diff --git a/Placement.cpp b/Placement.cpp
index 59d1ff6..16e8da7 100644
--- a/Placement.cpp
+++ b/Placement.cpp
@@ -4,36 +4,21 @@ Placement::Placement() {
   this->position = Vector3::zero;
   this->thing = nullptr;
 }
-// Placement::Placement(Vector3 position, Thing* thing) {
-//   this->position = position;
-//   this->thing = thing;
-// }
 
-Placement::Placement(Vector3 direction, Sensor* thing) {
-  this->position = Vector3::zero;
-  this->direction = direction;
-  this->thing = thing;
-}
-
-//Placement::Placement(Vector3 position, Sensor* thing) {
-//  this->position = position;
-//  this->direction = Vector2::zero;
-//  this->thing = thing;
-//}
-
-Placement::Placement(Vector3 position, Motor* thing) {
+Placement::Placement(Thing* thing, Vector3 position) {
   this->position = position;
   this->direction = Vector3::zero;
   this->thing = thing;
 }
 
-//Placement::Placement(Vector3 position, ControlledMotor* thing) {
-//  this->position = position;
-//  this->direction = Vector2::zero;
-//  this->thing = thing;
-//}
-//
-//Placement::Placement(Thing* thing, Vector3 position) {
-//  this->thing = thing;
-//  this->position = position;
-//}
\ No newline at end of file
+Placement::Placement(Thing* thing, Vector3 position, float horizontalDirection) {
+  this->position = position;
+  this->direction = Vector3(0, horizontalDirection, 0);
+  this->thing = thing;
+}
+
+Placement::Placement(Thing* thing, float horizontalDirection) {
+  this->position = Vector3::zero;
+  this->direction = Vector3(0, horizontalDirection, 0);
+  this->thing = thing;
+}
diff --git a/Placement.h b/Placement.h
index a2491df..ecdf17b 100644
--- a/Placement.h
+++ b/Placement.h
@@ -1,21 +1,18 @@
 #pragma once
 
 #include "ControlledMotor.h"
+#include "DistanceSensor.h"
 #include "Motor.h"
 #include "Thing.h"
 #include "Vector2.h"
 #include "Vector3.h"
-#include "DistanceSensor.h"
 
 class Placement {
  public:
   Placement();
-  Placement(Vector3 direction, Sensor* sensor);
-
-  //Placement(Vector3 position, Sensor* sensor);
-  Placement(Vector3 position, Motor* motor);
-  /*Placement(Vector3 position, ControlledMotor* motor);
-  Placement(Thing* thing, Vector3 position);*/
+  Placement(Thing* thing, Vector3 position);
+  Placement(Thing* thing, Vector3 position, float horizontalAngle);
+  Placement(Thing* thing, float horizontalAngle);
 
   Placement* parent = nullptr;
   Placement** children = nullptr;
diff --git a/Roboid.cpp b/Roboid.cpp
index 2d6bc9c..b0cca1e 100644
--- a/Roboid.cpp
+++ b/Roboid.cpp
@@ -9,6 +9,6 @@ Roboid::Roboid(Placement configuration[], unsigned int thingCount) {
   this->configuration = configuration;
   this->thingCount = thingCount;
 
-  sensing.AddSensors(configuration, thingCount);
+  perception.AddSensors(configuration, thingCount);
   propulsion.AddMotors(configuration, thingCount);
 }
\ No newline at end of file
diff --git a/Roboid.h b/Roboid.h
index cbcd440..7aa1b23 100644
--- a/Roboid.h
+++ b/Roboid.h
@@ -10,7 +10,7 @@ class Roboid {
   Roboid();
   Roboid(Placement configuration[], unsigned int thingCount);
 
-  Sensing sensing;
+  Perception perception;
   Propulsion propulsion;
 
   Placement* configuration;