diff --git a/ControlledMotor.cpp b/ControlledMotor.cpp
index 467d24e..bec227e 100644
--- a/ControlledMotor.cpp
+++ b/ControlledMotor.cpp
@@ -19,7 +19,7 @@ void ControlledMotor::SetTargetSpeed(float speed) {
   //                                     : Motor::Direction::Clockwise;
 }
 
-void ControlledMotor::Update(float currentTimeMs) {
+void ControlledMotor::Update(unsigned long currentTimeMs) {
   this->actualSpeed = encoder->GetRevolutionsPerSecond(currentTimeMs);
   if (this->currentTargetSpeed < 0)
     this->actualSpeed = -this->actualSpeed;
diff --git a/NetworkSync.cpp b/NetworkSync.cpp
index aa5a3b4..4fc116b 100644
--- a/NetworkSync.cpp
+++ b/NetworkSync.cpp
@@ -35,8 +35,8 @@ void NetworkSync::ReceiveNetworkId() {
   // delay(100);
   PublishModel(roboid);
   // delay(100);
-  if (roboid->actuation != nullptr)
-    PublishRelativeThing(roboid->actuation, true);
+  if (roboid->childCount > 0)
+    PublishRelativeThing(roboid->GetChild(0), true);
 }
 
 void NetworkSync::NewObject(InterestingThing *thing) {
@@ -89,11 +89,11 @@ void NetworkSync::PublishModel(Roboid *roboid) {
     return;
 
   unsigned char ix = 0;
-  buffer[ix++] = 0x90; // modelMsg
-  buffer[ix++] = 0x00; // objectId
-  Spherical s = Spherical(roboid->modelPosition);
+  buffer[ix++] = 0x90;           // modelMsg
+  buffer[ix++] = 0x00;           // objectId
+  Spherical s = Spherical::zero; //(roboid->modelPosition);
   SendSpherical(buffer, &ix, s);
-  SendFloat16(buffer, &ix, roboid->modelScale);
+  SendFloat16(buffer, &ix, 1); // roboid->modelScale);
 
   buffer[ix++] = len;
   for (int urlIx = 0; urlIx < len; urlIx++)
@@ -111,11 +111,11 @@ void NetworkSync::PublishModel(Thing *thing) {
     return;
 
   unsigned char ix = 0;
-  buffer[ix++] = 0x90;      // modelMsg
-  buffer[ix++] = thing->id; // objectId
-  Spherical s = Spherical(thing->modelPosition);
+  buffer[ix++] = 0x90;           // modelMsg
+  buffer[ix++] = thing->id;      // objectId
+  Spherical s = Spherical::zero; // Spherical(thing->modelPosition);
   SendSpherical(buffer, &ix, s);
-  SendFloat16(buffer, &ix, thing->modelScale);
+  SendFloat16(buffer, &ix, 1); // thing->modelScale);
 
   buffer[ix++] = len;
   for (int urlIx = 0; urlIx < len; urlIx++)
@@ -168,7 +168,7 @@ void NetworkSync::SendPose(Roboid *roboid, bool recurse) {
 
   if (recurse) {
     // delay(10);
-    Thing *child = roboid->actuation;
+    Thing *child = roboid->GetChild(0); // actuation;
     if (child != nullptr)
       SendPose(child, true);
   }
@@ -213,8 +213,8 @@ void NetworkSync::PublishTrackedObjects(Roboid *roboid,
     InterestingThing *obj = objects[objIx];
     if (obj == nullptr)
       continue;
-    if (obj->sensor->type == Thing::ExternalType)
-      continue;
+    // if (obj->sensor->type == Thing::ExternalType)
+    //   continue;
 
     if (obj->confidence > 0) {
       PublishTrackedObject(roboid, obj);
diff --git a/NetworkSync.h b/NetworkSync.h
index 4b7128c..be233bb 100644
--- a/NetworkSync.h
+++ b/NetworkSync.h
@@ -72,7 +72,7 @@ public:
   void SendPose(Roboid *roboid, bool recurse = true);
   void SendPose(Thing *thing, bool recurse = true);
 
-  virtual void SendText(const char *s) {};
+  virtual void SendText(const char *s);
 
 protected:
   Roboid *roboid;
diff --git a/Thing.h b/Thing.h
index 436ae0a..5631852 100644
--- a/Thing.h
+++ b/Thing.h
@@ -76,6 +76,10 @@ public:
   /// @param currentTimeMs The current clock time in milliseconds
   virtual void Update(unsigned long currentTimeMs) {}
 
+  unsigned char childCount = 0;
+
+  const char *modelUrl = nullptr;
+
 protected:
   /// @brief Bitmask for Motor type
   static const unsigned int MotorType = 0x8000;
@@ -99,10 +103,7 @@ protected:
   };
 
   Thing *parent = nullptr;
-  unsigned char childCount = 0;
   Thing **children = nullptr;
-
-  const char *modelUrl = nullptr;
 };
 
 } // namespace RoboidControl