diff --git a/ControlCore/Messages.cpp b/ControlCore/Messages.cpp
index 78c6da1..17df766 100644
--- a/ControlCore/Messages.cpp
+++ b/ControlCore/Messages.cpp
@@ -8,17 +8,8 @@
 
 IMessage::IMessage() {}
 
-// IMessage::IMessage(unsigned char *buffer) { Deserialize(buffer); }
-
 unsigned char IMessage::Serialize(unsigned char *buffer) { return 0; }
 
-// void IMessage::Deserialize(unsigned char *buffer) {}
-
-// bool IMessage::SendMsg(Participant *client, IMessage msg) {
-//   // return SendMsg(client, client.buffer, );nameLength
-//   return client->SendBuffer(msg.Serialize(client->buffer));
-// }
-
 unsigned char *IMessage::ReceiveMsg(unsigned char packetSize) {
   return nullptr;
 }
@@ -39,14 +30,11 @@ ClientMsg::ClientMsg(unsigned char networkId) { this->networkId = networkId; }
 
 unsigned char ClientMsg::Serialize(unsigned char *buffer) {
   unsigned char ix = 0;
-  buffer[ix++] = this->id;
+  buffer[ix++] = ClientMsg::id;
   buffer[ix++] = this->networkId;
   return ix;
 }
 
-// bool ClientMsg::Send(Participant *participant, unsigned char networkId) {
-//   ClientMsg msg = ClientMsg()
-// }
 // Client Msg
 #pragma endregion
 
@@ -56,10 +44,6 @@ NetworkIdMsg::NetworkIdMsg(unsigned char *buffer) {
   this->networkId = buffer[1];
 }
 
-// void NetworkIdMsg::Deserialize(unsigned char *buffer) {
-//   this->networkId = buffer[1];
-// }
-
 NetworkIdMsg NetworkIdMsg::Receive(unsigned char *buffer,
                                    unsigned char bufferSize) {
   NetworkIdMsg msg = NetworkIdMsg(buffer);
@@ -83,18 +67,12 @@ InvestigateMsg::InvestigateMsg(unsigned char networkId, unsigned char thingId) {
 
 unsigned char InvestigateMsg::Serialize(unsigned char *buffer) {
   unsigned char ix = 0;
-  buffer[ix++] = this->id;
+  buffer[ix++] = InvestigateMsg::id;
   buffer[ix++] = this->networkId;
   buffer[ix++] = this->thingId;
   return ix;
 }
 
-// bool InvestigateMsg::Send(Participant *participant, unsigned char networkId,
-//                           unsigned char thingId) {
-//   InvestigateMsg msg = InvestigateMsg(networkId, thingId);
-//   return msg.Send(participant);
-// }
-
 // Investigate
 #pragma endregion
 
@@ -118,7 +96,7 @@ ThingMsg::ThingMsg(unsigned char networkId, unsigned char thingId,
 
 unsigned char ThingMsg::Serialize(unsigned char *buffer) {
   unsigned char ix = 0;
-  buffer[ix++] = this->id;
+  buffer[ix++] = ThingMsg::id;
   buffer[ix++] = this->networkId;
   buffer[ix++] = this->thingId;
   buffer[ix++] = this->thingType;
@@ -126,13 +104,6 @@ unsigned char ThingMsg::Serialize(unsigned char *buffer) {
   return ix;
 }
 
-// bool ThingMsg::Send(Participant *participant, unsigned char networkId,
-//                     unsigned char thingId, unsigned char thingType,
-//                     unsigned char parentId) {
-//   ThingMsg msg = ThingMsg(networkId, thingId, thingType, parentId);
-//   return msg.Send(participant);
-// }
-
 // Thing
 #pragma endregion
 
@@ -148,7 +119,7 @@ NameMsg::NameMsg(unsigned char networkId, unsigned char thingId,
 
 unsigned char NameMsg::Serialize(unsigned char *buffer) {
   unsigned char ix = 0;
-  buffer[ix++] = this->id;
+  buffer[ix++] = NameMsg::id;
   buffer[ix++] = this->networkId;
   buffer[ix++] = this->thingId;
   buffer[ix++] = this->nameLength;
@@ -158,18 +129,6 @@ unsigned char NameMsg::Serialize(unsigned char *buffer) {
   return ix;
 }
 
-// bool NameMsg::Send(Participant *participant, Thing *thing,
-//                    unsigned char nameLength) {
-//   if (thing->name == nullptr)
-//     return true; // nothing sent, but still a success!
-
-//   if (strlen(thing->name) == 0)
-//     return true;
-
-//   NameMsg msg = NameMsg(thing->networkId, thing->id, thing->name,
-//   nameLength); return msg.Send(participant);
-// }
-
 // Name
 #pragma endregion
 
@@ -187,7 +146,7 @@ ModelUrlMsg::ModelUrlMsg(unsigned char networkId, unsigned char thingId,
 
 unsigned char ModelUrlMsg::Serialize(unsigned char *buffer) {
   unsigned char ix = 0;
-  buffer[ix++] = this->id;
+  buffer[ix++] = ModelUrlMsg::id;
   buffer[ix++] = this->networkId;
   buffer[ix++] = this->thingId;
   LowLevelMessages::SendFloat16(buffer, &ix, this->scale);
@@ -230,13 +189,13 @@ unsigned char PoseMsg::Serialize(unsigned char *buffer) {
   buffer[ix++] = this->networkId;
   buffer[ix++] = this->thingId;
   buffer[ix++] = this->poseType;
-  if ((this->poseType & Pose_Position) != 0)
+  if (this->poseType & Pose_Position)
     LowLevelMessages::SendSpherical16(buffer, &ix, this->position);
-  if ((this->poseType & Pose_Orientation) != 0)
+  if (this->poseType & Pose_Orientation)
     LowLevelMessages::SendQuat32(buffer, &ix, this->orientation);
-  if ((this->poseType & Pose_LinearVelocity) != 0)
+  if (this->poseType & Pose_LinearVelocity)
     LowLevelMessages::SendSpherical16(buffer, &ix, this->linearVelocity);
-  if ((this->poseType & Pose_AngularVelocity) != 0)
+  if (this->poseType & Pose_AngularVelocity)
     LowLevelMessages::SendSpherical16(buffer, &ix, this->angularVelocity);
   return ix;
 }
@@ -267,7 +226,7 @@ unsigned char CustomMsg::Serialize(unsigned char *buffer) {
   if (ix <= this->length) // in this case, no data is actually sent
     return 0;
 
-  buffer[0] = this->id;
+  buffer[0] = CustomMsg::id;
   buffer[1] = this->networkId;
   buffer[2] = this->thingId;
   return ix;
@@ -290,7 +249,7 @@ DestroyMsg::DestroyMsg(unsigned char networkId, Thing *thing) {
 
 unsigned char DestroyMsg::Serialize(unsigned char *buffer) {
   unsigned char ix = 0;
-  buffer[ix++] = this->id;
+  buffer[ix++] = DestroyMsg::id;
   buffer[ix++] = this->networkId;
   buffer[ix++] = this->thingId;
   return ix;