diff --git a/ControlCore/CoreThing.cpp b/ControlCore/CoreThing.cpp
index 40c7fa6..c33602e 100644
--- a/ControlCore/CoreThing.cpp
+++ b/ControlCore/CoreThing.cpp
@@ -8,31 +8,31 @@ CoreThing::CoreThing(
   this->type = thingType;
   this->networkId = networkId;
   this->Init();
-  // CoreThings::Add(this);
+  CoreThing::Add(this);
 }
 
 void CoreThing::Init() {}
 
-// CoreThing *CoreThings::allThings[256] = {nullptr};
+CoreThing *CoreThing::allThings[256] = {nullptr};
 
-// CoreThing *CoreThings::Get(unsigned char networkId, unsigned char thingId) {
-//   for (unsigned char ix = 0; ix < 256; ix++) {
-//     CoreThing *thing = allThings[ix];
-//     if (thing == nullptr)
-//       continue;
-//     if (thing->networkId == networkId && thing->id == thingId)
-//       return thing;
-//   }
-//   return nullptr;
-// }
+CoreThing *CoreThing::Get(unsigned char networkId, unsigned char thingId) {
+  for (unsigned char ix = 0; ix < 256; ix++) {
+    CoreThing *thing = allThings[ix];
+    if (thing == nullptr)
+      continue;
+    if (thing->networkId == networkId && thing->id == thingId)
+      return thing;
+  }
+  return nullptr;
+}
 
-// bool CoreThings::Add(CoreThing *newThing) {
-//   for (unsigned char ix = 0; ix < 256; ix++) {
-//     CoreThing *thing = allThings[ix];
-//     if (thing == nullptr) {
-//       allThings[ix] = newThing;
-//       return true;
-//     }
-//   }
-//   return false;
-// }
\ No newline at end of file
+bool CoreThing::Add(CoreThing *newThing) {
+  for (unsigned char ix = 0; ix < 256; ix++) {
+    CoreThing *thing = allThings[ix];
+    if (thing == nullptr) {
+      allThings[ix] = newThing;
+      return true;
+    }
+  }
+  return false;
+}
\ No newline at end of file
diff --git a/ControlCore/CoreThing.h b/ControlCore/CoreThing.h
index 8937455..8b36634 100644
--- a/ControlCore/CoreThing.h
+++ b/ControlCore/CoreThing.h
@@ -15,27 +15,19 @@ public:
   const char *modelUrl;
   // protected Sensor sensor;
 
+  static CoreThing *allThings[];
+
 public:
   CoreThing(
       // Participant *client,
       unsigned char networkId, unsigned char thingId,
       unsigned char thingType = 0);
 
+  static CoreThing *Get(unsigned char networkId, unsigned char thingId);
+  static bool Add(CoreThing *thing);
+
 protected:
   virtual void Init();
-
-  // Things
 };
 
-// class CoreThings {
-//   friend class CoreThing;
-
-// public:
-//   static CoreThing *allThings[];
-
-// public:
-//   static CoreThing *Get(unsigned char networkId, unsigned char thingId);
-//   static bool Add(CoreThing *thing);
-// };
-
 } // namespace Passer::Control
diff --git a/Thing.cpp b/Thing.cpp
index 377a048..515a5cc 100644
--- a/Thing.cpp
+++ b/Thing.cpp
@@ -6,8 +6,8 @@ using namespace Passer::RoboidControl;
 
 int Thing::lastThingId = 1;
 
-Thing::Thing() {
-  //: CoreThing(0, lastThingId++, (unsigned char)Type::Undetermined) {
+Thing::Thing()
+    : CoreThing(0, lastThingId++, (unsigned char)Type::Undetermined) {
   this->id = lastThingId++;
   this->type = (unsigned int)Type::Undetermined;
   this->childCount = 0;
@@ -15,14 +15,14 @@ Thing::Thing() {
   this->children = nullptr;
 }
 
-Thing::Thing(unsigned char id) {
-  //: CoreThing(0, id, (unsigned char)Type::Undetermined) {
+Thing::Thing(unsigned char id)
+    : CoreThing(0, id, (unsigned char)Type::Undetermined) {
   this->id = id;
-  //  this->position = SphericalOf<signed short>::zero;
   this->type = (unsigned int)Type::Undetermined;
   this->childCount = 0;
   this->parent = nullptr;
   this->children = nullptr;
+  //  this->position = SphericalOf<signed short>::zero;
 }
 
 void Thing::SetName(const char *name) { this->name = name; }
diff --git a/Thing.h b/Thing.h
index bd27e63..9989789 100644
--- a/Thing.h
+++ b/Thing.h
@@ -10,7 +10,7 @@ namespace Passer {
 namespace RoboidControl {
 
 /// @brief A thing is a functional component on a robot
-class Thing { //: public CoreThing {
+class Thing : public CoreThing {
 public:
   Thing();
   /// @brief Default constructor for a Thing