diff --git a/DoxyGen/Doxyfile b/DoxyGen/Doxyfile
index 0ba0d5c..853c02a 100644
--- a/DoxyGen/Doxyfile
+++ b/DoxyGen/Doxyfile
@@ -42,7 +42,7 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "Control Core for C++"
+PROJECT_NAME           = "Roboid Control for C++"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
@@ -61,14 +61,14 @@ PROJECT_BRIEF          =
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           = //intranet/home/Afbeeldingen/PasserVR/Logos/Logo3NameRight100.png
+PROJECT_LOGO           = //intranet/home/Afbeeldingen/PasserVR/Logos/PasserLife/PasserLifeLogoLeft_300.png
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is
 # entered, it will be relative to the location where doxygen was started. If
 # left blank the current directory will be used.
 
-OUTPUT_DIRECTORY       = //intranet/web/passer_life/apis/ControlCore/Cpp/
+OUTPUT_DIRECTORY       = //intranet/web/roboidcontrol_doc/Cpp/
 
 # If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
 # sub-directories (in 2 levels) under the output directory of each output format
@@ -777,7 +777,7 @@ MAX_INITIALIZER_LINES  = 30
 # list will mention the files that were used to generate the documentation.
 # The default value is: YES.
 
-SHOW_USED_FILES        = YES
+SHOW_USED_FILES        = NO
 
 # Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
 # will remove the Files entry from the Quick Index and from the Folder Tree View
@@ -1044,7 +1044,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                =
+EXCLUDE                = ../LinearAlgebra
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
diff --git a/LowLevelMessages.cpp b/LowLevelMessages.cpp
index 45c34f0..ccce3b4 100644
--- a/LowLevelMessages.cpp
+++ b/LowLevelMessages.cpp
@@ -57,7 +57,7 @@ Spherical16 LowLevelMessages::ReceiveSpherical16(const char *buffer,
   return s;
 }
 
-void Passer::Control::LowLevelMessages::SendQuat32(char *buffer,
+void Passer::RoboidControl::LowLevelMessages::SendQuat32(char *buffer,
                                                    unsigned char *ix,
                                                    SwingTwist16 rotation) {
   Quaternion q = rotation.ToQuaternion();
diff --git a/LowLevelMessages.h b/LowLevelMessages.h
index 62ef3fe..0032cf4 100644
--- a/LowLevelMessages.h
+++ b/LowLevelMessages.h
@@ -2,7 +2,7 @@
 #include "LinearAlgebra/SwingTwist.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class LowLevelMessages {
 public:
@@ -20,6 +20,6 @@ public:
   static SwingTwist16 ReceiveQuat32(const char *buffer, unsigned char *ix);
 };
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
-using namespace Passer::Control;
\ No newline at end of file
+using namespace Passer::RoboidControl;
\ No newline at end of file
diff --git a/Messages.h b/Messages.h
index b34f247..1091f8e 100644
--- a/Messages.h
+++ b/Messages.h
@@ -6,7 +6,7 @@
 #include "float16.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class Participant;
 
@@ -21,7 +21,7 @@ public:
   // bool SendTo(Participant *participant);
 };
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
 
-using namespace Passer::Control;
\ No newline at end of file
+using namespace Passer::RoboidControl;
\ No newline at end of file
diff --git a/Messages/ClientMsg.cpp b/Messages/ClientMsg.cpp
index 083cb89..0959a37 100644
--- a/Messages/ClientMsg.cpp
+++ b/Messages/ClientMsg.cpp
@@ -1,6 +1,6 @@
 #include "ClientMsg.h"
 
-namespace Passer::Control {
+namespace Passer::RoboidControl {
 
 ClientMsg::ClientMsg(char networkId) { this->networkId = networkId; }
 
@@ -20,4 +20,4 @@ unsigned char ClientMsg::Serialize(char *buffer) {
 // }
 // Client Msg
 
-} // namespace Passer::Control
\ No newline at end of file
+} // namespace Passer::RoboidControl
\ No newline at end of file
diff --git a/Messages/ClientMsg.h b/Messages/ClientMsg.h
index 4d45566..f512c90 100644
--- a/Messages/ClientMsg.h
+++ b/Messages/ClientMsg.h
@@ -3,7 +3,7 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 /// @brief A client message announces the presence of a participant
 /// When received by another participant, it can be followed by a NetworkIdMsg
@@ -21,5 +21,5 @@ public:
   virtual unsigned char Serialize(char *buffer) override;
 };
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
\ No newline at end of file
diff --git a/Messages/CustomMsg.cpp b/Messages/CustomMsg.cpp
index 40e91f1..6dd3fc0 100644
--- a/Messages/CustomMsg.cpp
+++ b/Messages/CustomMsg.cpp
@@ -1,7 +1,7 @@
 #include "CustomMsg.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 CustomMsg::CustomMsg(char *buffer) {
   unsigned char ix = 1;
@@ -22,7 +22,7 @@ CustomMsg::~CustomMsg() {}
 
 unsigned char CustomMsg::Serialize(char *buffer) {
   unsigned char ix = this->length;
-  this->thing->SendBytes(buffer, &ix);
+  this->thing->GenerateBinary(buffer, &ix);
   if (ix <= this->length) // in this case, no data is actually sent
     return 0;
 
@@ -37,5 +37,5 @@ CustomMsg CustomMsg::Receive(char *buffer, unsigned char bufferSize) {
   return msg;
 }
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
diff --git a/Messages/CustomMsg.h b/Messages/CustomMsg.h
index 169562a..acdbbc6 100644
--- a/Messages/CustomMsg.h
+++ b/Messages/CustomMsg.h
@@ -3,7 +3,7 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class CustomMsg : public IMessage {
 public:
@@ -26,5 +26,5 @@ public:
   static CustomMsg Receive(char *buffer, unsigned char bufferSize);
 };
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
diff --git a/Messages/DestroyMsg.cpp b/Messages/DestroyMsg.cpp
index ecd1b1a..9ad67e5 100644
--- a/Messages/DestroyMsg.cpp
+++ b/Messages/DestroyMsg.cpp
@@ -1,7 +1,7 @@
 #include "DestroyMsg.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 DestroyMsg::DestroyMsg(unsigned char networkId, Thing *thing) {
   this->networkId = networkId;
@@ -18,5 +18,5 @@ unsigned char DestroyMsg::Serialize(char *buffer) {
   return ix;
 }
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
diff --git a/Messages/DestroyMsg.h b/Messages/DestroyMsg.h
index 4d83c17..4d30a08 100644
--- a/Messages/DestroyMsg.h
+++ b/Messages/DestroyMsg.h
@@ -1,6 +1,6 @@
 #include "Messages.h"
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class DestroyMsg : public IMessage {
 public:
@@ -15,5 +15,5 @@ public:
   virtual unsigned char Serialize(char *buffer) override;
 };
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
\ No newline at end of file
diff --git a/Messages/ModelUrlMsg.cpp b/Messages/ModelUrlMsg.cpp
index 01cf874..b70f1af 100644
--- a/Messages/ModelUrlMsg.cpp
+++ b/Messages/ModelUrlMsg.cpp
@@ -3,7 +3,7 @@
 #include <string.h>
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 // ModelUrlMsg::ModelUrlMsg(unsigned char networkId, unsigned char thingId,
 //                          unsigned char urlLength, const char *url,
@@ -51,5 +51,5 @@ unsigned char ModelUrlMsg::Serialize(char *buffer) {
   return ix;
 }
 
-} // namespace Control
+} // namespace RoboidControl
 } // namespace Passer
\ No newline at end of file
diff --git a/Messages/ModelUrlMsg.h b/Messages/ModelUrlMsg.h
index 0cce9f5..145e8ed 100644
--- a/Messages/ModelUrlMsg.h
+++ b/Messages/ModelUrlMsg.h
@@ -1,7 +1,7 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class ModelUrlMsg : public IMessage {
 public:
diff --git a/Messages/NameMsg.cpp b/Messages/NameMsg.cpp
index 6c0d054..3786ca1 100644
--- a/Messages/NameMsg.cpp
+++ b/Messages/NameMsg.cpp
@@ -3,7 +3,7 @@
 #include <string.h>
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 NameMsg::NameMsg(const char *buffer) {
   unsigned char ix = 1; // first byte is msg id
diff --git a/Messages/NameMsg.h b/Messages/NameMsg.h
index 58ec135..0afc8a4 100644
--- a/Messages/NameMsg.h
+++ b/Messages/NameMsg.h
@@ -1,7 +1,7 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class NameMsg : public IMessage {
 public:
diff --git a/Messages/NetworkIdMsg.cpp b/Messages/NetworkIdMsg.cpp
index 21ceabc..b133d3c 100644
--- a/Messages/NetworkIdMsg.cpp
+++ b/Messages/NetworkIdMsg.cpp
@@ -1,7 +1,7 @@
 #include "NetworkIdMsg.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 NetworkIdMsg::NetworkIdMsg(const char *buffer) { this->networkId = buffer[1]; }
 
diff --git a/Messages/NetworkIdMsg.h b/Messages/NetworkIdMsg.h
index 21731bb..353bd38 100644
--- a/Messages/NetworkIdMsg.h
+++ b/Messages/NetworkIdMsg.h
@@ -1,7 +1,7 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class NetworkIdMsg : public IMessage {
 public:
diff --git a/Messages/ThingMsg.cpp b/Messages/ThingMsg.cpp
index d0d5e2b..5242256 100644
--- a/Messages/ThingMsg.cpp
+++ b/Messages/ThingMsg.cpp
@@ -1,7 +1,7 @@
 #include "ThingMsg.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 ThingMsg::ThingMsg(const char *buffer) {
   unsigned char ix = 1; // first byte is msg id
diff --git a/Messages/ThingMsg.h b/Messages/ThingMsg.h
index 4fcdf56..bfdd8fa 100644
--- a/Messages/ThingMsg.h
+++ b/Messages/ThingMsg.h
@@ -1,7 +1,7 @@
 #include "Messages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class ThingMsg : public IMessage {
 public:
diff --git a/Participant.cpp b/Participant.cpp
index fa595d5..218b27f 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -20,7 +20,7 @@
 #endif
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 Participant::Participant() {}
 
@@ -136,7 +136,7 @@ void Participant::SendThingInfo(Thing *thing) {
   delete modelMsg;
 }
 
-void Passer::Control::Participant::PublishThingInfo(Thing *thing) {
+void Passer::RoboidControl::Participant::PublishThingInfo(Thing *thing) {
   // std::cout << "Publish thing info" << thing->networkId << "\n";
   //  Strange, when publishing, the network id is irrelevant, because it is
   //  connected to a specific site...
@@ -271,7 +271,7 @@ void Participant::Process(PoseMsg *msg) {}
 void Participant::Process(CustomMsg *msg) {
   Thing *thing = this->Get(msg->networkId, msg->thingId);
   if (thing != nullptr)
-    thing->ProcessBytes(msg->bytes);
+    thing->ProcessBinary(msg->bytes);
   else
     std::cout << "custom msg for unknown thing " << (int)msg->networkId << ":"
               << (int)msg->thingId << "\n";
diff --git a/Participant.h b/Participant.h
index 189fddf..3ac7ecf 100644
--- a/Participant.h
+++ b/Participant.h
@@ -24,7 +24,7 @@
 #endif
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 /// @brief A participant is device which can communicate with other participants
 class Participant {
@@ -104,4 +104,4 @@ protected:
 
 } // namespace Control
 } // namespace Passer
-using namespace Passer::Control;
\ No newline at end of file
+using namespace Passer::RoboidControl;
\ No newline at end of file
diff --git a/README.md b/README.md
index c1d45a6..ac14c63 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,14 @@
-\mainpage Control Core for C++
+\mainpage Roboid Control for C++
 
-Control Core contains generic functionality for Controlling Things.
\ No newline at end of file
+Roboid Control support for C++ applications.
+Supporting:
+- Windows
+- MacOS
+- Linux
+- Arduino (using PlatformIO)
+
+# Basic components
+
+- Passer::RoboidControl::Thing
+- Passer::RoboidControl::Participant
+- Passer::RoboidControl::SiteServer
\ No newline at end of file
diff --git a/Sensors/TemperatureSensor.cpp b/Sensors/TemperatureSensor.cpp
index 9fe5c67..9d09e04 100644
--- a/Sensors/TemperatureSensor.cpp
+++ b/Sensors/TemperatureSensor.cpp
@@ -3,7 +3,7 @@
 #include "LowLevelMessages.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 // TemperatureSensor::TemperatureSensor() : Thing(Type::TemperatureSensor) {}
 
@@ -15,12 +15,12 @@ TemperatureSensor::TemperatureSensor(unsigned char networkId,
 
 void TemperatureSensor::SetTemperature(float temp) { this->temp = temp; }
 
-void TemperatureSensor::SendBytes(char *buffer, unsigned char *ix) {
+void TemperatureSensor::GenerateBinary(char *buffer, unsigned char *ix) {
   std::cout << "Send temperature: " << this->temp << "\n";
   LowLevelMessages::SendFloat16(buffer, ix, this->temp);
 }
 
-void TemperatureSensor::ProcessBytes(char *bytes) {
+void TemperatureSensor::ProcessBinary(char *bytes) {
   unsigned char ix = 0;
   this->temp = LowLevelMessages::ReceiveFloat16(bytes, &ix);
 }
diff --git a/Sensors/TemperatureSensor.h b/Sensors/TemperatureSensor.h
index d4f5142..7eb3a94 100644
--- a/Sensors/TemperatureSensor.h
+++ b/Sensors/TemperatureSensor.h
@@ -3,7 +3,7 @@
 #include "Thing.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class TemperatureSensor : public Thing {
 public:
@@ -12,8 +12,8 @@ public:
 
   virtual void SetTemperature(float temp);
 
-  void SendBytes(char *buffer, unsigned char *ix) override;
-  virtual void ProcessBytes(char *bytes) override;
+  void GenerateBinary(char *buffer, unsigned char *ix) override;
+  virtual void ProcessBinary(char *bytes) override;
 
 protected:
   float temp = 0;
diff --git a/SiteServer.cpp b/SiteServer.cpp
index f48ec3f..213c118 100644
--- a/SiteServer.cpp
+++ b/SiteServer.cpp
@@ -6,7 +6,7 @@
 #include <memory>
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 SiteServer::SiteServer(int port) {
   this->name = "Site Server";
diff --git a/SiteServer.h b/SiteServer.h
index a87f59e..2b39f93 100644
--- a/SiteServer.h
+++ b/SiteServer.h
@@ -7,7 +7,7 @@
 #include <unordered_map>
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 /// @brief A participant is device which can communicate with other participants
 class SiteServer : public Participant {
@@ -37,4 +37,4 @@ protected:
 
 } // namespace Control
 } // namespace Passer
-using namespace Passer::Control;
\ No newline at end of file
+using namespace Passer::RoboidControl;
\ No newline at end of file
diff --git a/Thing.cpp b/Thing.cpp
index b3237f8..a15ded4 100644
--- a/Thing.cpp
+++ b/Thing.cpp
@@ -29,8 +29,9 @@ Thing::Thing(unsigned char thingType) {
   this->angularVelocity = Spherical16::zero;
 }
 
-Passer::Control::Thing::Thing(Participant *participant, unsigned char networkId,
-                              unsigned char thingId, Type thingType) {
+Passer::RoboidControl::Thing::Thing(Participant *participant,
+                                    unsigned char networkId,
+                                    unsigned char thingId, Type thingType) {
   // no participant reference yet..
   this->networkId = networkId;
   this->id = thingId;
@@ -140,7 +141,7 @@ Thing *Thing::RemoveChild(Thing *child) {
   return child;
 }
 
-Thing *Passer::Control::Thing::GetChild(unsigned char id, bool recursive) {
+Thing *Thing::GetChild(unsigned char id, bool recursive) {
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
     Thing *child = this->children[childIx];
     if (child == nullptr)
@@ -157,12 +158,16 @@ Thing *Passer::Control::Thing::GetChild(unsigned char id, bool recursive) {
   return nullptr;
 }
 
-Thing *Passer::Control::Thing::GetChildByIndex(unsigned char ix) {
-  return this->children[ix];
-}
+Thing *Thing::GetChildByIndex(unsigned char ix) { return this->children[ix]; }
 
 void Thing::SetModel(const char *url) { this->modelUrl = url; }
 
+void Thing::GenerateBinary(char *buffer, unsigned char *ix) {
+  (void)buffer;
+  (void)ix;
+}
+void Thing::ProcessBinary(char *bytes) { (void)bytes; };
+
 void Thing::SetPosition(Spherical16 position) {
   this->position = position;
   this->positionUpdated = true;
diff --git a/Thing.h b/Thing.h
index 612d17f..a943bbc 100644
--- a/Thing.h
+++ b/Thing.h
@@ -5,7 +5,7 @@
 #include <list>
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class Participant;
 
@@ -13,15 +13,17 @@ class Participant;
 // IMPORTANT: values higher than 256 will need to change the Thing::id type
 // to 16-bit or higher, breaking the networking protocol!
 
-/// @brief A thing is the basic building block
+/// @brief A thing is the primitive building block
 class Thing {
 public:
-  // Participant *client;
+  // RemoteParticipant *client;
+
+  /// @brief The network ID of this thing
   unsigned char networkId = 0;
-  /// @char The id of the thing
+  /// @brief The ID of the thing
   unsigned char id = 0;
 
-  /// @brief Basic Thing types
+  /// @brief Predefined thing types
   enum class Type {
     Undetermined,
     // Sensor,
@@ -38,14 +40,27 @@ public:
     Humanoid,
     ExternalSensor,
   };
+  /// @brief The type of Thing
+  unsigned char type = 0;
 
+  /// @brief Create a new thing of the given type
+  /// @param thingType The predefined type of thing
   Thing(Type thingType = Type::Undetermined);
+  /// @brief Create a new thing of the give type
+  /// @param thingType The custom type of the thing
   Thing(unsigned char thingType);
+  /// @brief Create a new thing for the given participant
+  /// @param participant The participant for which this thing is created
+  /// @param networkId The network ID of the thing
+  /// @param thingId The ID of the thing
+  /// @param thingType The type of thing
   Thing(Participant *participant, unsigned char networkId,
         unsigned char thingId, Type thingType = Type::Undetermined);
 
+  /// @brief Find a thing by name
+  /// @param name Rhe name of the thing
+  /// @return The found thing or nullptr when nothing is found
   Thing *FindThing(const char *name);
-  //  Thing *FindChild(unsigned char id);
 
   /// @brief Sets the parent Thing
   /// @param parent The Thing which should become the parnet
@@ -60,10 +75,21 @@ public:
   /// @param child The Thing which should become a child
   /// @remark When the Thing is already a child, it will not be added again
   virtual void AddChild(Thing *child);
+  /// @brief Remove the given thing as a child of this thing
+  /// @param child The child to remove
+  /// @return The removed child or nullptr if the child could not be found
   Thing *RemoveChild(Thing *child);
 
+  /// @brief The number of children
   unsigned char childCount = 0;
+  /// @brief Get a child by thing Id
+  /// @param id The thing ID to find
+  /// @param recursive Look recursively through all descendants
+  /// @return The found thing of nullptr when nothing is found
   Thing *GetChild(unsigned char id, bool recursive = false);
+  /// @brief Get a child by index
+  /// @param ix The child index
+  /// @return The found thing of nullptr when nothing is found
   Thing *GetChildByIndex(unsigned char ix);
 
 protected:
@@ -71,20 +97,31 @@ protected:
   Thing **children = nullptr;
 
 public:
-  /// @brief The type of Thing
-  unsigned char type = 0;
+  /// @brief The name of the thing
   const char *name = nullptr;
+  /// @brief An URL pointing to the location where a model of the thing can be found
   const char *modelUrl = nullptr;
+  /// @brief The scale of the model (deprecated I think)
   float modelScale = 1;
-  // protected Sensor sensor;
 
+  /// @brief Set the position of the thing
+  /// @param position The new position in local space, in meters
   void SetPosition(Spherical16 position);
+  /// @brief Get the position of the thing
+  /// @return The position in local space, in meters
   Spherical16 GetPosition();
+  /// @brief Set the orientation of the thing
+  /// @param orientation The new orientation in local space
   void SetOrientation(SwingTwist16 orientation);
+  /// @brief Get the orientation of the thing
+  /// @return The orienation in local space
   SwingTwist16 GetOrientation();
+  /// @brief The scale of the thing (deprecated I think)
   float scale = 1; // assuming uniform scale
 
+  /// @brief boolean indicating if the position was updated
   bool positionUpdated = false;
+  /// @brief boolean indicating if the orientation was updated
   bool orientationUpdated = false;
 
 protected:
@@ -100,11 +137,16 @@ protected:
 public:
   Spherical16 linearVelocity;
   Spherical16 angularVelocity;
+
+  /// @brief Get the linear velocity of the thing
+  /// @return The linear velocity in local space, in meters per second
   virtual Spherical16 GetLinearVelocity();
+  /// @brief Get the angular velocity of the thing
+  /// @return The angular velocity in local space
   virtual Spherical16 GetAngularVelocity();
 
 public:
-  /// @brief Terminated thins are no longer updated
+  /// @brief Terminated things are no longer updated
   void Terminate();
 
   /// @brief Sets the location from where the 3D model of this Thing can be
@@ -118,27 +160,19 @@ public:
   /// @param currentTimeMs The current clock time in milliseconds
   virtual void Update(unsigned long currentTimeMs) { (void)currentTimeMs; };
 
-  virtual void SendBytes(char *buffer, unsigned char *ix) {
-    (void)buffer;
-    (void)ix;
-  };
-  virtual void ProcessBytes(char *bytes) { (void)bytes; };
+  /// @brief Function used to generate binary data for this thing
+  /// @param buffer The byte array for thw binary data
+  /// @param ix The starting position for writing the binary data
+  virtual void GenerateBinary(char *buffer, unsigned char *ix);
+  // /// @brief FUnction used to process binary data received for this thing
+  /// @param bytes The binary data
+  virtual void ProcessBinary(char *bytes);
 
 protected:
   virtual void Init();
-
-  //------------ All things
-  // public:
-  //   static Thing *Get(unsigned char networkId, unsigned char thingId);
-  //   static int Add(Thing *thing);
-  //   static void Remove(Thing *thing);
-  //   static void UpdateAll(unsigned long currentTimeMs);
-
-  // static std::list<Thing *> allThings;
 };
 
-// static std::list<Thing *> allThings;
 
-} // namespace Control
+} // namespace RoboidConttrol
 } // namespace Passer
-using namespace Passer::Control;
\ No newline at end of file
+using namespace Passer::RoboidControl;
\ No newline at end of file
diff --git a/UdpArduino.cpp b/UdpArduino.cpp
index 31d81ff..6be3a43 100644
--- a/UdpArduino.cpp
+++ b/UdpArduino.cpp
@@ -4,7 +4,7 @@
 #include <ESP8266WiFi.h>
 #endif
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 void UdpArduino::Setup(int localPort, const char *remoteIpAddress,
                        int remotePort) {
diff --git a/UdpArduino.h b/UdpArduino.h
index 62328b0..770cf08 100644
--- a/UdpArduino.h
+++ b/UdpArduino.h
@@ -3,7 +3,7 @@
 #include "Participant.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class UdpArduino : public Participant {
 public:
diff --git a/UdpPosix.cpp b/UdpPosix.cpp
index a8a18af..eedc4ad 100644
--- a/UdpPosix.cpp
+++ b/UdpPosix.cpp
@@ -9,7 +9,7 @@
 #endif
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 void UdpPosix::Setup(int localPort, const char *remoteIpAddress,
                      int remotePort) {
diff --git a/UdpPosix.h b/UdpPosix.h
index 13022cf..26622b8 100644
--- a/UdpPosix.h
+++ b/UdpPosix.h
@@ -3,7 +3,7 @@
 #include "Participant.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class UdpPosix : public Participant {
 public:
diff --git a/UdpWindows.cpp b/UdpWindows.cpp
index acf8498..44ea885 100644
--- a/UdpWindows.cpp
+++ b/UdpWindows.cpp
@@ -13,7 +13,7 @@
 #endif
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 void UdpWindows::Setup(int localPort, const char *remoteIpAddress,
                        int remotePort) {
diff --git a/UdpWindows.h b/UdpWindows.h
index f284347..1f0bd05 100644
--- a/UdpWindows.h
+++ b/UdpWindows.h
@@ -3,7 +3,7 @@
 #include "Participant.h"
 
 namespace Passer {
-namespace Control {
+namespace RoboidControl {
 
 class UdpWindows : public Participant {
 public: