diff --git a/ArduinoUtils.cpp b/Arduino/ArduinoUtils.cpp
similarity index 69%
rename from ArduinoUtils.cpp
rename to Arduino/ArduinoUtils.cpp
index ccc85d6..06e8ff8 100644
--- a/ArduinoUtils.cpp
+++ b/Arduino/ArduinoUtils.cpp
@@ -1,11 +1,42 @@
 #include "ArduinoUtils.h"
+
 #if defined(ARDUINO)
+
 #include <Arduino.h>
+#include <HTTPClient.h>
+
+#if defined(ARDUINO_ARCH_ESP8266)
 #include <ESP8266WiFi.h>
 #include <ESP8266httpUpdate.h>
+#elif defined(ESP32)
+#include <HTTPUpdate.h>
+#include <WiFi.h>
+#endif
 
-bool StartWifi(const char *wifiSsid, const char *wifiPassword,
-               bool hotspotFallback) {
+const char* hotspotSSID = "Roboid";
+const char* hotspotPassword = "alchemy7000";
+
+#if ESP32
+// Flash storage
+#include "Preferences.h"
+
+#define PREFERENCES_NAMESPACE "roboidControl"
+Preferences wifiPreferences;
+
+#define STORAGE_KEY_WIFI "rc/wifi"
+struct WifiCredentials {
+  char ssid[32] = "\0";
+  char password[32] = "\0";
+} credentials;
+
+#define STORAGE_KEY_NSS "rc/nss"
+struct NssServer {
+  char ipAddress[16] = "127.0.0.1\0";
+  unsigned short port = 7681;
+} nssServer;
+#endif
+
+bool StartWifi(const char* wifiSsid, const char* wifiPassword, bool hotspotFallback) {
 #if UNO_R4 || ARDUINO_ARCH_RP2040
   if (WiFi.status() == WL_NO_MODULE) {
     Serial.println("WiFi not present, WiFiSync is disabled");
@@ -83,10 +114,8 @@ bool StartWifi(const char *wifiSsid, const char *wifiPassword,
 #if ESP32
     printf("Checking credentials in flash\n");
     wifiPreferences.begin(PREFERENCES_NAMESPACE);
-    wifiPreferences.getBytes(STORAGE_KEY_WIFI, &credentials,
-                             sizeof(credentials));
-    if (strcmp(wifiSsid, credentials.ssid) != 0 ||
-        strcmp(wifiPassword, credentials.password) != 0) {
+    wifiPreferences.getBytes(STORAGE_KEY_WIFI, &credentials, sizeof(credentials));
+    if (strcmp(wifiSsid, credentials.ssid) != 0 || strcmp(wifiPassword, credentials.password) != 0) {
       printf("Updating credentials in flash...");
       const int ssidLen = strlen(wifiSsid);
       if (ssidLen < 32) {
@@ -99,8 +128,7 @@ bool StartWifi(const char *wifiSsid, const char *wifiPassword,
         memcpy(credentials.password, wifiPassword, pwdLen);
         credentials.password[pwdLen] = '\0';
       }
-      wifiPreferences.putBytes(STORAGE_KEY_WIFI, &credentials,
-                               sizeof(credentials));
+      wifiPreferences.putBytes(STORAGE_KEY_WIFI, &credentials, sizeof(credentials));
       printf(" completed.\n");
     }
     wifiPreferences.end();
@@ -132,18 +160,26 @@ void CheckFirmware(String url, String FIRMWARE_NAME, int FIRMWARE_VERSION) {
       Serial.println("Preparing to update firmware.");
 
       String firmwareURL = url + FIRMWARE_NAME + ".bin";
+#if defined(ESP32)
+      t_httpUpdate_return ret = httpUpdate.update(client, firmwareURL);
+#else
       t_httpUpdate_return ret = ESPhttpUpdate.update(client, firmwareURL);
+#endif
       switch (ret) {
-      case HTTP_UPDATE_FAILED:
-        Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s",
-                      ESPhttpUpdate.getLastError(),
-                      ESPhttpUpdate.getLastErrorString().c_str());
-        break;
-      case HTTP_UPDATE_NO_UPDATES:
-        Serial.println("HTTP_UPDATE_NO_UPDATES");
-        break;
-      case HTTP_UPDATE_OK:
-        break;
+        case HTTP_UPDATE_FAILED:
+#if defined(ESP32)
+          Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s", httpUpdate.getLastError(),
+                        httpUpdate.getLastErrorString().c_str());
+#else
+          Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s", ESPhttpUpdate.getLastError(),
+                        ESPhttpUpdate.getLastErrorString().c_str());
+#endif
+          break;
+        case HTTP_UPDATE_NO_UPDATES:
+          Serial.println("HTTP_UPDATE_NO_UPDATES");
+          break;
+        case HTTP_UPDATE_OK:
+          break;
       }
     } else {
       Serial.println("No Firmware update necessary.");
diff --git a/ArduinoUtils.h b/Arduino/ArduinoUtils.h
similarity index 100%
rename from ArduinoUtils.h
rename to Arduino/ArduinoUtils.h
diff --git a/Arduino/Participant.cpp b/Arduino/Participant.cpp
new file mode 100644
index 0000000..e69de29
diff --git a/Arduino/Participant.h b/Arduino/Participant.h
new file mode 100644
index 0000000..dc754c2
--- /dev/null
+++ b/Arduino/Participant.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include "../Participant.h"
+
+namespace Passer {
+namespace RoboidControl {
+namespace Arduino {
+
+class Participant : public RoboidControl::Participant {
+ public:
+  void Setup(int localPort, const char* remoteIpAddress, int remotePort);
+  void Receive();
+  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
+  bool Publish(IMessage* msg);
+
+ protected:
+  void GetBroadcastAddress();
+};
+
+}  // namespace Arduino
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4e5d151..9b5e493 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,7 +27,14 @@ else()
         .
         LinearAlgebra
     )
-    file(GLOB srcs *.cpp Sensors/*.cpp Messages/*.cpp)
+    file(GLOB srcs 
+        *.cpp
+        Sensors/*.cpp
+        Messages/*.cpp
+        Arduino/*.cpp
+        Posix/*.cpp
+        Windows/*.cpp
+    )
     add_library(ControlCore STATIC ${srcs})
     
     enable_testing()
diff --git a/DoxyGen/Doxyfile b/DoxyGen/Doxyfile
index 0ba0d5c..853c02a 100644
--- a/DoxyGen/Doxyfile
+++ b/DoxyGen/Doxyfile
@@ -42,7 +42,7 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "Control Core for C++"
+PROJECT_NAME           = "Roboid Control for C++"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
@@ -61,14 +61,14 @@ PROJECT_BRIEF          =
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           = //intranet/home/Afbeeldingen/PasserVR/Logos/Logo3NameRight100.png
+PROJECT_LOGO           = //intranet/home/Afbeeldingen/PasserVR/Logos/PasserLife/PasserLifeLogoLeft_300.png
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is
 # entered, it will be relative to the location where doxygen was started. If
 # left blank the current directory will be used.
 
-OUTPUT_DIRECTORY       = //intranet/web/passer_life/apis/ControlCore/Cpp/
+OUTPUT_DIRECTORY       = //intranet/web/roboidcontrol_doc/Cpp/
 
 # If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
 # sub-directories (in 2 levels) under the output directory of each output format
@@ -777,7 +777,7 @@ MAX_INITIALIZER_LINES  = 30
 # list will mention the files that were used to generate the documentation.
 # The default value is: YES.
 
-SHOW_USED_FILES        = YES
+SHOW_USED_FILES        = NO
 
 # Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
 # will remove the Files entry from the Quick Index and from the Folder Tree View
@@ -1044,7 +1044,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                =
+EXCLUDE                = ../LinearAlgebra
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
diff --git a/Messages/CustomMsg.cpp b/Messages/BinaryMsg.cpp
similarity index 61%
rename from Messages/CustomMsg.cpp
rename to Messages/BinaryMsg.cpp
index 40e91f1..fe8e380 100644
--- a/Messages/CustomMsg.cpp
+++ b/Messages/BinaryMsg.cpp
@@ -1,9 +1,9 @@
-#include "CustomMsg.h"
+#include "BinaryMsg.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
-CustomMsg::CustomMsg(char *buffer) {
+BinaryMsg::BinaryMsg(char *buffer) {
   unsigned char ix = 1;
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
@@ -12,17 +12,17 @@ CustomMsg::CustomMsg(char *buffer) {
                    // lifetime is shorter than the buffer lifetime...
 }
 
-CustomMsg::CustomMsg(unsigned char networkId, Thing *thing) {
+BinaryMsg::BinaryMsg(unsigned char networkId, Thing *thing) {
   this->networkId = networkId;
   this->thingId = thing->id;
   this->thing = thing;
 }
 
-CustomMsg::~CustomMsg() {}
+BinaryMsg::~BinaryMsg() {}
 
-unsigned char CustomMsg::Serialize(char *buffer) {
+unsigned char BinaryMsg::Serialize(char *buffer) {
   unsigned char ix = this->length;
-  this->thing->SendBytes(buffer, &ix);
+  this->thing->GenerateBinary(buffer, &ix);
   if (ix <= this->length) // in this case, no data is actually sent
     return 0;
 
@@ -32,10 +32,10 @@ unsigned char CustomMsg::Serialize(char *buffer) {
   return ix;
 }
 
-CustomMsg CustomMsg::Receive(char *buffer, unsigned char bufferSize) {
-  CustomMsg msg = CustomMsg(buffer);
+BinaryMsg BinaryMsg::Receive(char *buffer, unsigned char bufferSize) {
+  BinaryMsg msg = BinaryMsg(buffer);
   return msg;
 }
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
diff --git a/Messages/CustomMsg.h b/Messages/BinaryMsg.h
similarity index 57%
rename from Messages/CustomMsg.h
rename to Messages/BinaryMsg.h
index 169562a..987b8a8 100644
--- a/Messages/CustomMsg.h
+++ b/Messages/BinaryMsg.h
@@ -3,9 +3,9 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
-class CustomMsg : public IMessage {
+class BinaryMsg : public IMessage {
 public:
   static const unsigned char id = 0xB1;
   static const unsigned length = 3;
@@ -17,14 +17,14 @@ public:
   unsigned char bytesSize;
   char *bytes = nullptr;
 
-  CustomMsg(char *buffer);
-  CustomMsg(unsigned char networkId, Thing *thing);
-  virtual ~CustomMsg();
+  BinaryMsg(char *buffer);
+  BinaryMsg(unsigned char networkId, Thing *thing);
+  virtual ~BinaryMsg();
 
   virtual unsigned char Serialize(char *buffer) override;
 
-  static CustomMsg Receive(char *buffer, unsigned char bufferSize);
+  static BinaryMsg Receive(char *buffer, unsigned char bufferSize);
 };
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
diff --git a/Messages/ClientMsg.cpp b/Messages/ClientMsg.cpp
deleted file mode 100644
index 083cb89..0000000
--- a/Messages/ClientMsg.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-#include "ClientMsg.h"
-
-namespace Passer::Control {
-
-ClientMsg::ClientMsg(char networkId) { this->networkId = networkId; }
-
-ClientMsg::ClientMsg(const char *buffer) { this->networkId = buffer[1]; }
-
-ClientMsg::~ClientMsg() {}
-
-unsigned char ClientMsg::Serialize(char *buffer) {
-  unsigned char ix = 0;
-  buffer[ix++] = this->id;
-  buffer[ix++] = this->networkId;
-  return ClientMsg::length;
-}
-
-// bool ClientMsg::Send(Participant *participant, unsigned char networkId) {
-//   ClientMsg msg = ClientMsg()
-// }
-// Client Msg
-
-} // namespace Passer::Control
\ No newline at end of file
diff --git a/Messages/ClientMsg.h b/Messages/ClientMsg.h
deleted file mode 100644
index 4d45566..0000000
--- a/Messages/ClientMsg.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#include "Messages.h"
-
-namespace Passer {
-namespace Control {
-
-/// @brief A client message announces the presence of a participant
-/// When received by another participant, it can be followed by a NetworkIdMsg
-/// to announce that participant to this client such that it can join privately
-class ClientMsg : public IMessage {
-public:
-  static const unsigned char id = 0xA0;
-  static const unsigned char length = 2;
-  unsigned char networkId;
-
-  ClientMsg(char networkId);
-  ClientMsg(const char *buffer);
-  virtual ~ClientMsg();
-
-  virtual unsigned char Serialize(char *buffer) override;
-};
-
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
diff --git a/Messages/DestroyMsg.cpp b/Messages/DestroyMsg.cpp
index ecd1b1a..e2c04ad 100644
--- a/Messages/DestroyMsg.cpp
+++ b/Messages/DestroyMsg.cpp
@@ -1,13 +1,15 @@
 #include "DestroyMsg.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 DestroyMsg::DestroyMsg(unsigned char networkId, Thing *thing) {
   this->networkId = networkId;
   this->thingId = thing->id;
 }
 
+DestroyMsg::DestroyMsg(char* buffer) {}
+
 DestroyMsg::~DestroyMsg() {}
 
 unsigned char DestroyMsg::Serialize(char *buffer) {
@@ -18,5 +20,5 @@ unsigned char DestroyMsg::Serialize(char *buffer) {
   return ix;
 }
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
diff --git a/Messages/DestroyMsg.h b/Messages/DestroyMsg.h
index 4d83c17..66a6830 100644
--- a/Messages/DestroyMsg.h
+++ b/Messages/DestroyMsg.h
@@ -1,19 +1,31 @@
 #include "Messages.h"
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
+/// @brief Message notifiying that a Thing no longer exists
 class DestroyMsg : public IMessage {
 public:
+  /// @brief The message ID
   static const unsigned char id = 0x20;
+  /// @brief The length of the message
   static const unsigned length = 3;
+  /// @brief The network ID of the thing
   unsigned char networkId;
+  /// @brief The ID of the thing
   unsigned char thingId;
 
+  /// @brief Create a message for sending
+  /// @param networkId The network ID of the thing
+  /// @param thing The ID of the thing
   DestroyMsg(unsigned char networkId, Thing *thing);
+  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  DestroyMsg(char * buffer);
+  /// @brief Destructor for the message 
   virtual ~DestroyMsg();
 
+  /// @copydoc Passer::RoboidControl::IMessage::Serialize
   virtual unsigned char Serialize(char *buffer) override;
 };
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
\ No newline at end of file
diff --git a/Messages/InvestigateMsg.h b/Messages/InvestigateMsg.h
index 21cf98d..09eb0a8 100644
--- a/Messages/InvestigateMsg.h
+++ b/Messages/InvestigateMsg.h
@@ -1,15 +1,32 @@
 #include "Messages.h"
 
+namespace Passer {
+namespace RoboidControl {
+
+/// @brief Message to request details for a Thing
 class InvestigateMsg : public IMessage {
-public:
+ public:
+  /// @brief The message ID
   static const unsigned char id = 0x81;
+  /// @brief The length of the message
   static const unsigned char length = 3;
+  /// @brief The network ID of the thing
   unsigned char networkId;
+  /// @brief the ID of the thing
   unsigned char thingId;
 
-  InvestigateMsg(char *buffer);
+  /// @brief Create a new message for sending
+  /// @param networkId The network ID for the thing
+  /// @param thingId The ID of the thing
   InvestigateMsg(unsigned char networkId, unsigned char thingId);
+  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  InvestigateMsg(char* buffer);
+  /// @brief Destructor for the message
   virtual ~InvestigateMsg();
 
-  virtual unsigned char Serialize(char *buffer) override;
+  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  virtual unsigned char Serialize(char* buffer) override;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file
diff --git a/Messages/LowLevelMessages.cpp b/Messages/LowLevelMessages.cpp
index 45c34f0..ccce3b4 100644
--- a/Messages/LowLevelMessages.cpp
+++ b/Messages/LowLevelMessages.cpp
@@ -57,7 +57,7 @@ Spherical16 LowLevelMessages::ReceiveSpherical16(const char *buffer,
   return s;
 }
 
-void Passer::Control::LowLevelMessages::SendQuat32(char *buffer,
+void Passer::RoboidControl::LowLevelMessages::SendQuat32(char *buffer,
                                                    unsigned char *ix,
                                                    SwingTwist16 rotation) {
   Quaternion q = rotation.ToQuaternion();
diff --git a/Messages/LowLevelMessages.h b/Messages/LowLevelMessages.h
index 62ef3fe..0032cf4 100644
--- a/Messages/LowLevelMessages.h
+++ b/Messages/LowLevelMessages.h
@@ -2,7 +2,7 @@
 #include "LinearAlgebra/SwingTwist.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class LowLevelMessages {
 public:
@@ -20,6 +20,6 @@ public:
   static SwingTwist16 ReceiveQuat32(const char *buffer, unsigned char *ix);
 };
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
-using namespace Passer::Control;
\ No newline at end of file
+using namespace Passer::RoboidControl;
\ No newline at end of file
diff --git a/Messages/Messages.cpp b/Messages/Messages.cpp
index dab6b01..147e764 100644
--- a/Messages/Messages.cpp
+++ b/Messages/Messages.cpp
@@ -1,7 +1,7 @@
 #include "Messages.h"
 
 #include "LowLevelMessages.h"
-// #include "Messages/CustomMsg.h"
+// #include "Messages/BinaryMsg.h"
 #include "Participant.h"
 #include "string.h"
 
@@ -11,7 +11,11 @@ IMessage::IMessage() {}
 
 // IMessage::IMessage(unsigned char *buffer) { Deserialize(buffer); }
 
-unsigned char IMessage::Serialize(char *buffer) { return 0; }
+IMessage::IMessage(char* buffer) {}
+
+unsigned char IMessage::Serialize(char* buffer) {
+  return 0;
+}
 
 // void IMessage::Deserialize(unsigned char *buffer) {}
 
@@ -20,9 +24,9 @@ unsigned char IMessage::Serialize(char *buffer) { return 0; }
 //   return client->SendBuffer(msg.Serialize(client->buffer));
 // }
 
-unsigned char *IMessage::ReceiveMsg(unsigned char packetSize) {
-  return nullptr;
-}
+// unsigned char *IMessage::ReceiveMsg(unsigned char packetSize) {
+//   return nullptr;
+// }
 
 // bool IMessage::Publish(Participant *participant) {
 //   return participant->PublishBuffer(Serialize(participant->buffer));
diff --git a/Messages/ModelUrlMsg.cpp b/Messages/ModelUrlMsg.cpp
index 01cf874..b70f1af 100644
--- a/Messages/ModelUrlMsg.cpp
+++ b/Messages/ModelUrlMsg.cpp
@@ -3,7 +3,7 @@
 #include <string.h>
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 // ModelUrlMsg::ModelUrlMsg(unsigned char networkId, unsigned char thingId,
 //                          unsigned char urlLength, const char *url,
@@ -51,5 +51,5 @@ unsigned char ModelUrlMsg::Serialize(char *buffer) {
   return ix;
 }
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
\ No newline at end of file
diff --git a/Messages/ModelUrlMsg.h b/Messages/ModelUrlMsg.h
index 0cce9f5..0b3f521 100644
--- a/Messages/ModelUrlMsg.h
+++ b/Messages/ModelUrlMsg.h
@@ -1,25 +1,39 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
+/// @brief Message for communicating the URL for a model of the thing
 class ModelUrlMsg : public IMessage {
 public:
+  /// @brief The message ID
   static const unsigned char id = 0x90;
+  /// @brief The length of the message without the URL string itself
+  static const unsigned char length = 3;
 
+  /// @brief The network ID of the thing
   unsigned char networkId;
+  /// @brief The ID of the thing
   unsigned char thingId;
-
-  float scale;
+  
+  /// @brief The length of the url st5ring, excluding the null terminator
   unsigned char urlLength;
+  /// @brief The url of the model, not terminated by a null character
   const char *url;
 
-  ModelUrlMsg(const char *buffer);
+  /// @brief Create a new message for sending
+  /// @param networkId The network ID of the thing
+  /// @param thing The thing for which to send the mode URL
   ModelUrlMsg(unsigned char networkId, Thing *thing);
+  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  ModelUrlMsg(const char *buffer);
   //   ModelUrlMsg(unsigned char networkId, unsigned char thingId,
   //               unsigned char urlLegth, const char *url, float scale = 1);
+  
+  /// @brief Destructor for the message
   virtual ~ModelUrlMsg();
 
+  /// @copydoc Passer::RoboidControl::IMessage::Serialize
   virtual unsigned char Serialize(char *buffer) override;
 };
 
diff --git a/Messages/NameMsg.cpp b/Messages/NameMsg.cpp
index 198cb03..9f926ce 100644
--- a/Messages/NameMsg.cpp
+++ b/Messages/NameMsg.cpp
@@ -3,7 +3,17 @@
 #include <string.h>
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
+
+NameMsg::NameMsg(unsigned char networkId, Thing *thing) {
+  this->networkId = networkId;
+  this->thingId = thing->id;
+  if (thing->name == nullptr)
+    this->nameLength = 0;
+  else
+    this->nameLength = strlen(thing->name);
+  this->name = thing->name; // dangerous!
+}
 
 NameMsg::NameMsg(const char *buffer) {
   unsigned char ix = 1; // first byte is msg id
@@ -18,16 +28,6 @@ NameMsg::NameMsg(const char *buffer) {
   this->name = name;
 }
 
-NameMsg::NameMsg(unsigned char networkId, Thing *thing) {
-  this->networkId = networkId;
-  this->thingId = thing->id;
-  if (thing->name == nullptr)
-    this->nameLength = 0;
-  else
-    this->nameLength = strlen(thing->name);
-  this->name = thing->name; // dangerous!
-}
-
 NameMsg::~NameMsg() {
   delete[] this->name;
 }
diff --git a/Messages/NameMsg.h b/Messages/NameMsg.h
index 58ec135..4a94237 100644
--- a/Messages/NameMsg.h
+++ b/Messages/NameMsg.h
@@ -1,25 +1,39 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
+/// @brief Message for communicating the name of a thing
 class NameMsg : public IMessage {
-public:
+ public:
+  /// @brief The message ID
   static const unsigned char id = 0x91;
+  /// @brief The length of the message
   static const unsigned char length = 4;
+  /// @brief The network ID of the thing
   unsigned char networkId;
+  /// @brief The ID of the thing
   unsigned char thingId;
+  /// @brief The length of the name, excluding the null terminator
   unsigned char nameLength;
-  const char *name;
+  /// @brief The name of the thing, not terminated with a null character
+  const char* name;
 
-  NameMsg(const char *buffer);
-  NameMsg(unsigned char networkId, Thing *thing);
+  /// @brief Create a new message for sending
+  /// @param networkId The network ID of the thing
+  /// @param thing The ID of the thing
+  NameMsg(unsigned char networkId, Thing* thing);
   //   NameMsg(unsigned char networkId, unsigned char thingId, const char *name,
   //           unsigned char nameLength);
+
+  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  NameMsg(const char* buffer);
+  /// @brief Destructor for the message
   virtual ~NameMsg();
 
-  virtual unsigned char Serialize(char *buffer) override;
+  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  virtual unsigned char Serialize(char* buffer) override;
 };
 
-} // namespace Control
-} // namespace Passer
+}  // namespace RoboidControl
+}  // namespace Passer
diff --git a/Messages/NetworkIdMsg.cpp b/Messages/NetworkIdMsg.cpp
index 21ceabc..b133d3c 100644
--- a/Messages/NetworkIdMsg.cpp
+++ b/Messages/NetworkIdMsg.cpp
@@ -1,7 +1,7 @@
 #include "NetworkIdMsg.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 NetworkIdMsg::NetworkIdMsg(const char *buffer) { this->networkId = buffer[1]; }
 
diff --git a/Messages/NetworkIdMsg.h b/Messages/NetworkIdMsg.h
index 21731bb..afc4fb8 100644
--- a/Messages/NetworkIdMsg.h
+++ b/Messages/NetworkIdMsg.h
@@ -1,20 +1,28 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
+/// @brief A message communicating the network ID for that participant
 class NetworkIdMsg : public IMessage {
 public:
+  /// @brief The message ID
   static const unsigned char id = 0xA1;
+  /// @brief The length of the message
   static const unsigned char length = 2;
+  /// @brief The network ID for the participant
   unsigned char networkId;
 
-  NetworkIdMsg(const char *buffer);
+  /// @brief Create a new message for sending
+  /// @param networkId The network ID for the participant
   NetworkIdMsg(unsigned char networkId);
+  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  NetworkIdMsg(const char *buffer);
+  /// @brief Destructor for the message
   virtual ~NetworkIdMsg();
 
+  /// @copydoc Passer::RoboidControl::IMessage::Serialize
   virtual unsigned char Serialize(char *buffer) override;
-  // static NetworkIdMsg Receive(char *buffer, unsigned char bufferSize);
 };
 
 } // namespace Control
diff --git a/Messages/ParticipantMsg.cpp b/Messages/ParticipantMsg.cpp
new file mode 100644
index 0000000..e9452ea
--- /dev/null
+++ b/Messages/ParticipantMsg.cpp
@@ -0,0 +1,23 @@
+#include "ParticipantMsg.h"
+
+namespace Passer::RoboidControl {
+
+ParticipantMsg::ParticipantMsg(char networkId) { this->networkId = networkId; }
+
+ParticipantMsg::ParticipantMsg(const char *buffer) { this->networkId = buffer[1]; }
+
+ParticipantMsg::~ParticipantMsg() {}
+
+unsigned char ParticipantMsg::Serialize(char *buffer) {
+  unsigned char ix = 0;
+  buffer[ix++] = this->id;
+  buffer[ix++] = this->networkId;
+  return ParticipantMsg::length;
+}
+
+// bool ParticipantMsg::Send(Participant *participant, unsigned char networkId) {
+//   ParticipantMsg msg = ParticipantMsg()
+// }
+// Client Msg
+
+} // namespace Passer::RoboidControl
\ No newline at end of file
diff --git a/Messages/ParticipantMsg.h b/Messages/ParticipantMsg.h
new file mode 100644
index 0000000..df742e9
--- /dev/null
+++ b/Messages/ParticipantMsg.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include "Messages.h"
+
+namespace Passer {
+namespace RoboidControl {
+
+/// @brief A participant messages notifies other participants of its presence
+/// When received by another participant, it can be followed by a NetworkIdMsg
+/// to announce that participant to this client such that it can join privately
+class ParticipantMsg : public IMessage {
+ public:
+  /// @brief The message ID
+  static const unsigned char id = 0xA0;
+  /// @brief The length of the message
+  static const unsigned char length = 2;
+  /// @brief The network ID known by the participant
+  unsigned char networkId;
+
+  /// @brief Create a new message for sending
+  /// @param networkId The network ID known by the participant
+  ParticipantMsg(char networkId);
+
+  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  ParticipantMsg(const char* buffer);
+  /// @brief Destructor for the message
+  virtual ~ParticipantMsg();
+
+  /// @brief Serialize the message into a byte array
+  /// @param buffer The buffer to serialize into
+  /// @return The length of the message in the buffer
+  virtual unsigned char Serialize(char* buffer) override;
+};
+
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file
diff --git a/Messages/PoseMsg.h b/Messages/PoseMsg.h
index a5facd9..ddb2e07 100644
--- a/Messages/PoseMsg.h
+++ b/Messages/PoseMsg.h
@@ -1,30 +1,66 @@
 #include "Messages.h"
 
+namespace Passer {
+namespace RoboidControl {
+
+/// @brief Message to communicate the pose of the thing
+/// The pose is in local space relative to the parent. If there is not parent (the thing is a root thing), the pose will
+/// be in world space.
 class PoseMsg : public IMessage {
-public:
+ public:
+  /// @brief The message ID
   static const unsigned char id = 0x10;
+  /// @brief The length of the message
   unsigned char length = 4 + 4 + 4;
 
+  /// @brief The network ID of the thing
   unsigned char networkId;
+  /// @brief The ID of the thing
   unsigned char thingId;
 
+  /// @brief Bit pattern stating which pose components are available
   unsigned char poseType;
+  /// @brief Bit pattern for a pose with position
   static const unsigned char Pose_Position = 0x01;
+  /// @brief Bit pattern for a pose with orientation
   static const unsigned char Pose_Orientation = 0x02;
-  static const unsigned char Pose_LinearVelocity = 0x04;  // For future use
-  static const unsigned char Pose_AngularVelocity = 0x08; // For future use
+  /// @brief Bit pattern for a pose with linear velocity
+  static const unsigned char Pose_LinearVelocity = 0x04;
+  /// @brief Bit pattern for a pose with angular velocity
+  static const unsigned char Pose_AngularVelocity = 0x08;
 
+  /// @brief The position of the thing in local space in meters
   Spherical16 position;
+  /// @brief The orientation of the thing in local space
   SwingTwist16 orientation;
+  /// @brief The linear velocity of the thing in local space in meters per second
   Spherical16 linearVelocity;
+  /// @brief The angular velocity of the thing in local space
   Spherical16 angularVelocity;
 
-  PoseMsg(unsigned char networkId, unsigned char thingId,
-          unsigned char poseType, Spherical16 position,
-          SwingTwist16 orientation, Spherical16 linearVelocity = Spherical16(),
+  /// @brief Create a new message for sending
+  /// @param networkId The network ID of the thing
+  /// @param thingId The ID of the thing
+  /// @param poseType Bit pattern stating which pose components are available
+  /// @param position The position of the thing in local space in meters
+  /// @param orientation The orientation of the thing in local space
+  /// @param linearVelocity The linear velocity of the thing in local space in meters per second
+  /// @param angularVelocity The angular velocity of the thing in local space
+  PoseMsg(unsigned char networkId,
+          unsigned char thingId,
+          unsigned char poseType,
+          Spherical16 position,
+          SwingTwist16 orientation,
+          Spherical16 linearVelocity = Spherical16(),
           Spherical16 angularVelocity = Spherical16());
-  PoseMsg(const char *buffer);
+  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  PoseMsg(const char* buffer);
+  /// @brief Destructor for the message
   virtual ~PoseMsg();
 
-  virtual unsigned char Serialize(char *buffer) override;
+  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  virtual unsigned char Serialize(char* buffer) override;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file
diff --git a/Messages/TextMsg.cpp b/Messages/TextMsg.cpp
new file mode 100644
index 0000000..854a821
--- /dev/null
+++ b/Messages/TextMsg.cpp
@@ -0,0 +1,37 @@
+#include "TextMsg.h"
+
+namespace Passer {
+namespace RoboidControl {
+
+TextMsg::TextMsg(const char* text, unsigned char textLength) {
+  this->text = text;
+  this->textLength = textLength;
+}
+
+TextMsg::TextMsg(char* buffer) {
+  unsigned char ix = 1;  // first byte is msg id
+
+  this->textLength = buffer[ix++];
+  char* text = new char[this->textLength + 1];
+  for (int i = 0; i < this->textLength; i++)
+    text[i] = buffer[ix++];
+  text[this->textLength] = '\0';
+  this->text = text;
+}
+
+TextMsg::~TextMsg() {}
+
+unsigned char TextMsg::Serialize(char* buffer) {
+    if (this->textLength == 0 || this->text == nullptr)
+    return 0;
+
+  unsigned char ix = 0;
+  buffer[ix++] = this->id;
+  buffer[ix++] = this->textLength;
+  for (int nameIx = 0; nameIx < this->textLength; nameIx++)
+    buffer[ix++] = this->text[nameIx];
+
+  return ix;}
+
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file
diff --git a/Messages/TextMsg.h b/Messages/TextMsg.h
new file mode 100644
index 0000000..dcb6c85
--- /dev/null
+++ b/Messages/TextMsg.h
@@ -0,0 +1,35 @@
+#include "Messages.h"
+
+namespace Passer {
+namespace RoboidControl {
+
+/// @brief Message for sending generic text
+class TextMsg : public IMessage {
+ public:
+  /// @brief The message ID
+  static const unsigned char id = 0xB0;
+  /// @brief The length of the message without the text itself
+  static const unsigned char length = 2;
+  /// @brief The network ID of the thing
+  unsigned char networkId;
+  /// @brief the ID of the thing
+  unsigned char thingId;
+  /// @brief The text without the null terminator
+  const char* text;
+  /// @brief The length of the text
+  unsigned char textLength;
+
+  /// @brief Create a new message for sending
+  /// @param text The text
+  TextMsg(const char* text, unsigned char textLength);
+  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  TextMsg(char* buffer);
+  /// @brief Destructor for the message
+  virtual ~TextMsg();
+
+  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  virtual unsigned char Serialize(char* buffer) override;
+};
+
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file
diff --git a/Messages/ThingMsg.cpp b/Messages/ThingMsg.cpp
index d0d5e2b..5242256 100644
--- a/Messages/ThingMsg.cpp
+++ b/Messages/ThingMsg.cpp
@@ -1,7 +1,7 @@
 #include "ThingMsg.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 ThingMsg::ThingMsg(const char *buffer) {
   unsigned char ix = 1; // first byte is msg id
diff --git a/Messages/ThingMsg.h b/Messages/ThingMsg.h
index 4fcdf56..0a6d006 100644
--- a/Messages/ThingMsg.h
+++ b/Messages/ThingMsg.h
@@ -1,25 +1,39 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
+/// @brief  Message providing generic information about a Thing
 class ThingMsg : public IMessage {
-public:
+ public:
+  /// @brief The message ID
   static const unsigned char id = 0x80;
+  /// @brief The length of the message
   static const unsigned char length = 5;
+  /// @brief The network ID of the thing
   unsigned char networkId;
+  /// @brief The ID of the thing
   unsigned char thingId;
+  /// @brief The Thing.Type of the thing
   unsigned char thingType;
+  /// @brief The parent of the thing in the hierarachy. This is null for root Things
   unsigned char parentId;
 
-  ThingMsg(const char *buffer);
-  ThingMsg(unsigned char networkId, Thing *thing);
+  /// @brief Create a message for sending
+  /// @param networkId The network ID of the thing</param>
+  /// @param thing The thing
+  ThingMsg(unsigned char networkId, Thing* thing);
   //   ThingMsg(unsigned char networkId, unsigned char thingId,
   //            unsigned char thingType, unsigned char parentId);
+
+  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  ThingMsg(const char* buffer);
+  /// @brief Destructor for the message
   virtual ~ThingMsg();
 
-  virtual unsigned char Serialize(char *buffer) override;
+  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  virtual unsigned char Serialize(char* buffer) override;
 };
 
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file
diff --git a/Participant.cpp b/Participant.cpp
index 91968a6..324a3bc 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -2,9 +2,9 @@
 
 #include "Thing.h"
 
-#include "UdpArduino.h"
-#include "UdpPosix.h"
-#include "UdpWindows.h"
+#include "Arduino/Participant.h"
+#include "Posix/Participant.h"
+#include "Windows/Participant.h"
 
 #if defined(_WIN32) || defined(_WIN64)
 #include <winsock2.h>
@@ -12,15 +12,15 @@
 #pragma comment(lib, "ws2_32.lib")
 #elif defined(__unix__) || defined(__APPLE__)
 #include <arpa/inet.h>
-#include <chrono>
-#include <fcntl.h> // For fcntl
+#include <fcntl.h>  // For fcntl
 #include <netinet/in.h>
 #include <sys/socket.h>
 #include <unistd.h>
+#include <chrono>
 #endif
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 Participant::Participant() {}
 
@@ -28,6 +28,7 @@ Participant::Participant(int port) {
   this->ipAddress = "0.0.0.0";
   this->port = port;
 
+  this->senders.push_back(this);
   this->senders.push_back(this);
 
   // int randomPort = (rand() % (65535 - 49152 + 1)) + 49152;
@@ -35,14 +36,14 @@ Participant::Participant(int port) {
   // SetupUDP(randomPort, ipAddress, port);
 }
 
-Participant::Participant(const char *ipAddress, int port) {
+Participant::Participant(const char* ipAddress, int port) {
   this->ipAddress = ipAddress;
   this->port = port;
 
   this->senders.push_back(this);
 
   // int randomPort = (rand() % (65535 - 49152 + 1)) + 49152;
-  this->localPort = port; // randomPort;
+  this->localPort = port;  // randomPort;
   // SetupUDP(randomPort, ipAddress, port);
 }
 
@@ -50,16 +51,15 @@ void Participant::begin() {
   SetupUDP(this->localPort, this->ipAddress, this->port);
 }
 
-void Participant::SetupUDP(int localPort, const char *remoteIpAddress,
-                           int remotePort) {
+void Participant::SetupUDP(int localPort, const char* remoteIpAddress, int remotePort) {
 #if defined(_WIN32) || defined(_WIN64)
-  UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
+  Windows::Participant* thisWindows = static_cast<Windows::Participant*>(this);
   thisWindows->Setup(localPort, remoteIpAddress, remotePort);
 #elif defined(__unix__) || defined(__APPLE__)
-  UdpPosix *thisPosix = static_cast<UdpPosix *>(this);
+  Posix::Participant* thisPosix = static_cast<Posix::Participant*>(this);
   thisPosix->Setup(localPort, remoteIpAddress, remotePort);
 #elif defined(ARDUINO)
-  UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
+  Arduino::Participant* thisArduino = static_cast<Arduino::Participant*>(this);
   thisArduino->Setup(localPort, remoteIpAddress, remotePort);
 #endif
   this->connected = true;
@@ -71,8 +71,7 @@ void Participant::Update(unsigned long currentTimeMs) {
     currentTimeMs = millis();
 #elif defined(__unix__) || defined(__APPLE__)
     auto now = std::chrono::steady_clock::now();
-    auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
-        now.time_since_epoch());
+    auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch());
     currentTimeMs = static_cast<unsigned long>(ms.count());
 #endif
   }
@@ -81,41 +80,44 @@ void Participant::Update(unsigned long currentTimeMs) {
     begin();
 
   if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
-    ClientMsg *msg = new ClientMsg(this->networkId);
+    ParticipantMsg* msg = new ParticipantMsg(this->networkId);
     this->Publish(msg);
     delete msg;
-    std::cout << this->name << " published ClientMsg\n";
+    std::cout << this->name << " published ParticipantMsg\n";
     this->nextPublishMe = currentTimeMs + this->publishInterval;
   }
   this->ReceiveUDP();
 
-  this->UpdateAll(currentTimeMs);
+  for (Thing* thing : this->things) {
+    if (thing != nullptr)  //} && thing->GetParent() == nullptr)   // update all root things
+      thing->Update(currentTimeMs);
+  }
 }
 
 void Participant::ReceiveUDP() {
 #if defined(_WIN32) || defined(_WIN64)
-  UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
+  Windows::Participant* thisWindows = static_cast<Windows::Participant*>(this);
   thisWindows->Receive();
 #elif defined(__unix__) || defined(__APPLE__)
-  UdpPosix *thisPosix = static_cast<UdpPosix *>(this);
+  Posix::Participant* thisPosix = static_cast<Posix::Participant*>(this);
   thisPosix->Receive();
 #elif defined(ARDUINO)
-  UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
+  Arduino::Participant* thisArduino = static_cast<Arduino::Participant*>(this);
   thisArduino->Receive();
 #endif
 }
 
-Participant *Participant::GetParticipant(const char *ipAddress, int port) {
-  for (Participant *sender : this->senders) {
+Participant* Participant::GetParticipant(const char* ipAddress, int port) {
+  for (Participant* sender : this->senders) {
     if (sender->ipAddress == ipAddress && sender->port == port)
       return sender;
   }
   return nullptr;
 }
 
-Participant *Participant::AddParticipant(const char *ipAddress, int port) {
+Participant* Participant::AddParticipant(const char* ipAddress, int port) {
   std::cout << "New Participant " << ipAddress << ":" << port << "\n";
-  Participant *participant = new Participant(ipAddress, port);
+  Participant* participant = new Participant(ipAddress, port);
   participant->networkId = (unsigned char)this->senders.size();
   this->senders.push_back(participant);
   return participant;
@@ -123,64 +125,63 @@ Participant *Participant::AddParticipant(const char *ipAddress, int port) {
 
 #pragma region Send
 
-void Participant::SendThingInfo(RemoteParticipant *remoteParticipant,
-                                Thing *thing) {
+void Participant::SendThingInfo(RemoteParticipant* remoteParticipant, Thing* thing) {
   std::cout << "Send thing info\n";
-  ThingMsg *thingMsg = new ThingMsg(this->networkId, thing);
+  ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
   this->Send(remoteParticipant, thingMsg);
   delete thingMsg;
-  NameMsg *nameMsg = new NameMsg(this->networkId, thing);
+  NameMsg* nameMsg = new NameMsg(this->networkId, thing);
   this->Send(remoteParticipant, nameMsg);
   delete nameMsg;
-  ModelUrlMsg *modelMsg = new ModelUrlMsg(this->networkId, thing);
+  ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
   this->Send(remoteParticipant, modelMsg);
   delete modelMsg;
 }
 
-void Passer::Control::Participant::PublishThingInfo(Thing *thing) {
+void Passer::RoboidControl::Participant::PublishThingInfo(Thing* thing) {
   // std::cout << "Publish thing info" << thing->networkId << "\n";
   //  Strange, when publishing, the network id is irrelevant, because it is
   //  connected to a specific site...
-  ThingMsg *thingMsg = new ThingMsg(this->networkId, thing);
+  ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
   this->Publish(thingMsg);
   delete thingMsg;
-  NameMsg *nameMsg = new NameMsg(this->networkId, thing);
+  NameMsg* nameMsg = new NameMsg(this->networkId, thing);
   this->Publish(nameMsg);
   delete nameMsg;
-  ModelUrlMsg *modelMsg = new ModelUrlMsg(this->networkId, thing);
+  ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
   this->Publish(modelMsg);
   delete modelMsg;
-  CustomMsg *customMsg = new CustomMsg(this->networkId, thing);
+  BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
   this->Publish(customMsg);
   delete customMsg;
 }
 
-bool Participant::Send(RemoteParticipant *remoteParticipant, IMessage *msg) {
+bool Participant::Send(RemoteParticipant* remoteParticipant, IMessage* msg) {
   int bufferSize = msg->Serialize(this->buffer);
   if (bufferSize <= 0)
     return true;
 
 #if defined(_WIN32) || defined(_WIN64)
-  UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
+  Windows::Participant* thisWindows = static_cast<Windows::Participant*>(this);
   return thisWindows->Send(remoteParticipant, bufferSize);
 #elif defined(__unix__) || defined(__APPLE__)
-  UdpPosix *thisPosix = static_cast<UdpPosix *>(this);
+  Posix::Participant* thisPosix = static_cast<Posix::Particiapant*>(this);
   return thisPosix->Send(remoteParticipant, bufferSize);
 #elif defined(ARDUINO)
-  UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
+  Arduino::Participant* thisArduino = static_cast<Arduino::Participant*>(this);
   return thisArduino->Send(remoteParticipant, bufferSize);
 #endif
 }
 
-bool Participant::Publish(IMessage *msg) {
+bool Participant::Publish(IMessage* msg) {
 #if defined(_WIN32) || defined(_WIN64)
-  UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
+  Windows::Participant* thisWindows = static_cast<Windows::Participant*>(this);
   return thisWindows->Publish(msg);
 #elif defined(__unix__) || defined(__APPLE__)
-  UdpPosix *thisPosix = static_cast<UdpPosix *>(this);
+  Posix::Participant* thisPosix = static_cast<Posix::Participant*>(this);
   return thisPosix->Publish(msg);
 #elif defined(ARDUINO)
-  UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
+  Arduino::Participant* thisArduino = static_cast<Arduino::Participant*>(this);
   return thisArduino->Publish(msg);
 #endif
 }
@@ -190,93 +191,89 @@ bool Participant::Publish(IMessage *msg) {
 
 #pragma region Receive
 
-void Participant::ReceiveData(unsigned char bufferSize,
-                              RemoteParticipant *remoteParticipant) {
+void Participant::ReceiveData(unsigned char bufferSize, RemoteParticipant* remoteParticipant) {
   unsigned char msgId = this->buffer[0];
   // std::cout << "receive msg " << (int)msgId << "\n";
   switch (msgId) {
-  case ClientMsg::id: {
-    ClientMsg *msg = new ClientMsg(this->buffer);
-    Process(remoteParticipant, msg);
-    delete msg;
-  } break;
-  case NetworkIdMsg::id: {
-    NetworkIdMsg *msg = new NetworkIdMsg(this->buffer);
-    Process(remoteParticipant, msg);
-    delete msg;
-  } break;
-  case InvestigateMsg::id: {
-    InvestigateMsg *msg = new InvestigateMsg(this->buffer);
-    Process(remoteParticipant, msg);
-    delete msg;
-  } break;
-  case ThingMsg::id: {
-    ThingMsg *msg = new ThingMsg(this->buffer);
-    Process(remoteParticipant, msg);
-    delete msg;
-  } break;
-  case NameMsg::id: {
-    NameMsg *msg = new NameMsg(this->buffer);
-    Process(remoteParticipant, msg);
-    delete msg;
-  } break;
-  case PoseMsg::id: {
-    PoseMsg *msg = new PoseMsg(this->buffer);
-    Process(remoteParticipant, msg);
-    delete msg;
-  } break;
-  case CustomMsg::id: {
-    CustomMsg *msg = new CustomMsg(this->buffer);
-    Process(remoteParticipant, msg);
-    delete msg;
-  } break;
+    case ParticipantMsg::id: {
+      ParticipantMsg* msg = new ParticipantMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case NetworkIdMsg::id: {
+      NetworkIdMsg* msg = new NetworkIdMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case InvestigateMsg::id: {
+      InvestigateMsg* msg = new InvestigateMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case ThingMsg::id: {
+      ThingMsg* msg = new ThingMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case NameMsg::id: {
+      NameMsg* msg = new NameMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case PoseMsg::id: {
+      PoseMsg* msg = new PoseMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case BinaryMsg::id: {
+      BinaryMsg* msg = new BinaryMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
   };
 }
 
-void Participant::Process(RemoteParticipant *sender, ClientMsg *msg) {}
+void Participant::Process(RemoteParticipant* sender, ParticipantMsg* msg) {}
 
-void Participant::Process(RemoteParticipant *sender, NetworkIdMsg *msg) {
-  std::cout << this->name << ": process NetworkId [" << (int)this->networkId
-            << "/" << (int)msg->networkId << "]\n";
+void Participant::Process(RemoteParticipant* sender, NetworkIdMsg* msg) {
+  std::cout << this->name << ": process NetworkId [" << (int)this->networkId << "/" << (int)msg->networkId << "]\n";
   if (this->networkId != msg->networkId) {
     this->networkId = msg->networkId;
-    for (Thing *thing : this->things)
+    for (Thing* thing : this->things)
       this->SendThingInfo(sender, thing);
   }
 }
 
-void Participant::Process(RemoteParticipant *sender, InvestigateMsg *msg) {}
+void Participant::Process(RemoteParticipant* sender, InvestigateMsg* msg) {}
 
-void Participant::Process(RemoteParticipant *sender, ThingMsg *msg) {}
+void Participant::Process(RemoteParticipant* sender, ThingMsg* msg) {}
 
-void Participant::Process(RemoteParticipant *sender, NameMsg *msg) {
-  Thing *thing = sender->Get(msg->networkId, msg->thingId);
+void Participant::Process(RemoteParticipant* sender, NameMsg* msg) {
+  Thing* thing = sender->Get(msg->networkId, msg->thingId);
   if (thing != nullptr) {
     int nameLength = msg->nameLength;
-    char *thingName = new char[nameLength + 1];
+    char* thingName = new char[nameLength + 1];
     strcpy(thingName, msg->name);
     thingName[nameLength] = '\0';
     thing->name = thingName;
-    std::cout << "thing name = " << thing->name << " length = " << nameLength
-              << "\n";
+    std::cout << "thing name = " << thing->name << " length = " << nameLength << "\n";
   }
 }
 
-void Participant::Process(RemoteParticipant *sender, PoseMsg *msg) {}
+void Participant::Process(RemoteParticipant* sender, PoseMsg* msg) {}
 
-void Participant::Process(RemoteParticipant *sender, CustomMsg *msg) {
+void Participant::Process(RemoteParticipant* sender, BinaryMsg* msg) {
   // std::cout << this->name << ": process Binary [" << (int)this->networkId << "/"
   //           << (int)msg->networkId << "]\n";
-  Thing *thing = sender->Get(msg->networkId, msg->thingId);
+  Thing* thing = sender->Get(msg->networkId, msg->thingId);
   if (thing != nullptr)
-    thing->ProcessBytes(msg->bytes);
+    thing->ProcessBinary(msg->bytes);
   else
-    std::cout << "custom msg for unknown thing " << (int)msg->networkId << ":"
-              << (int)msg->thingId << "\n";
+    std::cout << "custom msg for unknown thing " << (int)msg->networkId << ":" << (int)msg->thingId << "\n";
 }
 
 // Receive
 #pragma endregion
 
-} // namespace Control
-} // namespace Passer
+}  // namespace RoboidControl
+}  // namespace Passer
diff --git a/Participant.h b/Participant.h
index 913467e..47a355d 100644
--- a/Participant.h
+++ b/Participant.h
@@ -1,8 +1,8 @@
 #pragma once
 
 //#include "Messages/"
-#include "Messages/ClientMsg.h"
-#include "Messages/CustomMsg.h"
+#include "Messages/ParticipantMsg.h"
+#include "Messages/BinaryMsg.h"
 #include "Messages/InvestigateMsg.h"
 #include "Messages/ModelUrlMsg.h"
 #include "Messages/NameMsg.h"
@@ -25,12 +25,12 @@
 #endif
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 /// @brief A participant is device which can communicate with other participants
 class Participant : public RemoteParticipant {
 public:
-  char buffer[1024];
+  unsigned char buffer[1024];
   long publishInterval = 3000; // 3 seconds
   // unsigned char networkId = 0;
 
@@ -94,15 +94,15 @@ protected:
 
   void ReceiveUDP();
 
-  virtual void Process(RemoteParticipant *sender, ClientMsg *msg);
+  virtual void Process(RemoteParticipant *sender, ParticipantMsg *msg);
   virtual void Process(RemoteParticipant *sender, NetworkIdMsg *msg);
   virtual void Process(RemoteParticipant* sender, InvestigateMsg *msg);
   virtual void Process(RemoteParticipant* sender, ThingMsg *msg);
   virtual void Process(RemoteParticipant* sender, NameMsg *msg);
   virtual void Process(RemoteParticipant* sender, PoseMsg *msg);
-  virtual void Process(RemoteParticipant* sender, CustomMsg *msg);
+  virtual void Process(RemoteParticipant* sender, BinaryMsg *msg);
 };
 
 } // namespace Control
 } // namespace Passer
-using namespace Passer::Control;
\ No newline at end of file
+using namespace Passer::RoboidControl;
\ No newline at end of file
diff --git a/Posix/Participant.cpp b/Posix/Participant.cpp
new file mode 100644
index 0000000..e69de29
diff --git a/Posix/Participant.h b/Posix/Participant.h
new file mode 100644
index 0000000..295b495
--- /dev/null
+++ b/Posix/Participant.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include "../Participant.h"
+
+namespace Passer {
+namespace RoboidControl {
+namespace Posix {
+
+class Participant : public RoboidControl::Participant {
+ public:
+  void Setup(int localPort, const char* remoteIpAddress, int remotePort);
+  void Receive();
+  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
+  bool Publish(IMessage* msg);
+};
+
+}  // namespace Posix
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file
diff --git a/README.md b/README.md
index c1d45a6..ac14c63 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,14 @@
-\mainpage Control Core for C++
+\mainpage Roboid Control for C++
 
-Control Core contains generic functionality for Controlling Things.
\ No newline at end of file
+Roboid Control support for C++ applications.
+Supporting:
+- Windows
+- MacOS
+- Linux
+- Arduino (using PlatformIO)
+
+# Basic components
+
+- Passer::RoboidControl::Thing
+- Passer::RoboidControl::Participant
+- Passer::RoboidControl::SiteServer
\ No newline at end of file
diff --git a/Sensors/DigitalSensor.cpp b/Sensors/DigitalSensor.cpp
new file mode 100644
index 0000000..de21a15
--- /dev/null
+++ b/Sensors/DigitalSensor.cpp
@@ -0,0 +1,11 @@
+#include "DigitalSensor.h"
+
+namespace Passer {
+namespace RoboidControl {
+
+DigitalSensor::DigitalSensor() {}
+
+DigitalSensor::DigitalSensor(unsigned char networkId, unsigned char thingId) {}
+
+}  // namespace RoboidControl
+}  // namespace Passer
diff --git a/Sensors/DigitalSensor.h b/Sensors/DigitalSensor.h
new file mode 100644
index 0000000..8328b33
--- /dev/null
+++ b/Sensors/DigitalSensor.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include "Thing.h"
+
+namespace Passer {
+namespace RoboidControl {
+
+/// @brief A digital (on/off, 1/0, true/false) sensor
+class DigitalSensor : public Thing {
+ public:
+  /// @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(unsigned char networkId, unsigned char thingId);
+};
+
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file
diff --git a/Sensors/TemperatureSensor.cpp b/Sensors/TemperatureSensor.cpp
index 0792e60..ad63935 100644
--- a/Sensors/TemperatureSensor.cpp
+++ b/Sensors/TemperatureSensor.cpp
@@ -3,7 +3,7 @@
 #include "Messages/LowLevelMessages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 // TemperatureSensor::TemperatureSensor() : Thing(Type::TemperatureSensor) {}
 
@@ -13,16 +13,16 @@ TemperatureSensor::TemperatureSensor(unsigned char networkId,
                                      unsigned char thingId)
     : Thing(nullptr, networkId, thingId, Type::TemperatureSensor) {}
 
-void TemperatureSensor::SetTemperature(float temp) { this->temp = temp; }
+void TemperatureSensor::SetTemperature(float temp) { this->temperature = temp; }
 
-void TemperatureSensor::SendBytes(char *buffer, unsigned char *ix) {
-  std::cout << "Send temperature: " << this->temp << "\n";
-  LowLevelMessages::SendFloat16(buffer, ix, this->temp);
+void TemperatureSensor::GenerateBinary(char *buffer, unsigned char *ix) {
+  std::cout << "Send temperature: " << this->temperature << "\n";
+  LowLevelMessages::SendFloat16(buffer, ix, this->temperature);
 }
 
-void TemperatureSensor::ProcessBytes(char *bytes) {
+void TemperatureSensor::ProcessBinary(char *bytes) {
   unsigned char ix = 0;
-  this->temp = LowLevelMessages::ReceiveFloat16(bytes, &ix);
+  this->temperature = LowLevelMessages::ReceiveFloat16(bytes, &ix);
 }
 
 } // namespace Control
diff --git a/Sensors/TemperatureSensor.h b/Sensors/TemperatureSensor.h
index d4f5142..8ce8284 100644
--- a/Sensors/TemperatureSensor.h
+++ b/Sensors/TemperatureSensor.h
@@ -3,21 +3,33 @@
 #include "Thing.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
+/// @brief A temperature sensor
 class TemperatureSensor : public Thing {
-public:
+ public:
+  /// @brief The measured temperature
+  float temperature = 0;
+
+  /// @brief The default constructor
   TemperatureSensor();
+  /// @brief Create a temperature sensor with the given ID
+  /// @param networkId The network ID of the sensor
+  /// @param thingId The ID of the thing
   TemperatureSensor(unsigned char networkId, unsigned char thingId);
 
-  virtual void SetTemperature(float temp);
+  /// @brief Manually override the measured temperature
+  /// @param temperature The new temperature
+  virtual void SetTemperature(float temperature);
 
-  void SendBytes(char *buffer, unsigned char *ix) override;
-  virtual void ProcessBytes(char *bytes) override;
-
-protected:
-  float temp = 0;
+  /// @brief Function to create a binary message with the temperature
+  /// @param buffer The byte array for thw binary data
+  /// @param ix The starting position for writing the binary data
+  void GenerateBinary(char* bytes, unsigned char* ix) override;
+  /// @brief Function to extract the temperature received in the binary message
+  /// @param bytes The binary data
+  virtual void ProcessBinary(char* bytes) override;
 };
 
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file
diff --git a/SiteServer.cpp b/SiteServer.cpp
index 1bb7bb1..6510a65 100644
--- a/SiteServer.cpp
+++ b/SiteServer.cpp
@@ -6,7 +6,7 @@
 #include <memory>
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 SiteServer::SiteServer(int port) {
   this->name = "Site Server";
@@ -22,7 +22,7 @@ SiteServer::SiteServer(int port) {
   Register<TemperatureSensor>((unsigned char)Thing::Type::TemperatureSensor);
 }
 
-void SiteServer::Process(RemoteParticipant *sender, ClientMsg *msg) {
+void SiteServer::Process(RemoteParticipant *sender, ParticipantMsg *msg) {
   if (msg->networkId == 0) {
     std::cout << this->name << " received New Client -> " << sender->ipAddress
               << "  " << (int)sender->networkId << "\n";
diff --git a/SiteServer.h b/SiteServer.h
index 0500eb6..c9091b8 100644
--- a/SiteServer.h
+++ b/SiteServer.h
@@ -7,7 +7,7 @@
 #include <unordered_map>
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 /// @brief A participant is device which can communicate with other participants
 class SiteServer : public Participant {
@@ -26,7 +26,7 @@ public:
 protected:
   unsigned long nextPublishMe = 0;
 
-  virtual void Process(RemoteParticipant *sender, ClientMsg *msg) override;
+  virtual void Process(RemoteParticipant *sender, ParticipantMsg *msg) override;
   virtual void Process(RemoteParticipant *sender, NetworkIdMsg *msg) override;
   virtual void Process(RemoteParticipant* sender, ThingMsg *msg) override;
 
@@ -37,4 +37,4 @@ protected:
 
 } // namespace Control
 } // namespace Passer
-using namespace Passer::Control;
\ No newline at end of file
+using namespace Passer::RoboidControl;
\ No newline at end of file
diff --git a/Thing.cpp b/Thing.cpp
index bba3a7b..b1c2266 100644
--- a/Thing.cpp
+++ b/Thing.cpp
@@ -6,6 +6,9 @@
 #include <list>
 #include <string.h>
 
+namespace Passer {
+  namespace RoboidControl {
+
 Thing::Thing(Type thingType) : Thing((unsigned char)thingType) {}
 
 Thing::Thing(unsigned char thingType) {
@@ -20,7 +23,7 @@ Thing::Thing(unsigned char thingType) {
   this->angularVelocity = Spherical16::zero;
 }
 
-Passer::Control::Thing::Thing(RemoteParticipant *participant, unsigned char networkId,
+Thing::Thing(RemoteParticipant *participant, unsigned char networkId,
                               unsigned char thingId, Type thingType) {
   // no participant reference yet..
   this->participant = participant;
@@ -121,7 +124,7 @@ Thing *Thing::RemoveChild(Thing *child) {
   return child;
 }
 
-Thing *Passer::Control::Thing::GetChild(unsigned char id, bool recursive) {
+Thing *Thing::GetChild(unsigned char id, bool recursive) {
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
     Thing *child = this->children[childIx];
     if (child == nullptr)
@@ -138,12 +141,22 @@ Thing *Passer::Control::Thing::GetChild(unsigned char id, bool recursive) {
   return nullptr;
 }
 
-Thing *Passer::Control::Thing::GetChildByIndex(unsigned char ix) {
-  return this->children[ix];
-}
+Thing *Thing::GetChildByIndex(unsigned char ix) { return this->children[ix]; }
 
 void Thing::SetModel(const char *url) { this->modelUrl = url; }
 
+#if defined(ARDUINO)
+void Thing::Update() {
+  Update(millis());
+}
+#endif
+
+void Thing::GenerateBinary(char *buffer, unsigned char *ix) {
+  (void)buffer;
+  (void)ix;
+}
+void Thing::ProcessBinary(char *bytes) { (void)bytes; };
+
 void Thing::SetPosition(Spherical16 position) {
   this->position = position;
   this->positionUpdated = true;
@@ -206,4 +219,5 @@ Spherical16 Thing::GetAngularVelocity() { return this->angularVelocity; }
 //       thing->Update(currentTimeMs);
 //     }
 //   }
-//}
\ No newline at end of file
+//}
+  }}
\ No newline at end of file
diff --git a/Thing.h b/Thing.h
index 1dd5e56..97845e4 100644
--- a/Thing.h
+++ b/Thing.h
@@ -5,7 +5,7 @@
 #include <list>
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class RemoteParticipant;
 
@@ -13,15 +13,15 @@ class RemoteParticipant;
 // IMPORTANT: values higher than 256 will need to change the Thing::id type
 // to 16-bit or higher, breaking the networking protocol!
 
-/// @brief A thing is the basic building block
+/// @brief A thing is the primitive building block
 class Thing {
 public:
   RemoteParticipant *participant;
   unsigned char networkId = 0;
-  /// @char The id of the thing
+  /// @brief The ID of the thing
   unsigned char id = 0;
 
-  /// @brief Basic Thing types
+  /// @brief Predefined thing types
   enum class Type {
     Undetermined,
     // Sensor,
@@ -38,14 +38,27 @@ public:
     Humanoid,
     ExternalSensor,
   };
+  /// @brief The type of Thing
+  unsigned char type = 0;
 
+  /// @brief Create a new thing of the given type
+  /// @param thingType The predefined type of thing
   Thing(Type thingType = Type::Undetermined);
+  /// @brief Create a new thing of the give type
+  /// @param thingType The custom type of the thing
   Thing(unsigned char thingType);
+  /// @brief Create a new thing for the given participant
+  /// @param participant The participant for which this thing is created
+  /// @param networkId The network ID of the thing
+  /// @param thingId The ID of the thing
+  /// @param thingType The type of thing
   Thing(RemoteParticipant *participant, unsigned char networkId,
         unsigned char thingId, Type thingType = Type::Undetermined);
 
+  /// @brief Find a thing by name
+  /// @param name Rhe name of the thing
+  /// @return The found thing or nullptr when nothing is found
   Thing *FindThing(const char *name);
-  //  Thing *FindChild(unsigned char id);
 
   /// @brief Sets the parent Thing
   /// @param parent The Thing which should become the parnet
@@ -60,10 +73,21 @@ public:
   /// @param child The Thing which should become a child
   /// @remark When the Thing is already a child, it will not be added again
   virtual void AddChild(Thing *child);
+  /// @brief Remove the given thing as a child of this thing
+  /// @param child The child to remove
+  /// @return The removed child or nullptr if the child could not be found
   Thing *RemoveChild(Thing *child);
 
+  /// @brief The number of children
   unsigned char childCount = 0;
+  /// @brief Get a child by thing Id
+  /// @param id The thing ID to find
+  /// @param recursive Look recursively through all descendants
+  /// @return The found thing of nullptr when nothing is found
   Thing *GetChild(unsigned char id, bool recursive = false);
+  /// @brief Get a child by index
+  /// @param ix The child index
+  /// @return The found thing of nullptr when nothing is found
   Thing *GetChildByIndex(unsigned char ix);
 
 protected:
@@ -71,20 +95,31 @@ protected:
   Thing **children = nullptr;
 
 public:
-  /// @brief The type of Thing
-  unsigned char type = 0;
+  /// @brief The name of the thing
   const char *name = nullptr;
+  /// @brief An URL pointing to the location where a model of the thing can be found
   const char *modelUrl = nullptr;
+  /// @brief The scale of the model (deprecated I think)
   float modelScale = 1;
-  // protected Sensor sensor;
 
+  /// @brief Set the position of the thing
+  /// @param position The new position in local space, in meters
   void SetPosition(Spherical16 position);
+  /// @brief Get the position of the thing
+  /// @return The position in local space, in meters
   Spherical16 GetPosition();
+  /// @brief Set the orientation of the thing
+  /// @param orientation The new orientation in local space
   void SetOrientation(SwingTwist16 orientation);
+  /// @brief Get the orientation of the thing
+  /// @return The orienation in local space
   SwingTwist16 GetOrientation();
+  /// @brief The scale of the thing (deprecated I think)
   float scale = 1; // assuming uniform scale
 
+  /// @brief boolean indicating if the position was updated
   bool positionUpdated = false;
+  /// @brief boolean indicating if the orientation was updated
   bool orientationUpdated = false;
 
 protected:
@@ -100,11 +135,16 @@ protected:
 public:
   Spherical16 linearVelocity;
   Spherical16 angularVelocity;
+
+  /// @brief Get the linear velocity of the thing
+  /// @return The linear velocity in local space, in meters per second
   virtual Spherical16 GetLinearVelocity();
+  /// @brief Get the angular velocity of the thing
+  /// @return The angular velocity in local space
   virtual Spherical16 GetAngularVelocity();
 
 public:
-  /// @brief Terminated thins are no longer updated
+  /// @brief Terminated things are no longer updated
   void Terminate();
 
   /// @brief Sets the location from where the 3D model of this Thing can be
@@ -114,18 +154,24 @@ public:
   /// the only official supported model format is .obj
   void SetModel(const char *url);
 
+  #if defined(ARDUINO)
+  void Update();
+  #endif
+  
   /// @brief Updates the state of the thing
   /// @param currentTimeMs The current clock time in milliseconds
   virtual void Update(unsigned long currentTimeMs) { (void)currentTimeMs; };
 
-  virtual void SendBytes(char *buffer, unsigned char *ix) {
-    (void)buffer;
-    (void)ix;
-  };
-  virtual void ProcessBytes(char *bytes) { (void)bytes; };
+  /// @brief Function used to generate binary data for this thing
+  /// @param buffer The byte array for thw binary data
+  /// @param ix The starting position for writing the binary data
+  virtual void GenerateBinary(char *buffer, unsigned char *ix);
+  // /// @brief FUnction used to process binary data received for this thing
+  /// @param bytes The binary data
+  virtual void ProcessBinary(char *bytes);
 
 };
 
 } // namespace Control
 } // namespace Passer
-using namespace Passer::Control;
\ No newline at end of file
+using namespace Passer::RoboidControl;
\ No newline at end of file
diff --git a/UdpArduino.cpp b/UdpArduino.cpp
deleted file mode 100644
index cb9cab0..0000000
--- a/UdpArduino.cpp
+++ /dev/null
@@ -1,95 +0,0 @@
-#include "UdpArduino.h"
-
-#if defined(ARDUINO)
-#include <ESP8266WiFi.h>
-#endif
-namespace Passer {
-namespace Control {
-
-void UdpArduino::Setup(int localPort, const char *remoteIpAddress,
-                       int remotePort) {
-#if ARDUINO
-  this->remoteIpAddress = remoteIpAddress;
-  this->remotePort = remotePort;
-  GetBroadcastAddress();
-
-  if (WiFi.isConnected() == false) {
-    std::cout << "No network available!\n";
-    return;
-  }
-  udp.begin(this->localPort);
-
-  std::cout << "Wifi sync started to port " << this->remotePort << "\n";
-#endif
-}
-
-void UdpArduino::GetBroadcastAddress() {
-#if ARDUINO
-  IPAddress broadcastAddress = WiFi.localIP();
-  broadcastAddress[3] = 255;
-  String broadcastIpString = broadcastAddress.toString();
-  this->broadcastIpAddress = new char[broadcastIpString.length() + 1];
-  broadcastIpString.toCharArray(this->broadcastIpAddress,
-                                broadcastIpString.length() + 1);
-  std::cout << "Broadcast address: " << broadcastIpAddress << "\n";
-#endif
-}
-
-void UdpArduino::Receive() {
-#if ARDUINO
-  int packetSize = udp.parsePacket();
-  while (packetSize > 0) {
-    udp.read(buffer, packetSize);
-
-    String senderAddress = udp.remoteIP().toString();
-    char sender_ipAddress[16];
-    senderAddress.toCharArray(sender_ipAddress, 16);
-    int sender_port = udp.remotePort();
-
-    Participant *remoteParticipant =
-        this->GetParticipant(sender_ipAddress, sender_port);
-    if (remoteParticipant == nullptr) {
-      remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
-      // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
-      //           << "\n";
-      // std::cout << "New remote participant " << remoteParticipant->ipAddress
-      //           << ":" << remoteParticipant->port << " "
-      //           << (int)remoteParticipant->networkId << "\n";
-    }
-
-    ReceiveData(packetSize, remoteParticipant);
-    packetSize = udp.parsePacket();
-  }
-#endif
-}
-
-bool UdpArduino::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
-#if ARDUINO
-  udp.beginPacket(remoteParticipant->ipAddress, remoteParticipant->port);
-  udp.write(buffer, bufferSize);
-  udp.endPacket();
-
-  //   std::cout << "Sent to " << this->remoteIpAddress << ":"
-  //             << this->remotePort << "\n";
-#endif
-  return true;
-}
-
-bool UdpArduino::Publish(IMessage *msg) {
-#ifdef ARDUINO
-  int bufferSize = msg->Serialize(this->buffer);
-  if (bufferSize <= 0)
-    return true;
-
-  udp.beginPacket(this->broadcastIpAddress, this->remotePort);
-  udp.write(buffer, bufferSize);
-  udp.endPacket();
-
-  //   std::cout << "Publish to " << this->broadcastIpAddress << ":"
-  //             << this->remotePort << "\n";
-#endif
-  return true;
-};
-
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
diff --git a/UdpArduino.h b/UdpArduino.h
deleted file mode 100644
index 5b194b9..0000000
--- a/UdpArduino.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include "Participant.h"
-
-namespace Passer {
-namespace Control {
-
-class UdpArduino : public Participant {
-public:
-  void Setup(int localPort, const char *remoteIpAddress, int remotePort);
-  void Receive();
-  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
-  bool Publish(IMessage *msg);
-
-protected:
-  void GetBroadcastAddress();
-};
-
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
diff --git a/UdpPosix.cpp b/UdpPosix.cpp
deleted file mode 100644
index 08f216c..0000000
--- a/UdpPosix.cpp
+++ /dev/null
@@ -1,145 +0,0 @@
-#include "UdpPosix.h"
-
-#if defined(__unix__) || defined(__APPLE__)
-#include <arpa/inet.h>
-#include <fcntl.h> // For fcntl
-#include <netinet/in.h>
-#include <sys/socket.h>
-#include <unistd.h>
-#endif
-
-namespace Passer {
-namespace Control {
-
-void UdpPosix::Setup(int localPort, const char *remoteIpAddress,
-                     int remotePort) {
-#if defined(__unix__) || defined(__APPLE__)
-
-  // Create a UDP socket
-
-  this->sock = socket(AF_INET, SOCK_DGRAM, 0);
-
-  if (this->sock < 0) {
-    std::cerr << "Error creating socket" << std::endl;
-    return;
-  }
-
-// Set the socket to non-blocking mode
-#if defined(_WIN32) || defined(_WIN64)
-  u_long mode = 1; // 1 to enable non-blocking socket
-  ioctlsocket(this->sock, FIONBIO, &mode);
-#elif defined(__unix__) || defined(__APPLE__)
-  int flags = fcntl(this->sock, F_GETFL, 0);
-  fcntl(this->sock, F_SETFL, flags | O_NONBLOCK);
-#endif
-
-  if (remotePort != 0) {
-    // Set up the address to send to
-    memset(&remote_addr, 0, sizeof(remote_addr));
-    remote_addr.sin_family = AF_INET;
-    remote_addr.sin_port = htons(remotePort);
-    if (inet_pton(AF_INET, remoteIpAddress, &remote_addr.sin_addr) <= 0) {
-      std::cerr << "Invalid address" << std::endl;
-      close(sock);
-      return;
-    }
-  }
-
-  // Set up the receiving address
-  memset(&server_addr, 0, sizeof(server_addr));
-  server_addr.sin_family = AF_INET;
-  server_addr.sin_port = htons(localPort);
-  if (inet_pton(AF_INET, "0.0.0.0", &server_addr.sin_addr) <= 0) {
-    std::cerr << "Invalid address" << std::endl;
-    close(sock);
-    return;
-  }
-
-  // Bind the socket to the specified port
-  if (bind(this->sock, (const struct sockaddr *)&server_addr,
-           sizeof(server_addr)) < 0) {
-    std::cerr << "Bind failed" << std::endl;
-    close(sock);
-  }
-
-#endif
-}
-
-void UdpPosix::Receive() {
-#if defined(__unix__) || defined(__APPLE__)
-  sockaddr_in client_addr;
-  socklen_t len = sizeof(client_addr);
-  int packetSize = recvfrom(this->sock, buffer, sizeof(buffer), 0,
-                            (struct sockaddr *)&client_addr, &len);
-  if (packetSize > 0) {
-    char sender_ipAddress[INET_ADDRSTRLEN];
-    inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress,
-              INET_ADDRSTRLEN);
-    int sender_port = ntohs(client_addr.sin_port);
-
-    Participant *remoteParticipant =
-        this->GetParticipant(sender_ipAddress, sender_port);
-    if (remoteParticipant == nullptr) {
-      remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
-      // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
-      //           << "\n";
-      // std::cout << "New remote participant " << remoteParticipant->ipAddress
-      //           << ":" << remoteParticipant->port << " "
-      //           << (int)remoteParticipant->networkId << "\n";
-    }
-
-    ReceiveData(packetSize, remoteParticipant);
-    // std::cout << "Received data\n";
-  }
-#endif
-}
-
-bool UdpPosix::Send(RemoteParticipant *remoteParticipant, int bufferSize) {
-#if defined(__unix__) || defined(__APPLE__)
-  // Set up the destination address
-  // char ip_str[INET_ADDRSTRLEN];
-  // inet_ntop(AF_INET, &(remote_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
-  // std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port)
-  //           << "\n";
-  struct sockaddr_in dest_addr;
-  memset(&dest_addr, 0, sizeof(dest_addr));
-  dest_addr.sin_family = AF_INET;
-  dest_addr.sin_port = htons(remoteParticipant->port);
-  dest_addr.sin_addr.s_addr = inet_addr(remoteParticipant->ipAddress);
-
-  // Send the message
-  int sent_bytes = sendto(sock, this->buffer, bufferSize, 0,
-                          (struct sockaddr *)&remote_addr, sizeof(remote_addr));
-  if (sent_bytes < 0) {
-    std::cerr << "sendto failed with error: " << sent_bytes << std::endl;
-    close(sock);
-    return false;
-  }
-#endif
-  return true;
-}
-
-bool UdpPosix::Publish(IMessage *msg) {
-#if defined(__unix__) || defined(__APPLE__)
-  int bufferSize = msg->Serialize(this->buffer);
-  if (bufferSize <= 0)
-    return true;
-
-  char ip_str[INET_ADDRSTRLEN];
-  inet_ntop(AF_INET, &(broadcast_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
-  std::cout << "Publish to " << ip_str << ":" << ntohs(broadcast_addr.sin_port)
-            << "\n";
-  int sent_bytes =
-      sendto(sock, this->buffer, bufferSize, 0,
-             (struct sockaddr *)&broadcast_addr, sizeof(broadcast_addr));
-  if (sent_bytes < 0) {
-    std::cerr << "sendto failed with error: " << sent_bytes << std::endl;
-    close(sock);
-    return false;
-  }
-#endif
-  return true;
-}
-
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
diff --git a/UdpPosix.h b/UdpPosix.h
deleted file mode 100644
index 8dc2241..0000000
--- a/UdpPosix.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include "Participant.h"
-
-namespace Passer {
-namespace Control {
-
-class UdpPosix : public Participant {
-public:
-  void Setup(int localPort, const char *remoteIpAddress, int remotePort);
-  void Receive();
-  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
-  bool Publish(IMessage *msg);
-};
-
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
diff --git a/UdpWindows.cpp b/UdpWindows.cpp
deleted file mode 100644
index 9ddaf0a..0000000
--- a/UdpWindows.cpp
+++ /dev/null
@@ -1,207 +0,0 @@
-#include "UdpWindows.h"
-
-#if defined(_WIN32) || defined(_WIN64)
-#include <winsock2.h>
-#include <ws2tcpip.h>
-#pragma comment(lib, "ws2_32.lib")
-#elif defined(__unix__) || defined(__APPLE__)
-#include <arpa/inet.h>
-#include <fcntl.h> // For fcntl
-#include <netinet/in.h>
-#include <sys/socket.h>
-#include <unistd.h>
-#endif
-
-namespace Passer {
-namespace Control {
-
-void UdpWindows::Setup(int localPort, const char *remoteIpAddress,
-                       int remotePort) {
-#if defined(_WIN32) || defined(_WIN64)
-
-  // Create a UDP socket
-#if defined(_WIN32) || defined(_WIN64)
-  // Windows-specific Winsock initialization
-  WSADATA wsaData;
-  if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
-    std::cerr << "WSAStartup failed" << std::endl;
-    return;
-  }
-#endif
-
-#if defined(_WIN32) || defined(_WIN64)
-  this->sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
-#elif defined(__unix__) || defined(__APPLE__)
-  this->sock = socket(AF_INET, SOCK_DGRAM, 0);
-#endif
-
-  if (this->sock < 0) {
-    std::cerr << "Error creating socket" << std::endl;
-    return;
-  }
-
-// Set the socket to non-blocking mode
-#if defined(_WIN32) || defined(_WIN64)
-  u_long mode = 1; // 1 to enable non-blocking socket
-  ioctlsocket(this->sock, FIONBIO, &mode);
-#elif defined(__unix__) || defined(__APPLE__)
-  int flags = fcntl(this->sock, F_GETFL, 0);
-  fcntl(this->sock, F_SETFL, flags | O_NONBLOCK);
-#endif
-
-  if (remotePort != 0) {
-    // Set up the address to send to
-    memset(&remote_addr, 0, sizeof(remote_addr));
-    remote_addr.sin_family = AF_INET;
-    remote_addr.sin_port = htons((u_short)remotePort);
-    if (inet_pton(AF_INET, remoteIpAddress, &remote_addr.sin_addr) <= 0) {
-      std::cerr << "Invalid address" << std::endl;
-#if defined(_WIN32) || defined(_WIN64)
-      closesocket(sock);
-      WSACleanup();
-#elif defined(__unix__) || defined(__APPLE__)
-      close(sock);
-#endif
-      return;
-    }
-  }
-
-  // Set up the receiving address
-  memset(&server_addr, 0, sizeof(server_addr));
-  server_addr.sin_family = AF_INET;
-  server_addr.sin_port = htons((u_short)localPort);
-  if (inet_pton(AF_INET, "0.0.0.0", &server_addr.sin_addr) <= 0) {
-    std::cerr << "Invalid address" << std::endl;
-#if defined(_WIN32) || defined(_WIN64)
-    closesocket(sock);
-    WSACleanup();
-#elif defined(__unix__) || defined(__APPLE__)
-    close(sock);
-#endif
-    return;
-  }
-
-  // Bind the socket to the specified port
-  if (bind(this->sock, (const struct sockaddr *)&server_addr,
-           sizeof(server_addr)) < 0) {
-    std::cerr << "Bind failed" << std::endl;
-#if defined(_WIN32) || defined(_WIN64)
-    closesocket(sock);
-    WSACleanup();
-#elif defined(__unix__) || defined(__APPLE__)
-    close(sock);
-#endif
-  }
-
-#endif
-}
-
-void UdpWindows::Receive() {
-#if defined(_WIN32) || defined(_WIN64)
-  // char ip_str[INET_ADDRSTRLEN];
-  // inet_ntop(AF_INET, &(server_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
-  // std::cout << this->name << " Receive on " << ip_str << ":"
-  //           << ntohs(server_addr.sin_port) << "\n";
-
-  sockaddr_in client_addr;
-#if defined(_WIN32) || defined(_WIN64)
-  int len = sizeof(client_addr);
-#elif defined(__unix__) || defined(__APPLE__)
-  socklen_t len = sizeof(client_addr);
-#endif
-  int packetSize = recvfrom(this->sock, buffer, sizeof(buffer), 0,
-                            (struct sockaddr *)&client_addr, &len);
-  // std::cout << "received data " << packetSize << "\n";
-  if (packetSize < 0) {
-#if defined(_WIN32) || defined(_WIN64)
-    int error_code = WSAGetLastError(); // Get the error code on Windows
-    if (error_code != WSAEWOULDBLOCK)
-      std::cerr << "recvfrom failed with error: " << error_code << std::endl;
-#else
-    // std::cerr << "recvfrom failed with error: " << packetSize << std::endl;
-#endif
-  } else if (packetSize > 0) {
-    char sender_ipAddress[INET_ADDRSTRLEN];
-    inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress,
-              INET_ADDRSTRLEN);
-    int sender_port = ntohs(client_addr.sin_port);
-
-    Participant *remoteParticipant =
-        this->GetParticipant(sender_ipAddress, sender_port);
-    if (remoteParticipant == nullptr) {
-      remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
-      // std::cout << "New sender " << sender_ipAddress << ":"
-      //           << sender_port << "\n";
-      // std::cout << "New remote participant " <<
-      // remoteParticipant->ipAddress
-      // << ":"
-      //           << remoteParticipant->port << " "
-      //           << (int)remoteParticipant->networkId << "\n";
-    }
-
-    ReceiveData(packetSize, remoteParticipant);
-  }
-#endif
-}
-
-bool UdpWindows::Send(RemoteParticipant *remoteParticipant, int bufferSize) {
-#if defined(_WIN32) || defined(_WIN64)
-  char ip_str[INET_ADDRSTRLEN];
-  inet_ntop(AF_INET, &(remote_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
-  std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port)
-            << "\n";
-  int sent_bytes = sendto(sock, this->buffer, bufferSize, 0,
-                          (struct sockaddr *)&remote_addr, sizeof(remote_addr));
-#if defined(_WIN32) || defined(_WIN64)
-  if (sent_bytes <= SOCKET_ERROR) {
-    int error_code = WSAGetLastError(); // Get the error code on Windows
-    std::cerr << "sendto failed with error: " << error_code << std::endl;
-    closesocket(sock);
-    WSACleanup();
-    return false;
-  }
-#elif defined(__unix__) || defined(__APPLE__)
-  if (sent_bytes < 0) {
-    std::cerr << "sendto failed with error: " << sent_bytes << std::endl;
-    close(sock);
-    return false;
-  }
-#endif
-#endif
-  return true;
-}
-
-bool UdpWindows::Publish(IMessage *msg) {
-#if defined(_WIN32) || defined(_WIN64)
-  int bufferSize = msg->Serialize(this->buffer);
-  if (bufferSize <= 0)
-    return true;
-
-  char ip_str[INET_ADDRSTRLEN];
-  inet_ntop(AF_INET, &(broadcast_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
-  std::cout << "Publish to " << ip_str << ":" << ntohs(broadcast_addr.sin_port)
-            << "\n";
-  int sent_bytes =
-      sendto(sock, this->buffer, bufferSize, 0,
-             (struct sockaddr *)&broadcast_addr, sizeof(broadcast_addr));
-#if defined(_WIN32) || defined(_WIN64)
-  if (sent_bytes <= SOCKET_ERROR) {
-    int error_code = WSAGetLastError(); // Get the error code on Windows
-    std::cerr << "sendto failed with error: " << error_code << std::endl;
-    closesocket(sock);
-    WSACleanup();
-    return false;
-  }
-#elif defined(__unix__) || defined(__APPLE__)
-  if (sent_bytes < 0) {
-    std::cerr << "sendto failed with error: " << sent_bytes << std::endl;
-    close(sock);
-    return false;
-  }
-#endif
-#endif
-  return true;
-}
-
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
diff --git a/UdpWindows.h b/UdpWindows.h
deleted file mode 100644
index 4a7b3ce..0000000
--- a/UdpWindows.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include "Participant.h"
-
-namespace Passer {
-namespace Control {
-
-class UdpWindows : public Participant {
-public:
-  void Setup(int localPort, const char *remoteIpAddress, int remotePort);
-  void Receive();
-  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
-  bool Publish(IMessage *msg);
-};
-
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
diff --git a/Windows/Participant.cpp b/Windows/Participant.cpp
new file mode 100644
index 0000000..e69de29
diff --git a/Windows/Participant.h b/Windows/Participant.h
new file mode 100644
index 0000000..a0487b4
--- /dev/null
+++ b/Windows/Participant.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include "../Participant.h"
+
+namespace Passer {
+namespace RoboidControl {
+namespace Windows {
+
+class Participant : public RoboidControl::Participant {
+ public:
+  void Setup(int localPort, const char* remoteIpAddress, int remotePort);
+  void Receive();
+  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
+  bool Publish(IMessage* msg);
+};
+
+}  // namespace Windows
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file