brief Function to extract the temperature received in the binary message
-  /// @param bytes The binary data
+  /// @brief Function used to process binary data received for this touch sensor
+  /// @param bytes The binary data to process
   virtual void ProcessBinary(char* bytes) override;
 };