diff --git a/.gitignore b/.gitignore
index 6188945..2602af4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,4 +4,4 @@ test/bin
 test/obj
 /bin
 /obj
-*.meta
\ No newline at end of file
+**.meta
\ No newline at end of file
diff --git a/ControlCore.csproj.meta b/ControlCore.csproj.meta
deleted file mode 100644
index 1b43085..0000000
--- a/ControlCore.csproj.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: 7f964f406734cf74097d61697e5cafc9
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Messages/BinaryMsg.cs b/Messages/BinaryMsg.cs
index f9ef94e..e72c6fd 100644
--- a/Messages/BinaryMsg.cs
+++ b/Messages/BinaryMsg.cs
@@ -47,10 +47,7 @@ namespace Passer.RoboidControl {
             this.thingId = thing.id;
             this.bytes = System.Array.Empty<byte>();
         }
-        /// <summary>
-        /// Create the message for receiving
-        /// </summary>
-        /// <param name="buffer">The byte array to parse</param>
+        /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
         public BinaryMsg(byte[] buffer) {
             byte ix = 1;
             this.networkId = buffer[ix++];
@@ -61,13 +58,9 @@ namespace Passer.RoboidControl {
                 this.bytes[bytesIx] = buffer[ix++];
         }
 
-        /// <summary>
-        /// Serialize the message into a byte array for sending
-        /// </summary>
-        /// <param name="buffer">The buffer to serilize into</param>
-        /// <returns>The length of the message in the buffer</returns>
+        /// @copydoc Passer::RoboidControl::IMessage::Serialize
         public override byte Serialize(ref byte[] buffer) {
-            if (buffer.Length < BinaryMsg.length + buffer.Length ||  bytes.Length == 0)
+            if (buffer.Length < BinaryMsg.length + this.bytes.Length || this.bytes.Length == 0)
                 return 0;
                 
             byte ix = 0;
diff --git a/Messages/DestroyMsg.cs b/Messages/DestroyMsg.cs
index 1564a25..e5d0a8e 100644
--- a/Messages/DestroyMsg.cs
+++ b/Messages/DestroyMsg.cs
@@ -3,29 +3,52 @@ using System.Threading.Tasks;
 
 namespace Passer.RoboidControl {
 
+    /// <summary>
+    /// Message notifiying that a Thing no longer exists
+    /// </summary>
     public class DestroyMsg : IMessage {
+        /// <summary>
+        /// The message ID
+        /// </summary>
         public const byte Id = 0x20;
+        /// <summary>
+        /// The length of the message
+        /// </summary>
         public const byte length = 3;
+        /// <summary>
+        ///  The network ID of the thing
+        /// </summary>
         public byte networkId;
+        /// <summary>
+        /// The ID of the thing
+        /// </summary>
         public byte thingId;
 
+        /// <summary>
+        /// Create a message for sending
+        /// </summary>
+        /// <param name="networkId">The network ID of the thing</param>
+        /// <param name="thingId">The ID of the thing</param>
+        public DestroyMsg(byte networkId, byte thingId) {
+            this.networkId = networkId;
+            this.thingId = thingId;
+        }
+        /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
         public DestroyMsg(byte[] buffer) : base(buffer) { }
 
-        public override void Deserialize(byte[] buffer) {
-            this.networkId = buffer[0];
-            this.thingId = buffer[1];
+        /// @copydoc Passer::RoboidControl::IMessage::Serialize
+        public override byte Serialize(ref byte[] buffer) {
+            if (buffer.Length < DestroyMsg.length)
+                return 0;
+            
+            byte ix = 0;
+            buffer[ix++] = DestroyMsg.Id;
+            buffer[ix++] = this.networkId;
+            buffer[ix++] = this.thingId;
+
+            return ix;
         }
 
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            if (packetSize != length)
-                return false;
-
-            byte[] buffer = await Receive(dataStream, packetSize);
-            DestroyMsg msg = new DestroyMsg(buffer);
-
-            client.messageQueue.Enqueue(msg);
-            return true;
-        }
     }
 
 }
\ No newline at end of file
diff --git a/Messages/InvestigateMsg.cs b/Messages/InvestigateMsg.cs
index 3f55640..43a6d60 100644
--- a/Messages/InvestigateMsg.cs
+++ b/Messages/InvestigateMsg.cs
@@ -3,18 +3,40 @@ using System.Threading.Tasks;
 
 namespace Passer.RoboidControl {
 
+    /// <summary>
+    /// Message to request details for a Thing
+    /// </summary>
     public class InvestigateMsg : IMessage {
+        /// <summary>
+        /// The message Id
+        /// </summary>
         public const byte Id = 0x81;
+        /// <summary>
+        /// The length of the message
+        /// </summary>
         public const byte length = 3;
+        /// <summary>
+        /// The network ID of the thing
+        /// </summary>
         public byte networkId;
+        /// <summary>
+        /// The ID of the thing
+        /// </summary>
         public byte thingId;
 
+        /// <summary>
+        /// Create a new message for sending
+        /// </summary>
+        /// <param name="networkId">The network ID for the thing</param>
+        /// <param name="thingId">The ID of the thing</param>
         public InvestigateMsg(byte networkId, byte thingId) {
             this.networkId = networkId;
             this.thingId = thingId;
         }
+        /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
         public InvestigateMsg(byte[] buffer) : base(buffer) { }
 
+        /// @copydoc Passer::RoboidControl::IMessage::Serialize
         public override byte Serialize(ref byte[] buffer) {
             byte ix = 0;
             buffer[ix++] = InvestigateMsg.Id;
@@ -22,28 +44,28 @@ namespace Passer.RoboidControl {
             buffer[ix++] = this.thingId;
             return ix;
         }
-        public override void Deserialize(byte[] buffer) {
-            uint ix = 0;
-            this.networkId = buffer[ix++];
-            this.thingId = buffer[ix++];
-        }
+        // public override void Deserialize(byte[] buffer) {
+        //     uint ix = 0;
+        //     this.networkId = buffer[ix++];
+        //     this.thingId = buffer[ix++];
+        // }
 
         //public static bool Send(Participant client, CoreThing thing) {
         //    InvestigateMsg msg = new(thing.networkId, thing.id);
         //    return SendMsg(client, msg);
         //}
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            if (packetSize != length)
-                return false;
+        // public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
+        //     if (packetSize != length)
+        //         return false;
 
-            byte[] buffer = await Receive(dataStream, packetSize);
-            InvestigateMsg msg = new InvestigateMsg(buffer);
-            //UnityEngine.Debug.Log($"Receive investigate [{msg.networkId}/{msg.thingId}]");
+        //     byte[] buffer = await Receive(dataStream, packetSize);
+        //     InvestigateMsg msg = new InvestigateMsg(buffer);
+        //     //UnityEngine.Debug.Log($"Receive investigate [{msg.networkId}/{msg.thingId}]");
 
-            client.messageQueue.Enqueue(msg);
-            return true;
+        //     client.messageQueue.Enqueue(msg);
+        //     return true;
 
-        }
+        // }
     }
 
 }
\ No newline at end of file
diff --git a/Messages/Messages.cs b/Messages/Messages.cs
index 1e6e6ca..078c8b2 100644
--- a/Messages/Messages.cs
+++ b/Messages/Messages.cs
@@ -3,40 +3,54 @@ using System.IO;
 
 namespace Passer.RoboidControl {
 
+    /// <summary>
+    /// Root structure for all communcation messages
+    /// </summary>
     public class IMessage {
         public IMessage() { }
+
+        /// <summary>
+        /// Create a message for receiving
+        /// </summary>
+        /// <param name="buffer">The byte array to parse</param>
         public IMessage(byte[] buffer) {
-            Deserialize(buffer);
+            //Deserialize(buffer);
         }
 
+        /// <summary>
+        /// Serialize the message into a byte array for sending
+        /// </summary>
+        /// <param name="buffer">The buffer to serilize into</param>
+        /// <returns>The length of the message in the buffer</returns>
         public virtual byte Serialize(ref byte[] buffer) { return 0; }
-        public virtual void Deserialize(byte[] buffer) { }
 
-        public bool SendTo(Participant client) {
-            Serialize(ref client.buffer);
-            return client.SendBuffer(client.buffer.Length);
-        }
+        //public virtual void Deserialize(byte[] buffer) { }
 
-        public static bool SendMsg(Participant client, IMessage msg) {
-            msg.Serialize(ref client.buffer);
-            return client.SendBuffer(client.buffer.Length);
-        }
+        // public bool SendTo(Participant client) {
+        //     Serialize(ref client.buffer);
+        //     return client.SendBuffer(client.buffer.Length);
+        // }
 
-        public static bool PublishMsg(Participant client, IMessage msg) {
-            msg.Serialize(ref client.buffer);
-            return client.PublishBuffer(client.buffer.Length);
-        }
+        // public static bool SendMsg(Participant client, IMessage msg) {
+        //     msg.Serialize(ref client.buffer);
+        //     return client.SendBuffer(client.buffer.Length);
+        // }
 
-        public static async Task<byte[]> Receive(Stream dataStream, byte packetSize) {
-            byte[] buffer = new byte[packetSize - 1]; //  without msgId
-            int byteCount = dataStream.Read(buffer, 0, packetSize - 1);
-            while (byteCount < packetSize - 1) {
-                // not all bytes have been read, wait and try again
-                await Task.Delay(1);
-                byteCount += dataStream.Read(buffer, byteCount, packetSize - 1 - byteCount);
-            }
-            return buffer;
-        }
+        // public static bool PublishMsg(Participant client, IMessage msg) {
+        //     msg.Serialize(ref client.buffer);
+        //     return client.PublishBuffer(client.buffer.Length);
+        // }
+
+        // public static async Task<byte[]> Receive(Stream dataStream, byte packetSize) {
+        //     byte[] buffer = new byte[packetSize - 1]; //  without msgId
+        //     int byteCount = dataStream.Read(buffer, 0, packetSize - 1);
+        //     while (byteCount < packetSize - 1) {
+        //         // not all bytes have been read, wait and try again
+        //         await Task.Delay(1);
+        //         byteCount += dataStream.Read(buffer, byteCount, packetSize - 1 - byteCount);
+        //     }
+        //     return buffer;
+        // }
     }
 
 }
diff --git a/Messages/NameMsg.cs b/Messages/NameMsg.cs
index 8bddcbe..6193c37 100644
--- a/Messages/NameMsg.cs
+++ b/Messages/NameMsg.cs
@@ -1,23 +1,56 @@
 namespace Passer.RoboidControl {
 
+    /// <summary>
+    /// Message for communicating the name of a thing
+    /// </summary>
     public class NameMsg : IMessage {
+        /// <summary>
+        /// The message ID
+        /// </summary>
         public const byte Id = 0x91; // 145
+        /// <summary>
+        /// The length of the message
+        /// </summary>
         public const byte length = 4;
+        /// <summary>
+        /// The network ID of the thing
+        /// </summary>
         public byte networkId;
+        /// <summary>
+        /// The ID of the thing
+        /// </summary>
         public byte thingId;
+        /// <summary>
+        /// The length of the name, excluding null terminator
+        /// </summary>
         public byte len;
+        /// <summary>
+        /// The name of the thing, not terminated with a null character
+        /// </summary>
         public string name = "";
 
+        /// <summary>
+        /// Create a new message for sending
+        /// </summary>
+        /// <param name="networkId">The network ID of the thing</param>
+        /// <param name="thing">The thing</param>
         public NameMsg(byte networkId, Thing thing) {
             this.networkId = networkId;
             this.thingId = thing.id;
             this.name = thing.name;
         }
+        /// <summary>
+        /// Create a new message for sending
+        /// </summary>
+        /// <param name="networkId">The network ID of the thing</param>
+        /// <param name="thingId">The ID of the thing</param>
+        /// <param name="name">The name of the thing</param>
         public NameMsg(byte networkId, byte thingId, string name) {
             this.networkId = networkId;
             this.thingId = thingId;
             this.name = name;
         }
+        /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
         public NameMsg(byte[] buffer) {
             byte ix = 1;
             this.networkId = buffer[ix++];
@@ -26,8 +59,9 @@ namespace Passer.RoboidControl {
             this.name = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, strlen);
         }
 
+        /// @copydoc Passer::RoboidControl::IMessage::Serialize
         public override byte Serialize(ref byte[] buffer) {
-            if (this.name.Length == 0)
+            if (buffer.Length < NameMsg.length + this.name.Length || this.name.Length == 0)
                 return 0;
 
             byte ix = 0;
@@ -40,6 +74,7 @@ namespace Passer.RoboidControl {
             buffer[ix++] = (byte)nameLength;
             for (int nameIx = 0; nameIx < nameLength; nameIx++)
                 buffer[ix++] = (byte)this.name[nameIx];
+
             return ix;
         }
     }
diff --git a/Messages/NetworkIdMsg.cs b/Messages/NetworkIdMsg.cs
index c1cf080..fc095d0 100644
--- a/Messages/NetworkIdMsg.cs
+++ b/Messages/NetworkIdMsg.cs
@@ -1,18 +1,39 @@
 namespace Passer.RoboidControl {
 
+    /// <summary>
+    /// A message communicating the network ID for that participant
+    /// </summary>
     public class NetworkIdMsg : IMessage {
+        /// <summary>
+        /// The message ID
+        /// </summary>
         public const byte Id = 0xA1;
+        /// <summary>
+        /// The length of the message
+        /// </summary>
         public const byte length = 2;
+        /// <summary>
+        /// The network ID for the participant
+        /// </summary>
         public byte networkId;
 
+        /// <summary>
+        /// Create a new message for sending
+        /// </summary>
+        /// <param name="networkId">The network ID for the participant</param>
         public NetworkIdMsg(byte networkId) {
             this.networkId = networkId;
         }
+        /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
         public NetworkIdMsg(byte[] buffer) {
             this.networkId = buffer[1];
         }
 
+        /// @copydoc Passer::RoboidControl::IMessage::Serialize
         public override byte Serialize(ref byte[] buffer) {
+            if (buffer.Length < NetworkIdMsg.length)
+                return 0;
+                
             buffer[0] = NetworkIdMsg.Id;
             buffer[1] = this.networkId;
             return NetworkIdMsg.length;
diff --git a/Messages/PoseMsg.cs b/Messages/PoseMsg.cs
index 3a9ee8f..e31953e 100644
--- a/Messages/PoseMsg.cs
+++ b/Messages/PoseMsg.cs
@@ -4,23 +4,73 @@ using Passer.LinearAlgebra;
 
 namespace Passer.RoboidControl {
 
+    /// <summary>
+    /// Message to communicate the pose of the thing
+    /// </summary>
+    /// 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.
     public class PoseMsg : IMessage {
+        /// <summary>
+        /// The message ID
+        /// </summary>
         public const byte Id = 0x10;
+        /// <summary>
+        /// The length of the message
+        /// </summary>
         public const byte length = 4 + 4 + 4;
+        /// <summary>
+        /// The network ID of the thing
+        /// </summary>
         public byte networkId;
+        /// <summary>
+        /// The ID of the thing
+        /// </summary>
         public byte thingId;
 
+        /// <summary>
+        /// bitpattern stating which pose components are available
+        /// </summary>
         public byte poseType;
+        /// <summary>
+        /// Bit pattern for a pose with position
+        /// </summary>
         public const byte Pose_Position = 0x01;
+        /// <summary>
+        /// Bit pattern for a pose with orientation
+        /// </summary>
         public const byte Pose_Orientation = 0x02;
+        /// <summary>
+        /// Bit pattern for a pose with linear velocity
+        /// </summary>
         public const byte Pose_LinearVelocity = 0x04;
+        /// <summary>
+        /// Bit pattern for a pose with angular velocity
+        /// </summary>
         public const byte Pose_AngularVelocity = 0x08;
 
+        /// <summary>
+        /// The position of the thing in local space in meters
+        /// </summary>
         public Spherical position = Spherical.zero;
+        /// <summary>
+        /// The orientation of the thing in local space
+        /// </summary>
         public SwingTwist orientation = SwingTwist.zero;
+        /// <summary>
+        /// The linear velocity of the thing in local space in meters per second
+        /// </summary>
         public Spherical linearVelocity = Spherical.zero;
+        /// <summary>
+        /// The angular veloicty of the thing in local space
+        /// </summary>
         public Spherical angularVelocity = Spherical.zero;
 
+        /// <summary>
+        /// Create a new message for sending
+        /// </summary>
+        /// <param name="networkId">The network ID of the thing</param>
+        /// <param name="thingId">The ID of the thing</param>
+        /// <param name="position">The position of the thing in local space in meters</param>
+        /// <param name="orientation">The orientation of the thing in local space</param>
         public PoseMsg(byte networkId, byte thingId, Spherical position, SwingTwist orientation) {
             this.networkId = networkId;
             this.thingId = thingId;
@@ -34,8 +84,10 @@ namespace Passer.RoboidControl {
             if (this.orientation != null)
                 this.poseType |= Pose_Orientation;
         }
+        /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
         public PoseMsg(byte[] buffer) : base(buffer) { }
 
+        /// @copydoc Passer::RoboidControl::IMessage::Serialize
         public override byte Serialize(ref byte[] buffer) {
             byte ix = 0;
             buffer[ix++] = PoseMsg.Id;
@@ -53,59 +105,59 @@ namespace Passer.RoboidControl {
                 LowLevelMessages.SendSpherical(buffer, ref ix, this.angularVelocity);
             return ix;
         }
-        public override void Deserialize(byte[] buffer) {
-            byte ix = 0;
-            this.networkId = buffer[ix++];
-            this.thingId = buffer[ix++];
-            this.poseType = buffer[ix++];
+        // public override void Deserialize(byte[] buffer) {
+        //     byte ix = 0;
+        //     this.networkId = buffer[ix++];
+        //     this.thingId = buffer[ix++];
+        //     this.poseType = buffer[ix++];
 
-            if ((poseType & Pose_Position) != 0)
-                this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
-            if ((poseType & Pose_Orientation) != 0)
-                this.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ref ix);
-            if ((poseType & Pose_LinearVelocity) != 0)
-                this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
-            if ((poseType & Pose_AngularVelocity) != 0)
-                this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
-        }
+        //     if ((poseType & Pose_Position) != 0)
+        //         this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
+        //     if ((poseType & Pose_Orientation) != 0)
+        //         this.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ref ix);
+        //     if ((poseType & Pose_LinearVelocity) != 0)
+        //         this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
+        //     if ((poseType & Pose_AngularVelocity) != 0)
+        //         this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
+        // }
 
-        public static bool Send(Participant client, byte thingId, Spherical position, SwingTwist orientation) {
-            PoseMsg msg = new PoseMsg(client.networkId, thingId, position, orientation);
-            return SendMsg(client, msg);
-        }
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            byte[] buffer = await Receive(dataStream, packetSize);
-            PoseMsg msg = new PoseMsg(buffer);
+        // public static bool Send(Participant client, byte thingId, Spherical position, SwingTwist orientation) {
+        //     PoseMsg msg = new PoseMsg(client.networkId, thingId, position, orientation);
+        //     return SendMsg(client, msg);
+        // }
+        // public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
+        //     byte[] buffer = await Receive(dataStream, packetSize);
+        //     PoseMsg msg = new PoseMsg(buffer);
 
-            // Do no process poses with nwid == 0 (== local)
-            if (msg.networkId == 0)
-                return true;
+        //     // Do no process poses with nwid == 0 (== local)
+        //     if (msg.networkId == 0)
+        //         return true;
 
-            client.messageQueue.Enqueue(msg);
-            return true;
-        }
+        //     client.messageQueue.Enqueue(msg);
+        //     return true;
+        // }
 
-        public static bool SendTo(Participant participant, Thing thing) {
-            if (participant == null || thing == null)
-                return false;
+        // public static bool SendTo(Participant participant, Thing thing) {
+        //     if (participant == null || thing == null)
+        //         return false;
 
-            byte ix = 0;
-            participant.buffer[ix++] = PoseMsg.Id;
-            participant.buffer[ix++] = participant.networkId;
-            participant.buffer[ix++] = thing.id;
-            participant.buffer[ix++] = thing.poseUpdated;
+        //     byte ix = 0;
+        //     participant.buffer[ix++] = PoseMsg.Id;
+        //     participant.buffer[ix++] = participant.networkId;
+        //     participant.buffer[ix++] = thing.id;
+        //     participant.buffer[ix++] = thing.poseUpdated;
 
-            if ((thing.poseUpdated & Pose_Position) != 0 && thing.position != null)
-                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.position);
-            if ((thing.poseUpdated & Pose_Orientation) != 0 && thing.orientation != null)
-                LowLevelMessages.SendQuat32(participant.buffer, ref ix, thing.orientation);
-            if ((thing.poseUpdated & Pose_LinearVelocity) != 0 && thing.linearVelocity != null)
-                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.linearVelocity);
-            if ((thing.poseUpdated & Pose_AngularVelocity) != 0 && thing.angularVelocity != null)
-                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.angularVelocity);
+        //     if ((thing.poseUpdated & Pose_Position) != 0 && thing.position != null)
+        //         LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.position);
+        //     if ((thing.poseUpdated & Pose_Orientation) != 0 && thing.orientation != null)
+        //         LowLevelMessages.SendQuat32(participant.buffer, ref ix, thing.orientation);
+        //     if ((thing.poseUpdated & Pose_LinearVelocity) != 0 && thing.linearVelocity != null)
+        //         LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.linearVelocity);
+        //     if ((thing.poseUpdated & Pose_AngularVelocity) != 0 && thing.angularVelocity != null)
+        //         LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.angularVelocity);
 
-            return participant.SendBuffer(ix);
-        }
+        //     return participant.SendBuffer(ix);
+        // }
     }
 
 }
\ No newline at end of file
diff --git a/Messages/TextMsg.cs b/Messages/TextMsg.cs
index abad8f3..7d353e6 100644
--- a/Messages/TextMsg.cs
+++ b/Messages/TextMsg.cs
@@ -3,24 +3,59 @@ using System.Threading.Tasks;
 
 namespace Passer.RoboidControl {
 
+    /// <summary>
+    /// Message for sending generic text.
+    /// </summary>
     public class TextMsg : IMessage {
-        public TextMsg(byte[] buffer) : base(buffer) {}
+        /// <summary>
+        /// The message ID
+        /// </summary>
         public const byte Id = 0xB0;
+        /// <summary>
+        /// The length of the message without the text itself
+        /// </summary>
+        public const byte length = 2;
+        /// <summary>
+        /// The text
+        /// </summary>
         public string text = "";
 
-        public override void Deserialize(byte[] buffer) {
-            uint ix = 0;
-            uint strlen = buffer[ix++];
-            this.text = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, (int)strlen);
+        /// <summary>
+        /// Create a new message for sending
+        /// </summary>
+        /// <param name="text">The text to send</param>
+        public TextMsg(string text) {
+            this.text = text;
         }
 
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            byte[] buffer = await Receive(dataStream, packetSize);
-            TextMsg msg = new TextMsg(buffer);
+        /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
+        public TextMsg(byte[] buffer) : base(buffer) { }
 
-            client.messageQueue.Enqueue(msg);
-            return true;
+        /// @copydoc Passer::RoboidControl::IMessage::Serialize
+        public override byte Serialize(ref byte[] buffer) {
+            if (buffer.Length < TextMsg.length + this.text.Length || this.text.Length == 0)
+                return 0;
+
+            byte ix = 0;
+            buffer[ix++] = TextMsg.Id;
+            buffer[ix++] = (byte)this.text.Length;
+            for (int textIx = 0; textIx < this.text.Length; textIx++)
+                buffer[ix++] = (byte)this.text[textIx];
+            return ix;
         }
+        // public override void Deserialize(byte[] buffer) {
+        //     uint ix = 0;
+        //     uint strlen = buffer[ix++];
+        //     this.text = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, (int)strlen);
+        // }
+
+        // public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
+        //     byte[] buffer = await Receive(dataStream, packetSize);
+        //     TextMsg msg = new TextMsg(buffer);
+
+        //     client.messageQueue.Enqueue(msg);
+        //     return true;
+        // }
     }
 
 }
\ No newline at end of file
diff --git a/ModelUrlMsg.cs.meta b/ModelUrlMsg.cs.meta
deleted file mode 100644
index 7f9b6b8..0000000
--- a/ModelUrlMsg.cs.meta
+++ /dev/null
@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: 711bdb0248c9f6848a6b4da15cc05db5
\ No newline at end of file
diff --git a/Participant.cs b/Participant.cs
index a9bce80..bebc1f3 100644
--- a/Participant.cs
+++ b/Participant.cs
@@ -318,7 +318,9 @@ namespace Passer.RoboidControl {
                 if (client == this)
                     continue;
                 //UnityEngine.Debug.Log($"---> {client.ipAddress}");
-                IMessage.SendMsg(client, msg);
+                //IMessage.SendMsg(client, msg);
+                msg.Serialize(ref client.buffer);
+                client.SendBuffer(client.buffer.Length);
             }
         }
 
diff --git a/README.md b/README.md
index 338a37c..a094cee 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,10 @@
-\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.
+Includes support for the Unity game engine.
+
+# Basic components
+
+- Passer::RoboidControl::Thing
+- Passer::RoboidControl::Participant
+- Passer::RoboidControl::SiteServer
\ No newline at end of file
diff --git a/RemoteParticipant.cs b/RemoteParticipant.cs
index 44c15f4..3f2bc02 100644
--- a/RemoteParticipant.cs
+++ b/RemoteParticipant.cs
@@ -1,4 +1,3 @@
-#nullable enable
 using System;
 using System.Collections.Generic;
 
diff --git a/Sensors.meta b/Sensors.meta
deleted file mode 100644
index 6c54616..0000000
--- a/Sensors.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: a5a7a42365df0d0459195576ad3bb50b
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Sensors/DistanceSensor.cs b/Sensors/DistanceSensor.cs
index ed2b369..2c1db64 100644
--- a/Sensors/DistanceSensor.cs
+++ b/Sensors/DistanceSensor.cs
@@ -1,22 +1,39 @@
-using System;
-
-namespace Passer.RoboidControl.Core {
+namespace Passer.RoboidControl {
 
+    /// <summary>
+    /// A sensor measuring the distance in the forward direction
+    /// </summary>
     public class DistanceSensor : Thing {
+        /// <summary>
+        /// The current measured distance
+        /// </summary>
         public float distance = 0;
 
+        /// <summary>
+        /// Constructor for a new distance sensor
+        /// </summary>
+        /// <param name="participant">The participant for which the sensor is needed</param>
         public DistanceSensor(RemoteParticipant participant) : base(participant, true) { }
-
+        /// <summary>
+        /// Create a distance sensor with the given ID
+        /// </summary>
+        /// <param name="participant">The participant for with the sensor is needed</param>
+        /// <param name="networkId">The network ID of the sensor</param>
+        /// <param name="thingId">The ID of the thing</param>
         public DistanceSensor(RemoteParticipant participant, byte networkId, byte thingId) : base(participant, networkId, thingId, (byte)Type.TemperatureSensor) {
         }
 
 #if UNITY_5_3_OR_NEWER
+        /// @copydoc Passer::RoboidControl::Thing::CreateComponent              
         public override void CreateComponent() {
             this.component = Unity.DistanceSensor.Create(this.parent);
             this.component.core = this;
         }
 #endif        
-
+        /// <summary>
+        /// Function to extract the distance received in the binary message
+        /// </summary>
+        /// <param name="bytes">The byte array</param>
         public override void ProcessBinary(byte[] bytes) {
             byte ix = 0;
             this.distance = LowLevelMessages.ReceiveFloat16(bytes, ref ix);
diff --git a/Sensors/TemperatureSensor.cs b/Sensors/TemperatureSensor.cs
index 09a311d..edb9750 100644
--- a/Sensors/TemperatureSensor.cs
+++ b/Sensors/TemperatureSensor.cs
@@ -1,16 +1,32 @@
-using System;
+//using System;
 
-namespace Passer.RoboidControl.Core {
+namespace Passer.RoboidControl {
 
+    /// <summary>
+    /// A temperature sensor
+    /// </summary>
     public class TemperatureSensor : Thing {
-        public float temp = 0;
+        /// <summary>
+        /// The measured temperature
+        /// </summary>
+        public float temperature = 0;
 
+        /// <summary>
+        /// Create a temperature sensor with the given ID
+        /// </summary>
+        /// <param name="participant">The participant for with the sensor is needed</param>
+        /// <param name="networkId">The network ID of the sensor</param>
+        /// <param name="thingId">The ID of the thing</param>
         public TemperatureSensor(Participant participant, byte networkId, byte thingId) : base(participant, networkId, thingId, (byte)Type.TemperatureSensor) {}
 
+        /// <summary>
+        /// Function to extract the temperature received in the binary message
+        /// </summary>
+        /// <param name="bytes">The byte array</param>
         public override void ProcessBinary(byte[] bytes) {
             byte ix = 0;
-            this.temp = LowLevelMessages.ReceiveFloat16(bytes, ref ix);
-            Console.WriteLine($"temperature {this.name} = {this.temp} C");
+            this.temperature = LowLevelMessages.ReceiveFloat16(bytes, ref ix);
+            //Console.WriteLine($"temperature {this.name} = {this.temperature} C");
         }
     }
 
diff --git a/Sensors/TemperatureSensor.cs.meta b/Sensors/TemperatureSensor.cs.meta
deleted file mode 100644
index 69b6d6a..0000000
--- a/Sensors/TemperatureSensor.cs.meta
+++ /dev/null
@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: 5cd9e2534695ec844bd23b7a48ad498a
\ No newline at end of file
diff --git a/Sensors/TouchSensor.cs b/Sensors/TouchSensor.cs
index c05b59b..72d0350 100644
--- a/Sensors/TouchSensor.cs
+++ b/Sensors/TouchSensor.cs
@@ -1,12 +1,25 @@
 namespace Passer.RoboidControl {
+
+    /// <summary>
+    /// A sensor which can detect touches
+    /// </summary>
     public class TouchSensor : Thing {
+        /// <summary>
+        /// Value which is true when the sensor is touching something, false otherwise
+        /// </summary>
         public bool touchedSomething = false;
 
+        /// <summary>
+        /// Create a touch sensor
+        /// </summary>
+        /// <param name="participant">The participant for with the sensor is needed</param>
+        /// <param name="invokeEvent">True when the creation should trigger an event</param>
         public TouchSensor(RemoteParticipant participant, bool invokeEvent = true) : base(participant, invokeEvent) {
             touchedSomething = false;
         }
 
 #if UNITY_5_3_OR_NEWER
+        /// @copydoc Passer::RoboidControl::Thing::CreateComponent 
         public override void CreateComponent() {
             this.component = Unity.TouchSensor.Create(this);
             this.component.core = this;
diff --git a/Thing.cs b/Thing.cs
index e1712da..6e40df1 100644
--- a/Thing.cs
+++ b/Thing.cs
@@ -31,21 +31,41 @@ namespace Passer.RoboidControl {
             Humanoid,
             ExternalSensor
         };
+        /// <summary>
+        /// The type of this thing. This can be either a Thing::Type (needs casting)
+        /// or a byte value for custom types.
+        /// </summary>
+        public byte type;
 
         #endregion Types
 
         #region Properties
 
+        /// <summary>
+        /// The participant to which this thing belongs
+        /// </summary>
         public RemoteParticipant participant;
 
         public delegate void ChangeHandler();
         public delegate void SphericalHandler(Spherical v);
 
+        /// <summary>
+        /// The network ID of this thing.
+        /// </summary>
         public byte networkId;
+        /// <summary>
+        /// The ID of this thing
+        /// </summary>
         public byte id;
 
-        public event ChangeHandler OnParentChanged = delegate {};
+        /// <summary>
+        /// Event which is triggered when the parent changes
+        /// </summary>
+        public event ChangeHandler OnParentChanged = delegate { };
         private Thing _parent;
+        /// <summary>
+        /// The parent of this thing
+        /// </summary>
         public Thing parent {
             get => _parent;
             set {
@@ -63,22 +83,38 @@ namespace Passer.RoboidControl {
             }
         }
 
+        /// <summary>
+        /// Attach a thing as a child of this thing
+        /// </summary>
+        /// <param name="child">The thing to attach as a child</param>
         public void AddChild(Thing child) {
             if (children.Find(thing => thing == child) != null)
                 return;
             child._parent = this;
             children.Add(child);
         }
+        /// <summary>
+        /// Remove the given thing as a child of this thing
+        /// </summary>
+        /// <param name="child"></param>
         public void RemoveChild(Thing child) {
             children.Remove(child);
         }
 
-        [System.NonSerialized]
+        /// <summary>
+        /// The list of children of this thing
+        /// </summary>
+        [NonSerialized]
         public List<Thing> children = new List<Thing>();
-        public byte type;
 
-        public event ChangeHandler OnNameChanged = delegate {};
+        /// <summary>
+        /// Event which is triggered when the name changes
+        /// </summary>
+        public event ChangeHandler OnNameChanged = delegate { };
         private string _name = "";
+        /// <summary>
+        /// The name of the thing
+        /// </summary>
         public virtual string name {
             get => _name;
             set {
@@ -89,11 +125,19 @@ namespace Passer.RoboidControl {
             }
         }
 
+        /// <summary>
+        /// An URL pointing to the location where a model of the thing can be found
+        /// </summary>
         public string modelUrl = "";
 
-        public byte poseUpdated = 0x00;
-        public event ChangeHandler OnPositionChanged = delegate {};
+        /// <summary>
+        /// Event triggered when the position has changed
+        /// </summary>
+        public event ChangeHandler OnPositionChanged = delegate { };
         private Spherical _position = Spherical.zero;
+        /// <summary>
+        /// The position of the thing in local space, in meters.
+        /// </summary>
         public Spherical position {
             get { return _position; }
             set {
@@ -104,8 +148,14 @@ namespace Passer.RoboidControl {
             }
         }
 
-        public event ChangeHandler OnOrientationChanged = delegate {};
+        /// <summary>
+        /// Event triggered when the orientation has changed
+        /// </summary>
+        public event ChangeHandler OnOrientationChanged = delegate { };
         private SwingTwist _orientation = SwingTwist.zero;
+        /// <summary>
+        /// The orientation of the thing in local space
+        /// </summary>
         public SwingTwist orientation {
             get { return _orientation; }
             set {
@@ -116,8 +166,14 @@ namespace Passer.RoboidControl {
             }
         }
 
-        public event SphericalHandler OnLinearVelocityChanged = delegate {};
+        /// <summary>
+        /// Event triggered when the linear velocity has changed
+        /// </summary>
+        public event SphericalHandler OnLinearVelocityChanged = delegate { };
         private Spherical _linearVelocity = Spherical.zero;
+        /// <summary>
+        /// The linear velocity of the thing in local space in meters per second
+        /// </summary>
         public Spherical linearVelocity {
             get => _linearVelocity;
             set {
@@ -127,9 +183,15 @@ namespace Passer.RoboidControl {
                 }
             }
         }
+        /// <summary>
+        /// The angular velocity of the thing in local space
+        /// </summary>
         public Spherical angularVelocity = Spherical.zero;
 
 #if UNITY_5_3_OR_NEWER
+        /// <summary>
+        /// A reference to the representation of the thing in Unity
+        /// </summary>
         [NonSerialized]
         public Unity.Thing component = null;
 #endif
@@ -138,67 +200,92 @@ namespace Passer.RoboidControl {
 
         #region Init
 
+        /// <summary>
+        /// Create a new thing for the given participant
+        /// </summary>
+        /// <param name="participant">The participant for which this thing is created</param>
+        /// <param name="invokeEvent">True when a new thing event should be triggered</param>
         public Thing(RemoteParticipant participant, bool invokeEvent = false) {
             this.participant = participant;
             if (invokeEvent)
                 InvokeNewThing(this);
         }
-        public Thing(RemoteParticipant sender, byte networkId, byte thingId, byte thingType = 0) {
-            this.participant = sender;
+        /// <summary>
+        /// Create a new thing for the given participant
+        /// </summary>
+        /// <param name="participant">The participant for which this thing is created</param>
+        /// <param name="networkId">The network ID of the thing</param>
+        /// <param name="thingId">The ID of the thing</param>
+        /// <param name="thingType">The type of thing</param>
+        public Thing(RemoteParticipant participant, byte networkId, byte thingId, byte thingType = 0) {
+            this.participant = participant;
             this.id = thingId;
             this.type = thingType;
             this.networkId = networkId;
         }
 
-        public virtual void CreateComponent() {}
+        /// <summary>
+        /// Function which can be used to create components in external engines.
+        /// </summary>
+        /// Currently this is used to create GameObjects in Unity
+        public virtual void CreateComponent() { }
 
         #endregion Init
 
         #region Update
 
 #if UNITY_5_3_OR_NEWER
+        /// <summary>
+        /// Convience function for use in Unity which removes the need for a currentTime argument
+        /// </summary>
         public void Update() {
             Update((ulong)UnityEngine.Time.time * 1000);
         }
 #endif
+        /// <summary>
+        /// Update this thing
+        /// </summary>
+        /// <param name="currentTime">The current time in milliseconds</param>
         public virtual void Update(ulong currentTime) {
             // should recurse over children...
         }
 
+        /// <summary>
+        /// Function used to generate binary data for this thing
+        /// </summary>
+        /// <returns>a byte array with the binary data</returns>
+        /// @sa Passer::RoboidControl::BinaryMsg
         public virtual byte[] GenerateBinary() { return new byte[0]; }
 
+        /// <summary>
+        /// Function used to process binary data received for this thing
+        /// </summary>
+        /// <param name="bytes">The binary data</param>
         public virtual void ProcessBinary(byte[] bytes) {
-            //if (sensor != null)
-            //    sensor.ProcessBytes(bytes);
         }
 
         #endregion Update
 
-        // Experimental
-
-        // public float stressLevel = 0;
-
-        // protected delegate void ReceptorFunc(Sensor sensor);
-        // protected void SetupReceptor(Sensor sensor, ReceptorFunc receptor) {
-        //     sensor.Signaller += (sensor => Receptor(receptor, sensor));
-        // }
-        // protected void Receptor(ReceptorFunc receptor, Sensor sensor) {
-        //     if (sensor.signalStrength <= stressLevel)
-        //         return;
-
-        //     receptor(sensor);
-        // }
-
-        //---------- All Things
-
-        // private static readonly List<Thing> allThings = new();
-
         public delegate void ThingHandler(Thing t);
-        public static event ThingHandler OnNewThing = delegate {};
+        /// <summary>
+        /// Event triggered when a new thing has been created
+        /// </summary>
+        public static event ThingHandler OnNewThing = delegate { };
+        /// <summary>
+        /// Trigger the creation for the given thing
+        /// </summary>
+        /// <param name="thing">The created thing</param>
         public static void InvokeNewThing(Thing thing) {
-             OnNewThing?.Invoke(thing);
+            OnNewThing?.Invoke(thing);
         }
 
+        /// <summary>
+        /// Check if the thing has the given properaties
+        /// </summary>
+        /// <param name="thing">The thing to check</param>
+        /// <param name="networkId">The network ID to compare to</param>
+        /// <param name="thingId">The thing ID to compare to</param>
+        /// <returns>True when the thing has the given properties</returns>
         public static bool IsThing(Thing thing, byte networkId, byte thingId) {
             if (thing == null)
                 return false;
diff --git a/test.sln.meta b/test.sln.meta
deleted file mode 100644
index 606fb16..0000000
--- a/test.sln.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: d5d87461365fd8a4da528aa84a49e62c
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/test/UnitTest1.cs.meta b/test/UnitTest1.cs.meta
deleted file mode 100644
index 8ee19d8..0000000
--- a/test/UnitTest1.cs.meta
+++ /dev/null
@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: 743b128a79ef8414fa29d7bb3b9e2ac8
\ No newline at end of file
diff --git a/test/test.csproj.meta b/test/test.csproj.meta
deleted file mode 100644
index 1040180..0000000
--- a/test/test.csproj.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: 92729868a8379c04197dcb80d0276a63
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: