diff --git a/Sensors/DistanceSensor.cs b/Sensors/DistanceSensor.cs
index 2c1db64..3967ae5 100644
--- a/Sensors/DistanceSensor.cs
+++ b/Sensors/DistanceSensor.cs
@@ -26,7 +26,7 @@ namespace Passer.RoboidControl {
 #if UNITY_5_3_OR_NEWER
         /// @copydoc Passer::RoboidControl::Thing::CreateComponent              
         public override void CreateComponent() {
-            this.component = Unity.DistanceSensor.Create(this.parent);
+            this.component = Unity.DistanceSensor.Create(this);
             this.component.core = this;
         }
 #endif        
diff --git a/SiteServer.cs b/SiteServer.cs
index 2154c12..868aacf 100644
--- a/SiteServer.cs
+++ b/SiteServer.cs
@@ -1,5 +1,4 @@
 using System;
-using System.Collections.Generic;
 using System.Net;
 using System.Net.Sockets;
 
diff --git a/Unity/DistanceSensor.cs b/Unity/DistanceSensor.cs
index 8a9af74..f8cc98a 100644
--- a/Unity/DistanceSensor.cs
+++ b/Unity/DistanceSensor.cs
@@ -4,13 +4,22 @@ using UnityEngine;
 
 namespace Passer.RoboidControl.Unity {
 
+    /// <summary>
+    /// The Unity representation of a distance sensor
+    /// </summary>
     public class DistanceSensor : Thing {
 
+        /// <summary>
+        /// The core distance sensor
+        /// </summary>
         public new RoboidControl.DistanceSensor core {
             get => (RoboidControl.DistanceSensor)base.core;
             set => base.core = value;
         }
 
+        /// <summary>
+        /// Start the Unity representation
+        /// </summary>
         protected virtual void Start() {
             if (core == null) {
                 SiteServer siteServer = FindAnyObjectByType<SiteServer>();
@@ -20,15 +29,24 @@ namespace Passer.RoboidControl.Unity {
             StartCoroutine(MeasureDistance());
         }
 
-        public static DistanceSensor Create(RoboidControl.Thing parent) {
+        /// <summary>
+        /// Create the Unity representation of the distance sensor
+        /// </summary>
+        /// <param name="parent">The parent of the core distance sensor</param>
+        /// <returns>The Unity representation of the distance sensor</returns>
+        public static DistanceSensor Create(RoboidControl.DistanceSensor core) {
             GameObject distanceObj = new("Distance sensor");
             DistanceSensor component = distanceObj.AddComponent<DistanceSensor>();
-            if (parent != null && parent.component != null)
-                distanceObj.transform.SetParent(parent.component.transform, false);
+            if (core.parent != null && core.parent.component != null)
+                distanceObj.transform.SetParent(core.parent.component.transform, false);
 
             return component;
         }
 
+        /// <summary>
+        /// Periodically measure the distance
+        /// </summary>
+        /// <returns></returns>
         IEnumerator MeasureDistance() {
             while (Application.isPlaying) {
                 if (Physics.Raycast(this.transform.position, this.transform.forward, out RaycastHit hitInfo, 2.0f)) {
diff --git a/Unity/TouchSensor.cs b/Unity/TouchSensor.cs
index 0655f9f..31dd50a 100644
--- a/Unity/TouchSensor.cs
+++ b/Unity/TouchSensor.cs
@@ -8,18 +8,28 @@ namespace Passer.RoboidControl.Unity {
     /// </summary>
     public class TouchSensor : Thing {
 
+        /// <summary>
+        /// The core touch sensor
+        /// </summary>
         public RoboidControl.TouchSensor coreSensor {
             get => (RoboidControl.TouchSensor)base.core;
         }
 
+        /// <summary>
+        /// Start the Unity represention
+        /// </summary>
         protected virtual void Start() {
             if (core == null) {
                 SiteServer siteServer = FindAnyObjectByType<SiteServer>();
                 SetCoreThing(new RoboidControl.TouchSensor(siteServer.site));
             }
-
         }
 
+        /// <summary>
+        /// Create the Unity representation
+        /// </summary>
+        /// <param name="core">The core touch sensor</param>
+        /// <returns>The Unity representation of the touch sensor</returns>
         public static TouchSensor Create(RoboidControl.TouchSensor core) {
             GameObject gameObj = core.name != null ?
                 new(core.name) :
@@ -48,7 +58,7 @@ namespace Passer.RoboidControl.Unity {
             if (this.transform.root == other.transform.root)
                 return;
  
-            Debug.Log($"touched {other.gameObject.name}");
+            // Debug.Log($"touched {other.gameObject.name}");
             this.coreSensor.touchedSomething = true;
         }
         private void OnTriggerExit(Collider other) {