diff --git a/Unity/DifferentialDrive.cs b/Unity/DifferentialDrive.cs
index 2d2c53a..3ea68bf 100644
--- a/Unity/DifferentialDrive.cs
+++ b/Unity/DifferentialDrive.cs
@@ -125,7 +125,6 @@ namespace RoboidControl.Unity {
 
                     // Use smoothing to emulate motor inertia
                     rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
-                    Debug.Log(rb.velocity);
                     rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
                 }
             }
diff --git a/src/Participants/ParticipantUDP.cs b/src/Participants/ParticipantUDP.cs
index 4c1e14c..5ea154c 100644
--- a/src/Participants/ParticipantUDP.cs
+++ b/src/Participants/ParticipantUDP.cs
@@ -107,7 +107,7 @@ namespace RoboidControl {
         /// The interval in milliseconds for publishing (broadcasting) data on the local network
         /// </summary>
         public ulong publishIntervalMS = 3000; // = 3 seconds
-        public ulong sendUpdateIntervalMS = 100; // for object updates
+        public ulong sendUpdateIntervalMS = 100; // = 0.1 seconds for object updates
 
         //public byte[] buffer = new byte[1024];
 
@@ -219,8 +219,8 @@ namespace RoboidControl {
                         // this.Send(participant, poseMsg);
                         // BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
                         // this.Send(participant, binaryMsg);
-                        participant.Send(new PoseMsg(thing.owner.networkId, thing));
-                        participant.Send(new BinaryMsg(thing.owner.networkId, thing));
+                        // participant.Send(new PoseMsg(thing.owner.networkId, thing));
+                        // participant.Send(new BinaryMsg(thing.owner.networkId, thing));
                     }
                     this.nextSendUpdate = currentTimeMS + this.sendUpdateIntervalMS;
                 }
diff --git a/src/Things/Motor.cs b/src/Things/Motor.cs
index 23dbbd3..cb1c8b6 100644
--- a/src/Things/Motor.cs
+++ b/src/Things/Motor.cs
@@ -40,7 +40,8 @@ namespace RoboidControl {
             return data;
         }
         public override void ProcessBinary(byte[] data) {
-            this.targetSpeed = (float)(sbyte)data[0] / 127;
+            this._targetSpeed = (float)(sbyte)data[0] / 127;
+            updateQueue.Enqueue(new CoreEvent(BinaryMsg.Id));
         }
     }