diff --git a/.gitmodules b/.gitmodules
index 3c9275b..758d968 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "Assets/Modules/GameDev.UDP"]
 	path = Assets/Modules/GameDev.UDP
 	url = https://gitea.strixhab.net/Stedd/GameDev.UDP.git
+[submodule "Assets/Modules/GameDev.CoreSystems"]
+	path = Assets/Modules/GameDev.CoreSystems
+	url = https://gitea.strixhab.net/Stedd/GameDev.CoreSystems.git
diff --git a/Assets/Modules/GameDev.CoreSystems b/Assets/Modules/GameDev.CoreSystems
new file mode 160000
index 0000000..c82e496
--- /dev/null
+++ b/Assets/Modules/GameDev.CoreSystems
@@ -0,0 +1 @@
+Subproject commit c82e4960a869641c6937967614cb667e1f232380
diff --git a/Assets/Modules/GameDev.CoreSystems.meta b/Assets/Modules/GameDev.CoreSystems.meta
new file mode 100644
index 0000000..facfab5
--- /dev/null
+++ b/Assets/Modules/GameDev.CoreSystems.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: fde4f49a306d5c444b9640418640f0a7
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Scripts/ReceiveData.cs b/Assets/Scripts/ReceiveData.cs
index 349ff9a..781f1d5 100644
--- a/Assets/Scripts/ReceiveData.cs
+++ b/Assets/Scripts/ReceiveData.cs
@@ -1,5 +1,6 @@
 using System;
 using GameDev.UDP;
+using ScriptableObjectArchitecture;
 using UnityEngine;
 using UnityEngine.Serialization;
 
@@ -21,32 +22,33 @@ public class ReceiveData : MonoBehaviour
     private float _sampleTime;
 
     [field: Header("ReceivedData")]
-    [field: SerializeField] private byte Watchdog { get; set; }
-    [field: SerializeField] private byte States { get; set; }
-    [field: SerializeField] private int M1SpeedCmd { get; set; }
-    [field: SerializeField] private int M2SpeedCmd { get; set; }
-    [field: SerializeField] private float AccelerometerPitch { get; set; }
-    [field: SerializeField] private float FilteredPitch { get; set; }
-    [field: SerializeField] private float PitchRate { get; set; }
-    [field: SerializeField] private float RemSpeedRef { get; set; }
-    [field: SerializeField] private float RemTurnSpeedRef { get; set; }
-    [field: SerializeField] private float ScContOut { get; set; }
-    [field: SerializeField] private float TcContOut { get; set; }
-    [field: SerializeField] private float OlContOut { get; set; }
-    [field: SerializeField] private float RefIL { get; set; }
-    [field: SerializeField] private float ActIL { get; set; }
-    [field: SerializeField] private float ErrorIL { get; set; }
-    [field: SerializeField] private float ILContOut { get; set; }
-    [field: SerializeField] private float IerrorIL { get; set; }
-    [field: SerializeField] private float ILAntiWindup { get; set; }
-    [field: SerializeField] private float SpeedCmd1 { get; set; }
-    [field: SerializeField] private float SpeedCmd2 { get; set; }
-    [field: SerializeField] private float BotLinVel { get; set; }
-    [field: SerializeField] private float BotAngVel { get; set; }
-    [field: SerializeField] private float LeftMotorAngVel { get; set; }
-    [field: SerializeField] private float RightMotorAngVel { get; set; }
-    [field: SerializeField] private int M1Raw { get; set; }
-    [field: SerializeField] private int M2Raw { get; set; }
+    [field: SerializeField] private ByteReference Watchdog { get; set; }
+    [field: SerializeField] private ByteReference States { get; set; }
+    [field: SerializeField] private IntReference M1SpeedCmd { get; set; }
+    [field: SerializeField] private IntReference M2SpeedCmd { get; set; }
+    [field: SerializeField] private FloatReference AccelerometerPitch { get; set; }
+    [field: SerializeField] private FloatReference FilteredPitch { get; set; }
+    [field: SerializeField] private FloatReference PitchRate { get; set; }
+    [field: SerializeField] private FloatReference RemSpeedRef { get; set; }
+    [field: SerializeField] private FloatReference RemTurnSpeedRef { get; set; }
+    [field: SerializeField] private FloatReference ScContOut { get; set; }
+    [field: SerializeField] private FloatReference TcContOut { get; set; }
+    [field: SerializeField] private FloatReference OlContOut { get; set; }
+    [field: SerializeField] private FloatReference RefIL { get; set; }
+    [field: SerializeField] private FloatReference ActIL { get; set; }
+    [field: SerializeField] private FloatReference ErrorIL { get; set; }
+    [field: SerializeField] private FloatReference ILContOut { get; set; }
+    [field: SerializeField] private FloatReference IerrorIL { get; set; }
+    [field: SerializeField] private FloatReference ILAntiWindup { get; set; }
+    [field: SerializeField] private FloatReference SpeedCmd1 { get; set; }
+    [field: SerializeField] private FloatReference SpeedCmd2 { get; set; }
+    [field: SerializeField] private FloatReference BotLinVel { get; set; }
+    [field: SerializeField] private FloatReference BotAngVel { get; set; }
+    [field: SerializeField] private FloatReference LeftMotorAngVel { get; set; }
+    [field: SerializeField] private FloatReference RightMotorAngVel { get; set; }
+    [field: SerializeField] private IntReference M1Raw { get; set; }
+    [field: SerializeField] private IntReference M2Raw { get; set; }
+    [field: SerializeField] private IntReference Millis { get; set; }
 
     private void OnEnable()
     {
@@ -65,32 +67,33 @@ public class ReceiveData : MonoBehaviour
         _newPackages++;
         ReceivedData = _udpManager.Data;
         var i = 0;
-        Watchdog = ReceivedData[i];
-        States = ReceivedData[i += 1];
-        M1SpeedCmd = BitConverter.ToInt16(ReceivedData, i += 1);
-        M2SpeedCmd = BitConverter.ToInt16(ReceivedData, i += 2);
-        AccelerometerPitch = BitConverter.ToSingle(ReceivedData, i += 2);
-        FilteredPitch = BitConverter.ToSingle(ReceivedData, i += 4);
-        PitchRate = BitConverter.ToSingle(ReceivedData, i += 4);
-        RemSpeedRef = BitConverter.ToSingle(ReceivedData, i += 4);
-        RemTurnSpeedRef = BitConverter.ToSingle(ReceivedData, i += 4);
-        ScContOut = BitConverter.ToSingle(ReceivedData, i += 4);
-        TcContOut = BitConverter.ToSingle(ReceivedData, i += 4);
-        OlContOut = BitConverter.ToSingle(ReceivedData, i += 4);
-        RefIL = BitConverter.ToSingle(ReceivedData, i += 4);
-        ActIL = BitConverter.ToSingle(ReceivedData, i += 4);
-        ErrorIL = BitConverter.ToSingle(ReceivedData, i += 4);
-        ILContOut = BitConverter.ToSingle(ReceivedData, i += 4);
-        IerrorIL = BitConverter.ToSingle(ReceivedData, i += 4);
-        ILAntiWindup = BitConverter.ToSingle(ReceivedData, i += 4);
-        SpeedCmd1 = BitConverter.ToSingle(ReceivedData, i += 4);
-        SpeedCmd2 = BitConverter.ToSingle(ReceivedData, i += 4);
-        BotLinVel = BitConverter.ToSingle(ReceivedData, i += 4);
-        BotAngVel = BitConverter.ToSingle(ReceivedData, i += 4);
-        LeftMotorAngVel = BitConverter.ToSingle(ReceivedData, i += 4);
-        RightMotorAngVel = BitConverter.ToSingle(ReceivedData, i += 4);
-        M1Raw = BitConverter.ToInt32(ReceivedData, i += 4);
-        M2Raw = BitConverter.ToInt32(ReceivedData, i += 4);
+        Watchdog.Value = ReceivedData[i];
+        States.Value = ReceivedData[i += 1];
+        M1SpeedCmd.Value = BitConverter.ToInt16(ReceivedData, i += 1);
+        M2SpeedCmd.Value = BitConverter.ToInt16(ReceivedData, i += 2);
+        AccelerometerPitch.Value = BitConverter.ToSingle(ReceivedData, i += 2);
+        FilteredPitch.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        PitchRate.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        RemSpeedRef.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        RemTurnSpeedRef.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        ScContOut.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        TcContOut.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        OlContOut.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        RefIL.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        ActIL.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        ErrorIL.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        ILContOut.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        IerrorIL.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        ILAntiWindup.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        SpeedCmd1.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        SpeedCmd2.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        BotLinVel.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        BotAngVel.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        LeftMotorAngVel.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        RightMotorAngVel.Value = BitConverter.ToSingle(ReceivedData, i += 4);
+        M1Raw.Value = BitConverter.ToInt32(ReceivedData, i += 4);
+        M2Raw.Value = BitConverter.ToInt32(ReceivedData, i += 4);
+        Millis.Value = BitConverter.ToInt32(ReceivedData, i += 4);
     }
 
     private void FixedUpdate()