diff --git a/ControlledMotor.h b/ControlledMotor.h
index 3c3d1e9..a522b7b 100644
--- a/ControlledMotor.h
+++ b/ControlledMotor.h
@@ -27,11 +27,11 @@ public:
 
   /// @brief Set the target speed for the motor controller
   /// @param speed the target in revolutions per second.
-  void SetTargetSpeed(float speed);
+  virtual void SetTargetSpeed(float speed);
 
   /// @brief Get the actual speed from the encoder
   /// @return The speed in revolutions per second
-  float GetActualSpeed();
+  virtual float GetActualSpeed();
 
   bool Drive(float distance);
 
diff --git a/FeedbackServo.h b/FeedbackServo.h
new file mode 100644
index 0000000..6d2085e
--- /dev/null
+++ b/FeedbackServo.h
@@ -0,0 +1,16 @@
+#pragma once
+
+#include "Servo.h"
+
+namespace Passer {
+namespace RoboidContol {
+
+class FeedbackServo : public Servo {
+public:
+  FeedbackServo();
+
+  virtual float GetActualAngle() = 0;
+};
+
+} // namespace RoboidContol
+} // namespace Passer
\ No newline at end of file
diff --git a/Servo.h b/Servo.h
index 27f9bca..27cd9e3 100644
--- a/Servo.h
+++ b/Servo.h
@@ -2,9 +2,16 @@
 
 #include "ControlledMotor.h"
 
-class Servo : public ControlledMotor {
+namespace Passer {
+namespace RoboidContol {
+
+class Servo : public Thing {
 public:
   Servo();
 
   virtual void SetTargetAngle(float angle) = 0;
-};
\ No newline at end of file
+};
+
+} // namespace RoboidContol
+} // namespace Passer
+using namespace Passer::RoboidContol;
\ No newline at end of file