diff --git a/NetworkPerception.cpp b/NetworkPerception.cpp
index 999ec36..20be813 100644
--- a/NetworkPerception.cpp
+++ b/NetworkPerception.cpp
@@ -124,11 +124,12 @@ void NetworkPerception::ReceiveSphere(unsigned char *data, Roboid *roboid) {
 
   roboid->perception->AddTrackedObject(this, position, Quaternion::identity,
                                        0x81, 0x81, networkId);
-  roboid->networkSync->SendText("Received Sphere\n\0");
-  if ((float)position.horizontalAngle == 0)
-    roboid->networkSync->SendText("Zero hor angle\0");
-  if ((float)position.verticalAngle == 0)
-    roboid->networkSync->SendText("Zero vertical angle\0");
+  // roboid->networkSync->SendText("Received Sphere\n\0");
+  // roboid->networkSync->SendInt(position.distance * 100);
+  // if ((float)position.horizontalAngle == 0)
+  //   roboid->networkSync->SendText("Zero hor angle\0");
+  // if ((float)position.verticalAngle == 0)
+  //   roboid->networkSync->SendText("Zero vertical angle\0");
 }
 
 void NetworkPerception::ReceivePoseMsg(unsigned char *data, Roboid *roboid) {
diff --git a/Perception.cpp b/Perception.cpp
index 5bce0c0..020a0eb 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -290,11 +290,11 @@ Perception::AddTrackedObject(Sensor *sensor, Spherical position,
     // Do we see the same object?
     else {
       if (thing->IsTheSameAs(this->trackedObjects[thingIx])) {
-        if ((float)thing->position.horizontalAngle !=
-            (float)this->trackedObjects[thingIx]->position.horizontalAngle)
-          this->roboid->networkSync->SendText("Update\0");
-        else
-          this->roboid->networkSync->SendText("Refresh\0");
+        // if ((float)thing->position.horizontalAngle !=
+        //     (float)this->trackedObjects[thingIx]->position.horizontalAngle)
+        //   this->roboid->networkSync->SendText("Update\0");
+        // else
+        //   this->roboid->networkSync->SendText("Refresh\0");
         this->trackedObjects[thingIx]->Refresh(thing->position,
                                                thing->orientation);
         delete thing;
diff --git a/Roboid.cpp b/Roboid.cpp
index 8c8936a..6bef157 100644
--- a/Roboid.cpp
+++ b/Roboid.cpp
@@ -49,11 +49,10 @@ void Roboid::Update(unsigned long currentTimeMs) {
                                          Vector3::up));
   }
 
-  // if (actuation != nullptr)
-  //   actuation->Update(currentTimeMs);
   if (childCount > 0 && children != nullptr) {
-    for (unsigned char childIx = 0; childIx < this->childCount; childIx++)
+    for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
       children[childIx]->Update(currentTimeMs);
+    }
   }
 
   if (networkSync != nullptr)
diff --git a/ServoMotor.cpp b/ServoMotor.cpp
index 641c57c..6667fca 100644
--- a/ServoMotor.cpp
+++ b/ServoMotor.cpp
@@ -43,7 +43,7 @@ void ServoMotor::SetTargetVelocity(float targetVelocity) {
 
 float ServoMotor::GetTargetVelocity() { return this->targetVelocity; }
 
-void ServoMotor::Update(float currentTimeMs) {
+void ServoMotor::Update(unsigned long currentTimeMs) {
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
     Thing *child = this->GetChild(childIx);
     if (child != nullptr && child->type == Thing::ServoType) {
diff --git a/ServoMotor.h b/ServoMotor.h
index 0c8b795..eb0d1e1 100644
--- a/ServoMotor.h
+++ b/ServoMotor.h
@@ -24,7 +24,7 @@ public:
   virtual void SetTargetVelocity(float velocity);
   virtual float GetTargetVelocity();
 
-  virtual void Update(float currentTimeMs);
+  virtual void Update(unsigned long currentTimeMs) override;
 
 protected:
   bool hasTargetAngle = false;