diff --git a/Messages/BinaryMsg.cs b/Messages/BinaryMsg.cs
index e72c6fd..fb5d76c 100644
--- a/Messages/BinaryMsg.cs
+++ b/Messages/BinaryMsg.cs
@@ -21,6 +21,9 @@ namespace Passer.RoboidControl {
         /// The ID of the thing
         /// </summary>
         public byte thingId;
+        
+        public Thing thing;        
+
         /// <summary>
         /// The binary data
         /// </summary>
@@ -45,7 +48,8 @@ namespace Passer.RoboidControl {
         public BinaryMsg(byte networkId, Thing thing) : base() {
             this.networkId = networkId;
             this.thingId = thing.id;
-            this.bytes = System.Array.Empty<byte>();
+            this.thing = thing;
+            this.bytes = this.thing.GenerateBinary();
         }
         /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
         public BinaryMsg(byte[] buffer) {
@@ -59,7 +63,7 @@ namespace Passer.RoboidControl {
         }
 
         /// @copydoc Passer::RoboidControl::IMessage::Serialize
-        public override byte Serialize(ref byte[] buffer) {
+        public override byte Serialize(ref byte[] buffer) {            
             if (buffer.Length < BinaryMsg.length + this.bytes.Length || this.bytes.Length == 0)
                 return 0;
                 
diff --git a/Participant.cs b/Participant.cs
index 349f50d..286cf78 100644
--- a/Participant.cs
+++ b/Participant.cs
@@ -27,7 +27,7 @@ namespace Passer.RoboidControl {
         /// Create a porticiapnt
         /// </summary>
         public Participant() {
-            senders.Add(this);
+            //senders.Add(this);
         }
 
         /// <summary>
@@ -77,7 +77,7 @@ namespace Passer.RoboidControl {
             return null;
         }
         public RemoteParticipant AddParticipant(string ipAddress, int port) {
-            // Console.WriteLine($"New Participant {ipAddress}:{port}");
+            Console.WriteLine($"New Participant {ipAddress}:{port}");
             RemoteParticipant participant = new RemoteParticipant(ipAddress, port) {
                 networkId = (byte)this.senders.Count
             };
@@ -144,8 +144,12 @@ namespace Passer.RoboidControl {
             int n = this.things.Count;
             for (int ix = 0; ix < n; ix++) {
                 Thing thing = this.things[ix];
-                if (thing != null) // && thing.parent == null) // update only root things
+                if (thing != null) {
                     thing.Update(currentTimeMS);
+                    BinaryMsg binaryMsg = new(this.networkId, thing);
+                    foreach (RemoteParticipant sender in this.senders)
+                        this.Send(sender, binaryMsg);
+                }
             }
         }
 
diff --git a/Sensors/TouchSensor.cs b/Sensors/TouchSensor.cs
index f6bc873..6ea7f77 100644
--- a/Sensors/TouchSensor.cs
+++ b/Sensors/TouchSensor.cs
@@ -7,7 +7,15 @@ namespace Passer.RoboidControl {
         /// <summary>
         /// Value which is true when the sensor is touching something, false otherwise
         /// </summary>
-        public bool touchedSomething = false;
+        //public bool touchedSomething = false;
+        private bool _touchedSomething = false;
+        public bool touchedSomething {
+            get { return _touchedSomething; }
+            set {
+                _touchedSomething = value;
+                //SendBinary();
+            }
+        }
 
         /// <summary>
         /// Create a touch sensor
@@ -30,5 +38,10 @@ namespace Passer.RoboidControl {
             this.component.core = this;
         }
 #endif
+        public override byte[] GenerateBinary() {
+            byte[] buffer = new byte[1];
+            buffer[0] = (byte)(touchedSomething ? 1 : 0);
+            return buffer;
+        }
     }
 }
\ No newline at end of file