diff --git a/DoxyGen/DoxyWarnLogfile.txt b/DoxyGen/DoxyWarnLogfile.txt
index 351e9b1..cd6bceb 100644
--- a/DoxyGen/DoxyWarnLogfile.txt
+++ b/DoxyGen/DoxyWarnLogfile.txt
@@ -1,4 +1,16 @@
 warning: source 'images' is not a readable file or directory... skipping.
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:57: warning: @copybrief or @copydoc target 'Thing::Update' not found
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:22: warning: Member SetDriveDimensions(self, wheel_diameter, wheel_separation) (function) of class DifferentialDrive.DifferentialDrive is not documented.
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:33: warning: Member SetMotors(self, wheel_left, wheel_right) (function) of class DifferentialDrive.DifferentialDrive is not documented.
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:57: warning: @copybrief or @copydoc target 'Thing::Update' not found
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:19: warning: Member wheel_left (variable) of class DifferentialDrive.DifferentialDrive is not documented.
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:20: warning: Member wheel_right (variable) of class DifferentialDrive.DifferentialDrive is not documented.
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:47: warning: Found unknown command '@params'
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:57: warning: @copybrief or @copydoc target 'Thing::Update' not found
+d:/Python/RoboidControl-python/Things/DifferentialDrive.py:58: warning: @copydetails or @copydoc target 'Thing::Update' not found
 d:/Python/RoboidControl-python/LocalParticipant.py:61: warning: Member GetParticipant(self, ip_address, port) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
 d:/Python/RoboidControl-python/LocalParticipant.py:71: warning: Member AddParticipant(self, ip_address, port) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
 d:/Python/RoboidControl-python/LocalParticipant.py:93: warning: Member SendThingInfo(self, thing) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
@@ -39,6 +51,25 @@ d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:53: warning: Member Se
 d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:64: warning: Member Publish(participant, network_id) (function) of class RoboidControl-python.Messages.ParticipantMsg.ParticipantMsg is not documented.
 d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:41: warning: Member Serialized(buffer_ref, network_id) (function) of class RoboidControl-python.Messages.ParticipantMsg.ParticipantMsg is not documented.
 d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:21: warning: Member network_id (variable) of class RoboidControl-python.Messages.ParticipantMsg.ParticipantMsg is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:42: warning: Member AddParticipant(self, ip_address, port) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:49: warning: Member ProcessClientMsg(self, sender, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:56: warning: Member ProcessNetworkId(self, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:60: warning: Member Register(self, ThingClass, thing_type) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:63: warning: Member Process(self, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:69: warning: Member ProcessThingMsg(self, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:20: warning: Member ip_address (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:21: warning: Member port (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:22: warning: Member publishInterval (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:23: warning: Member others (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:24: warning: Member network_id (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:25: warning: Member buffer (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:26: warning: Member thing_msg_constructors (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:29: warning: Member udp_socket (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:34: warning: Member thread (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:14: warning: Member name (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
+d:/Python/RoboidControl-python/SiteServer.py:18: warning: The following parameters of RoboidControl-python.SiteServer.SiteServer.__init__(self, port=7681, remote=False, udp_socket=None) are not documented:
+  parameter 'remote'
+  parameter 'udp_socket'
 d:/Python/RoboidControl-python/Thing.py:57: warning: Member update(self, currentTime) (function) of class RoboidControl-python.Thing.Thing is not documented.
 d:/Python/RoboidControl-python/Thing.py:60: warning: Member ProcessBinary(self, data) (function) of class RoboidControl-python.Thing.Thing is not documented.
 d:/Python/RoboidControl-python/Thing.py:38: warning: Member parent_id (variable) of class RoboidControl-python.Thing.Thing is not documented.
diff --git a/Examples/BB2B.py b/Examples/BB2B.py
index b37741d..adab8dc 100644
--- a/Examples/BB2B.py
+++ b/Examples/BB2B.py
@@ -1,3 +1,7 @@
+import sys
+from os import path
+sys.path.append(path.abspath(path.join(path.dirname(__file__), '..')))
+
 from Things.DifferentialDrive import DifferentialDrive
 from Things.TouchSensor import TouchSensor
 import time
@@ -5,9 +9,9 @@ import time
 # The robot's propulsion is a differential drive
 bb2b = DifferentialDrive()
 # It has a touch sensor at the front left of the roboid
-touch_left = TouchSensor(bb2b)
+touch_left = TouchSensor(parent = bb2b)
 # and other one on the right
-touch_right = TouchSensor(bb2b)
+touch_right = TouchSensor(parent = bb2b)
 
 # Do forever:
 while True:
diff --git a/Examples/BB2B_networking.py b/Examples/BB2B_networking.py
new file mode 100644
index 0000000..327926b
--- /dev/null
+++ b/Examples/BB2B_networking.py
@@ -0,0 +1,31 @@
+from LocalParticipant import LocalParticipant
+from Things.DifferentialDrive import DifferentialDrive
+from Things.TouchSensor import TouchSensor
+import time
+
+# Create a local participant for handling communcation
+# using default settings (UDP communciation over port 7681)
+participant = LocalParticipant()
+# The robot's propulsion is a differential drive
+bb2b = DifferentialDrive(participant)
+# It has a touch sensor at the front left of the roboid
+touch_left = TouchSensor(bb2b)
+# and other one on the right
+touch_right = TouchSensor(bb2b)
+
+# Do forever:
+while True:
+    # The left wheel turns forward when nothing is touched on the right side
+    # and turn backward when the roboid hits something on the right
+    wheel_speed_left = -600 if touch_right.touched_somthing else 600
+    # The right wheel does the same, but instead is controlled by
+    # touches on the left side
+    wheel_speed_right = -600 if touch_left.touched_somthing else 600
+    # When both sides are touching something, both wheels will turn backward
+    # and the roboid will move backwards
+    bb2b.SetWheelVelocity(wheel_speed_left, wheel_speed_right)
+
+    # Update the roboid state
+    bb2b.Update(True)
+    # and sleep for 100ms
+    time.sleep(100)
diff --git a/LinearAlgebra/Angle.py b/LinearAlgebra/Angle.py
index 3fec226..5bb373b 100644
--- a/LinearAlgebra/Angle.py
+++ b/LinearAlgebra/Angle.py
@@ -1,10 +1,5 @@
 import math
 
 class Angle:
-    @property
-    def Rad2Deg(self):
-        return 360 / (math.pi * 2)
-    
-    @property
-    def Deg2Rad(self):
-        return (math.pi * 2) / 360
\ No newline at end of file
+    Rad2Deg = 360 / (math.pi * 2)
+    Deg2Rad = (math.pi * 2) / 360
\ No newline at end of file
diff --git a/LinearAlgebra/Direction.py b/LinearAlgebra/Direction.py
index 5f89e22..24d04ff 100644
--- a/LinearAlgebra/Direction.py
+++ b/LinearAlgebra/Direction.py
@@ -2,8 +2,8 @@ import math
 
 class Direction:
     def __init__(self, horizontal=0, vertical=0):
-        self.horizontal = horizontal
-        self.vertical = vertical
+        self.horizontal: float = horizontal
+        self.vertical: float = vertical
 
     def __add__(self, other):
         return Direction(self.horizontal + other.x, self.vertical + other.y)
diff --git a/LinearAlgebra/Spherical.py b/LinearAlgebra/Spherical.py
index 110eea5..f32923f 100644
--- a/LinearAlgebra/Spherical.py
+++ b/LinearAlgebra/Spherical.py
@@ -3,8 +3,8 @@ from LinearAlgebra.Direction import Direction
 
 class Spherical:
     def __init__(self, distance, direction):
-        self.distance = distance
-        self.direction = direction
+        self.distance: float = distance
+        self.direction: Direction = direction
 
     # def __init__(self, distance, horizontal, vertical):
     #     self.distance = distance
diff --git a/README.md b/README.md
index 8146233..3d9afa2 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,15 @@
-\mainpage Control Core for Python
+\mainpage Roboid Control for Python
 
-Control Core contain generic functionality for controlling Things
\ No newline at end of file
+Roboid Control support for Python applications
+Supporting:
+- Windows
+- MacOS
+- Linux
+- MicroPython
+
+# Basic components
+
+
+- \ref RoboidControl-python::Thing::Thing "Thing.Thing"
+- \ref RoboidControl-python::LocalParticipant::LocalParticipant "LocalParticipant.LocalParticipant"
+- \ref RoboidControl-python::SiteServer::SiteServer "SiteServer.SiteServer"
\ No newline at end of file
diff --git a/SiteServer.py b/SiteServer.py
index 2d0ef18..35c9411 100644
--- a/SiteServer.py
+++ b/SiteServer.py
@@ -1,17 +1,23 @@
 from LocalParticipant import LocalParticipant
 from Messages.ParticipantMsg import ParticipantMsg
 from Messages.NetworkIdMsg import NetworkIdMsg
-from Sensors.TemperatureSensor import TemperatureSensor
+from Things.TemperatureSensor import TemperatureSensor
 from Thing import Thing
 
 import socket
 import threading
 
-class SiteServer(LocalParticipant):       
+class SiteServer(LocalParticipant):
+    """! A site server is a participant which provides a shared simulated environment 
+    """
+
     name = "Site Server"
 
-    def __init__(self, ip_address="0.0.0.0", port=7681, remote=False, udp_socket = None):
-        self.ip_address = ip_address
+    def __init__(self, port=7681, remote=False, udp_socket = None):
+        """! Create a new site server
+        @param port The UDP port on which communication is received
+        """
+        self.ip_address = "0.0.0.0"
         self.port = port
         self.publishInterval = 0
         self.others = []
diff --git a/Thing.py b/Thing.py
index d8533ac..a0b4635 100644
--- a/Thing.py
+++ b/Thing.py
@@ -43,13 +43,13 @@ class Thing:
         self.model_url = None
 
         ## The position of the thing in local space, in meters
-        self.position = Spherical.zero
+        self.position: Spherical = Spherical.zero
         ## The new orientation in local space
-        self.orientation = Quaternion.identity
+        self.orientation: Quaternion = Quaternion.identity
         ## The linear velocity of the thing in local space, in meters per second
-        self.linearVelocity = Spherical.zero
+        self.linear_velocity: Spherical = Spherical.zero
         ## The angular velocity of the thing in local space, in degrees per second
-        self.angularVelocity = Spherical.zero
+        self.angular_velocity: Spherical = Spherical.zero
 
         self.pose_updated = 0x00 # the bits indicate which fields have been updated
 
diff --git a/Things/DifferentialDrive.py b/Things/DifferentialDrive.py
index 04a3266..dc74f1d 100644
--- a/Things/DifferentialDrive.py
+++ b/Things/DifferentialDrive.py
@@ -16,8 +16,8 @@ class DifferentialDrive(Thing):
         ## The distance between the wheels in meters
         self.wheel_separation = 1.0
         
-        self.wheel_left = None
-        self.wheel_right = None
+        self.wheel_left: Thing = None
+        self.wheel_right: Thing = None
 
     def SetDriveDimensions(self, wheel_diameter, wheel_separation):
         if wheel_diameter < 0:
@@ -57,16 +57,18 @@ class DifferentialDrive(Thing):
         @copydoc Thing::Update
         """
         # This assumes forward velocity only...
-        linear_velocity: Spherical = self.GetLinearVelocity().distance
+        linear_velocity: Spherical = self.linear_velocity.distance
 
-        angular_velocity: Spherical = self.GetAngularVelocity()
+        angular_velocity: Spherical = self.angular_velocity
         angular_speed: float = angular_velocity.distance * Angle.Deg2Rad # in radians/sec
         # Determine the rotation direction
-        if angular_velocity.direction.horizontal.InDegrees() < 0:
+        if angular_velocity.direction.horizontal < 0:
             angular_speed = -angular_speed
         
-        speed_left: float = (linear_velocity + angular_speed * self.wheel_left.GetPosition().distance) / self.wheel_radius * Angle.Rad2Deg
-        speed_right: float = (linear_velocity - angular_speed * self.wheel_right.GetPosition().distance) / self.wheel_radius * Angle.Rad2Deg
+        speed_left: float = 0 if self.wheel_left is None else \
+            (linear_velocity + angular_speed * self.wheel_left.position.distance) / self.wheel_radius * Angle.Rad2Deg
+        speed_right: float = 0 if self.wheel_right is None else \
+            (linear_velocity - angular_speed * self.wheel_right.position.distance) / self.wheel_radius * Angle.Rad2Deg
 
         self.SetWheelVelocity(speed_left, speed_right)
 
diff --git a/Things/TouchSensor.py b/Things/TouchSensor.py
index f202552..7e4ffd6 100644
--- a/Things/TouchSensor.py
+++ b/Things/TouchSensor.py
@@ -3,7 +3,7 @@ from Thing import Thing
 class TouchSensor(Thing):
     """! A sensor which can detect touches
     """
-    def __init__(self, owner, parent):
+    def __init__(self, owner = None, parent = None):
         """! Create a touch sensor
         """
         super().__init__(owner, parent)