diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5e989fe..9b5e493 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,7 @@ else()
         LinearAlgebra
     )
     file(GLOB srcs 
-        *.cpp 
+        *.cpp
         Sensors/*.cpp
         Messages/*.cpp
         Arduino/*.cpp
diff --git a/Messages/CustomMsg.cpp b/Messages/BinaryMsg.cpp
similarity index 70%
rename from Messages/CustomMsg.cpp
rename to Messages/BinaryMsg.cpp
index 6dd3fc0..fe8e380 100644
--- a/Messages/CustomMsg.cpp
+++ b/Messages/BinaryMsg.cpp
@@ -1,9 +1,9 @@
-#include "CustomMsg.h"
+#include "BinaryMsg.h"
 
 namespace Passer {
 namespace RoboidControl {
 
-CustomMsg::CustomMsg(char *buffer) {
+BinaryMsg::BinaryMsg(char *buffer) {
   unsigned char ix = 1;
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
@@ -12,15 +12,15 @@ 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->GenerateBinary(buffer, &ix);
   if (ix <= this->length) // in this case, no data is actually sent
@@ -32,8 +32,8 @@ 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;
 }
 
diff --git a/Messages/CustomMsg.h b/Messages/BinaryMsg.h
similarity index 66%
rename from Messages/CustomMsg.h
rename to Messages/BinaryMsg.h
index acdbbc6..987b8a8 100644
--- a/Messages/CustomMsg.h
+++ b/Messages/BinaryMsg.h
@@ -5,7 +5,7 @@
 namespace Passer {
 namespace RoboidControl {
 
-class CustomMsg : public IMessage {
+class BinaryMsg : public IMessage {
 public:
   static const unsigned char id = 0xB1;
   static const unsigned length = 3;
@@ -17,13 +17,13 @@ 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 RoboidControl
diff --git a/Messages/ClientMsg.cpp b/Messages/ClientMsg.cpp
deleted file mode 100644
index 0959a37..0000000
--- a/Messages/ClientMsg.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-#include "ClientMsg.h"
-
-namespace Passer::RoboidControl {
-
-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::RoboidControl
\ No newline at end of file
diff --git a/Messages/ClientMsg.h b/Messages/ClientMsg.h
deleted file mode 100644
index f512c90..0000000
--- a/Messages/ClientMsg.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#include "Messages.h"
-
-namespace Passer {
-namespace RoboidControl {
-
-/// @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 RoboidControl
-} // namespace Passer
\ No newline at end of file
diff --git a/Messages/DestroyMsg.cpp b/Messages/DestroyMsg.cpp
index 9ad67e5..e2c04ad 100644
--- a/Messages/DestroyMsg.cpp
+++ b/Messages/DestroyMsg.cpp
@@ -8,6 +8,8 @@ DestroyMsg::DestroyMsg(unsigned char networkId, Thing *thing) {
   this->thingId = thing->id;
 }
 
+DestroyMsg::DestroyMsg(char* buffer) {}
+
 DestroyMsg::~DestroyMsg() {}
 
 unsigned char DestroyMsg::Serialize(char *buffer) {
diff --git a/Messages/DestroyMsg.h b/Messages/DestroyMsg.h
index 4d30a08..66a6830 100644
--- a/Messages/DestroyMsg.h
+++ b/Messages/DestroyMsg.h
@@ -2,16 +2,28 @@
 namespace Passer {
 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;
 };
 
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/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/Messages.h b/Messages/Messages.h
index 1091f8e..90399dd 100644
--- a/Messages/Messages.h
+++ b/Messages/Messages.h
@@ -8,17 +8,20 @@
 namespace Passer {
 namespace RoboidControl {
 
-class Participant;
-
+/// @brief  Root structure for all communcation messages
 class IMessage {
 public:
+  /// @brief Default constructor for a message
   IMessage();
+  /// @brief Create a message for receiving
+  /// @param buffer The byte array to parse
+  IMessage(char* buffer);
+
+  /// @brief Serialize the message into a byte array for sending
+  /// @param buffer The buffer to serilize into
+  /// @return The length of the message in the buffer
   virtual unsigned char Serialize(char *buffer);
 
-  static unsigned char *ReceiveMsg(unsigned char packetSize);
-
-  // bool Publish(Participant *participant);
-  // bool SendTo(Participant *participant);
 };
 
 } // namespace RoboidControl
diff --git a/Messages/ModelUrlMsg.h b/Messages/ModelUrlMsg.h
index 145e8ed..0b3f521 100644
--- a/Messages/ModelUrlMsg.h
+++ b/Messages/ModelUrlMsg.h
@@ -3,23 +3,37 @@
 namespace Passer {
 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 e37e2e8..9f926ce 100644
--- a/Messages/NameMsg.cpp
+++ b/Messages/NameMsg.cpp
@@ -5,6 +5,16 @@
 namespace Passer {
 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
   this->networkId = buffer[ix++];
@@ -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 0afc8a4..4a94237 100644
--- a/Messages/NameMsg.h
+++ b/Messages/NameMsg.h
@@ -3,23 +3,37 @@
 namespace Passer {
 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.h b/Messages/NetworkIdMsg.h
index 353bd38..afc4fb8 100644
--- a/Messages/NetworkIdMsg.h
+++ b/Messages/NetworkIdMsg.h
@@ -3,18 +3,26 @@
 namespace Passer {
 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.h b/Messages/ThingMsg.h
index bfdd8fa..0a6d006 100644
--- a/Messages/ThingMsg.h
+++ b/Messages/ThingMsg.h
@@ -3,23 +3,37 @@
 namespace Passer {
 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 6d97749..a0e18dc 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -79,10 +79,10 @@ 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();
@@ -150,7 +150,7 @@ void Passer::RoboidControl::Participant::PublishThingInfo(Thing* 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;
 }
@@ -194,8 +194,8 @@ void Participant::ReceiveData(unsigned char bufferSize, RemoteParticipant* remot
   unsigned char msgId = this->buffer[0];
   // std::cout << "receive msg " << (int)msgId << "\n";
   switch (msgId) {
-    case ClientMsg::id: {
-      ClientMsg* msg = new ClientMsg(this->buffer);
+    case ParticipantMsg::id: {
+      ParticipantMsg* msg = new ParticipantMsg(this->buffer);
       Process(remoteParticipant, msg);
       delete msg;
     } break;
@@ -224,15 +224,15 @@ void Participant::ReceiveData(unsigned char bufferSize, RemoteParticipant* remot
       Process(remoteParticipant, msg);
       delete msg;
     } break;
-    case CustomMsg::id: {
-      CustomMsg* msg = new CustomMsg(this->buffer);
+    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";
@@ -261,7 +261,7 @@ void Participant::Process(RemoteParticipant* sender, NameMsg* 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);
diff --git a/Participant.h b/Participant.h
index e5a951c..da5b169 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"
@@ -94,13 +94,13 @@ 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
diff --git a/Sensors/TemperatureSensor.cpp b/Sensors/TemperatureSensor.cpp
index fca16cb..ad63935 100644
--- a/Sensors/TemperatureSensor.cpp
+++ b/Sensors/TemperatureSensor.cpp
@@ -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::GenerateBinary(char *buffer, unsigned char *ix) {
-  std::cout << "Send temperature: " << this->temp << "\n";
-  LowLevelMessages::SendFloat16(buffer, ix, this->temp);
+  std::cout << "Send temperature: " << this->temperature << "\n";
+  LowLevelMessages::SendFloat16(buffer, ix, this->temperature);
 }
 
 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 7eb3a94..8ce8284 100644
--- a/Sensors/TemperatureSensor.h
+++ b/Sensors/TemperatureSensor.h
@@ -5,19 +5,31 @@
 namespace Passer {
 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 GenerateBinary(char *buffer, unsigned char *ix) override;
-  virtual void ProcessBinary(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 bb5a213..6510a65 100644
--- a/SiteServer.cpp
+++ b/SiteServer.cpp
@@ -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 c657ca6..c9091b8 100644
--- a/SiteServer.h
+++ b/SiteServer.h
@@ -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;