diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 3d746a8d..e106ad89 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -75,9 +75,10 @@ Including the files in this order helps avoid dependencies being brought in indi
 
 An example:
 
+shapes/circle.cpp
 ```C++
 /**
- * @file shapes/circle.cpp
+ * @file
  */
 
 // The corresponding header file that this source file implements
diff --git a/Common/app/PeripheralInstances.cpp b/Common/app/PeripheralInstances.cpp
index cc1e760d..af1aef7a 100644
--- a/Common/app/PeripheralInstances.cpp
+++ b/Common/app/PeripheralInstances.cpp
@@ -12,12 +12,13 @@
 
 
 /********************************* Includes **********************************/
+
 #include "PeripheralInstances.h"
 
-#include "HalUartInterface.h"
 #include "GpioInterfaceImpl.h"
 #include "OsInterfaceImpl.h"
 #include "SystemConf.h"
+#include "UartInterfaceImpl.h"
 
 #include "usart.h"
 #include "gpio.h"
@@ -26,7 +27,7 @@
 using dynamixel::Motor;
 using dynamixel::DaisyChain;
 using dynamixel::DaisyChainParams;
-using hal::HalUartInterface;
+using hal::UartInterfaceImpl;
 using cmsis::OsInterfaceImpl;
 using hal::GpioInterfaceImpl;
 
@@ -37,7 +38,7 @@ using hal::GpioInterfaceImpl;
 namespace periph{
 // Variables
 // ----------------------------------------------------------------------------
-HalUartInterface uart_if;
+UartInterfaceImpl uart_if;
 OsInterfaceImpl os_if;
 GpioInterfaceImpl gpio_if;
 
diff --git a/Common/app/freertos.cpp b/Common/app/freertos.cpp
index 8618c76d..f90cc9ca 100644
--- a/Common/app/freertos.cpp
+++ b/Common/app/freertos.cpp
@@ -53,7 +53,7 @@
 
 /* USER CODE BEGIN Includes */
 /**
- * @file    freertos.c
+ * @file
  * @brief   Code for freertos application
  * @author  Gokul
  * @author  Tyler
@@ -76,9 +76,9 @@
 #include "rx_helper.h"
 #include "tx_helper.h"
 #include "UartDriver/UartDriver.h"
-#include "HalUartInterface.h"
 #include "OsInterfaceImpl.h"
 #include "CircularDmaBuffer/CircularDmaBuffer.h"
+#include "UartInterfaceImpl.h"
 /* USER CODE END Includes */
 
 /* Variables -----------------------------------------------------------------*/
@@ -151,7 +151,7 @@ namespace{
 
 buffer::BufferMaster buffer_master;
 cmsis::OsInterfaceImpl os_if_impl;
-hal::HalUartInterface uart_if;
+hal::UartInterfaceImpl uart_if;
 uart::UartDriver pc_uart_driver(&os_if_impl, &uart_if, UART_HANDLE_PC);
 
 bool setup_is_done = false;
@@ -406,7 +406,7 @@ void StartCommandTask(void const * argument)
             pMotor->setComplianceMargin(1);
         }
     }
- 
+
     // The only other communication with the motors will occur in the UART
     // threads, so we can use DMA now.
     periph::initMotorIOType(IO_Type::DMA);
diff --git a/Common/app/imu_helper.cpp b/Common/app/imu_helper.cpp
index 1fccdf5f..63affc7d 100644
--- a/Common/app/imu_helper.cpp
+++ b/Common/app/imu_helper.cpp
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    imu_helper.cpp
+  * @file
   * @author  Tyler Gamvrelis
   *
   * @addtogroup IMU_Helper IMU Helper
diff --git a/Common/app/imu_helper.h b/Common/app/imu_helper.h
index 10e782c1..d2c93b13 100644
--- a/Common/app/imu_helper.h
+++ b/Common/app/imu_helper.h
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    imu_helper.h
+  * @file
   * @author  Tyler Gamvrelis
   * @brief   Helper file for the IMU thread in the main program flow
   *
diff --git a/Common/app/rx_helper.h b/Common/app/rx_helper.h
index e22bda5f..c51b035b 100644
--- a/Common/app/rx_helper.h
+++ b/Common/app/rx_helper.h
@@ -1,6 +1,6 @@
 /**
  *****************************************************************************
- * @file    rx_helper.h
+ * @file
  * @author  Hannah
  * @brief   Header for the helper file used to aid StartRXTask() in freertos.cpp
  *****************************************************************************
diff --git a/Common/app/tx_helper.cpp b/Common/app/tx_helper.cpp
index 1e43bc61..0cb1acdf 100644
--- a/Common/app/tx_helper.cpp
+++ b/Common/app/tx_helper.cpp
@@ -1,6 +1,6 @@
 /**
  *****************************************************************************
- * @file    tx_helper.c
+ * @file
  * @author  Hannah
  * @brief   Helper file for the function StartTXTask() in freertos.cpp
  *****************************************************************************
diff --git a/Common/app/tx_helper.h b/Common/app/tx_helper.h
index ec604371..db2dcaa3 100644
--- a/Common/app/tx_helper.h
+++ b/Common/app/tx_helper.h
@@ -1,6 +1,6 @@
 /**
  *****************************************************************************
- * @file    tx_helper.h
+ * @file
  * @author  Hannah
  * @brief   Header for the helper file used to aid StartTxTask() in freertos.cpp
  *****************************************************************************
diff --git a/Common/component/UartDriver/UartDriver.cpp b/Common/component/UartDriver/UartDriver.cpp
index fc957db7..55c39c6e 100644
--- a/Common/component/UartDriver/UartDriver.cpp
+++ b/Common/component/UartDriver/UartDriver.cpp
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    UartDriver.cpp
+  * @file
   * @author  Tyler Gamvrelis
   *
   * @defgroup UartDriver
diff --git a/Common/component/UartDriver/UartDriver.h b/Common/component/UartDriver/UartDriver.h
index c660e3dc..abd1e7eb 100644
--- a/Common/component/UartDriver/UartDriver.h
+++ b/Common/component/UartDriver/UartDriver.h
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    UartDriver.h
+  * @file
   * @author  Tyler Gamvrelis
   * @author  Robert Fairley
   *
diff --git a/Common/component/UdpDriver/UdpDriver.cpp b/Common/component/UdpDriver/UdpDriver.cpp
index fa9943d5..fd31b2d8 100644
--- a/Common/component/UdpDriver/UdpDriver.cpp
+++ b/Common/component/UdpDriver/UdpDriver.cpp
@@ -3,7 +3,7 @@
   * @file
   * @author  Robert Fairley
   *
-  * @defgroup udp_driver
+  * @defgroup udp
   * @brief    Implementation of UdpDriver.
   * @{
   *****************************************************************************
@@ -17,7 +17,6 @@
 /********************************* Includes **********************************/
 #include "UdpDriver.h"
 
-
 using lwip::UdpRawInterface;
 using cmsis::OsInterface;
 using udp::UdpDriver;
@@ -28,34 +27,43 @@ namespace {
 
 // Functions
 // ----------------------------------------------------------------------------
-
 static void defaultRecvCallback(void *arg,
                                 struct udp_pcb *pcb,
-                                struct pbuf *pPbuf,
-                                const ip_addr_t *addr,
+                                struct pbuf *p_pbuf,
+                                const ip_addr_t *ip_addr,
                                 u16_t port)
 {
-    UdpDriver *caller = (UdpDriver*) arg;
-    caller->setRecvPbuf(pPbuf);
-    caller->signalReceiveCplt();
+    UdpDriver *self = static_cast<UdpDriver*>(arg);
+    self->setRecvPbuf(p_pbuf);
+    self->signalReceiveCplt();
 }
 
-static bool transmitImpl(UdpDriver* caller, struct pbuf * pPbuf) {
-    const ip_addr_t addr = caller->getIpaddrPc();
+static bool transmitImpl(UdpDriver* self, struct pbuf * p_pbuf) {
+    const ip_addr_t addr = self->getIpAddrDest();
     bool success = false;
 
-    if (caller->getUdpInterface()->udpConnect(const_cast<struct udp_pcb *>(caller->getPcb()),
-            &addr, caller->getPortPc()) != ERR_OK) {
+    if (self->getUdpIf()->udpConnect(
+            const_cast<struct udp_pcb *>(self->getPcb()),
+            &addr,
+            self->getPortDest()
+            ) != ERR_OK)
+    {
         goto out;
     }
-    if (caller->getUdpInterface()->udpSend(const_cast<struct udp_pcb *>(caller->getPcb()), pPbuf) != ERR_OK) {
+    if (self->getUdpIf()->udpSend(
+            const_cast<struct udp_pcb *>(self->getPcb()),
+            p_pbuf
+            ) != ERR_OK)
+    {
         goto disconnect;
     }
 
     success = true;
 
   disconnect:
-    caller->getUdpInterface()->udpDisconnect(const_cast<struct udp_pcb *>(caller->getPcb()));
+    self->getUdpIf()->udpDisconnect(
+            const_cast<struct udp_pcb *>(self->getPcb())
+    );
 
   out:
     return success;
@@ -65,31 +73,33 @@ static bool transmitImpl(UdpDriver* caller, struct pbuf * pPbuf) {
 
 namespace udp {
 
-/************************** UdpDriver ***************************/
 // Public
 // ----------------------------------------------------------------------------
+UdpDriver::UdpDriver()
+{
 
-UdpDriver::UdpDriver() {
 }
 
-UdpDriver::UdpDriver(const ip_addr_t ipaddrIn,
-                     const ip_addr_t ipaddrPcIn,
-                     const u16_t portIn,
-                     const u16_t portPcIn,
-                     const UdpRawInterface *udpInterfaceIn,
-                     const OsInterface *osInterfaceIn
-                     ) :
-                         ipaddr(ipaddrIn),
-                         ipaddrPc(ipaddrPcIn),
-                         port(portIn),
-                         portPc(portPcIn),
-                         udpInterface(udpInterfaceIn),
-                         osInterface(osInterfaceIn)
+UdpDriver::UdpDriver(
+    const ip_addr_t m_ip_addr_src,
+    const ip_addr_t m_ip_addr_dest,
+    const u16_t m_port_src,
+    const u16_t m_port_dest,
+    const UdpRawInterface *m_udp_if,
+    const OsInterface *m_os_if
+) :
+    m_ip_addr_src(m_ip_addr_src),
+    m_ip_addr_dest(m_ip_addr_dest),
+    m_port_src(m_port_src),
+    m_port_dest(m_port_dest),
+    m_udp_if(m_udp_if),
+    m_os_if(m_os_if)
 {
 
 }
 
-UdpDriver::~UdpDriver() {
+UdpDriver::~UdpDriver()
+{
 
 }
 
@@ -97,18 +107,27 @@ UdpDriver::~UdpDriver() {
  * @brief initialize UdpDriver and do critical checks.
  * @return false if a check fails, true if initialization completes successfully.
  */
-bool UdpDriver::initialize() {
-    if (!getUdpInterface() || !getOsInterface()) {
+bool UdpDriver::initialize()
+{
+    if (!getUdpIf() || !getOsIf())
+    {
         return false;
     }
 
-    osSemaphoreStaticDef(UdpDriverRecv, &recvSemaphoreControlBlock);
-    if ((recvSemaphore = getOsInterface()->OS_osSemaphoreCreate(osSemaphore(UdpDriverRecv), 1)) == NULL) {
+    osSemaphoreStaticDef(UdpDriverRecv, &m_recv_semaphore_control_block);
+    if ((m_recv_semaphore = getOsIf()->OS_osSemaphoreCreate(
+            osSemaphore(UdpDriverRecv),
+            1
+            )) == NULL)
+    {
         return false;
     }
 
-    osMutexStaticDef(UdpDriverRecvPbuf, &recvPbufMutexControlBlock);
-    if ((recvPbufMutex = getOsInterface()->OS_osMutexCreate(osMutex(UdpDriverRecvPbuf))) == NULL) {
+    osMutexStaticDef(UdpDriverRecvPbuf, &m_recv_pbuf_mutex_control_block);
+    if ((m_recv_pbuf_mutex = getOsIf()->OS_osMutexCreate(
+            osMutex(UdpDriverRecvPbuf)
+            )) == NULL)
+    {
         return false;
     }
 
@@ -116,25 +135,39 @@ bool UdpDriver::initialize() {
 }
 
 /**
- * @brief set up UdpDriver to receive UdpPackets, calling recvCallback when a packet is received.
- * @param recvCallback callback function to call when lwIP detects a packet has been received.
+ * @brief set up UdpDriver to receive UDP packets, calling recvCallback when a packet is received.
+ * @param recv_callback callback function to call when lwIP detects a packet has been received.
  * @return true if setup completed successfully, false otherwise.
  */
-bool UdpDriver::setupReceive(udp_recv_fn recvCallback) {
+bool UdpDriver::setupReceive(udp_recv_fn recv_callback)
+{
     bool success = false;
 
-    pcb = getUdpInterface()->udpNew();
+    m_pcb = getUdpIf()->udpNew();
 
-    if (!getPcb()) {
+    if (!getPcb())
+    {
         return false;
     }
 
-    success = (getUdpInterface()->udpBind(const_cast<struct udp_pcb *>(getPcb()), &ipaddr, port) == ERR_OK);
-
-    if (success) {
-        udp_recv_fn callback = (recvCallback == nullptr) ? defaultRecvCallback : recvCallback;
-        getUdpInterface()->udpRecv(const_cast<struct udp_pcb *>(getPcb()), callback, this);
-    } else {
+    success = (getUdpIf()->udpBind(
+            const_cast<struct udp_pcb *>(getPcb()),
+            &m_ip_addr_src,
+            getPortSrc()
+    ) == ERR_OK);
+
+    if (success)
+    {
+        udp_recv_fn callback = (recv_callback == nullptr)
+                ? defaultRecvCallback : recv_callback;
+        getUdpIf()->udpRecv(
+                const_cast<struct udp_pcb *>(getPcb()),
+                callback,
+                this
+        );
+    }
+    else
+    {
         forgetPcb();
     }
 
@@ -143,19 +176,21 @@ bool UdpDriver::setupReceive(udp_recv_fn recvCallback) {
 
 /**
  * @brief Wait for a packet to be available to read, and read the packet into rxArrayOut. Cleans up the packet read from lwIP.
- * @param rxArrayOut array to read packet data payload into.
- * @param numBytes the maximum number of bytes to read from the packet (should not be greater than the length of rxArrayout).
+ * @param rx_array_out array to read packet data payload into.
+ * @param num_bytes the maximum number of bytes to read from the packet (should not be greater than the length of rxArrayout).
  * @return true if read packet successfully, false if failed to read the packet into rxArrayOut.
  */
-bool UdpDriver::receive(uint8_t *rxArrayOut, const size_t numBytes) {
+bool UdpDriver::receive(uint8_t *rx_array_out, const size_t num_bytes)
+{
     bool success = false;
-    struct pbuf *recvPbuf = nullptr;
+    struct pbuf *recv_pbuf = nullptr;
 
     waitReceiveCplt();
 
-    recvPbuf = getRecvPbuf();
+    recv_pbuf = getRecvPbuf();
 
-    if (packetToBytes(rxArrayOut, numBytes, recvPbuf) <= (u16_t) 0) {
+    if (packetToBytes(rx_array_out, num_bytes, recv_pbuf) <= (u16_t) 0)
+    {
         goto out;
     }
 
@@ -163,7 +198,8 @@ bool UdpDriver::receive(uint8_t *rxArrayOut, const size_t numBytes) {
 
   out:
 
-    if (recvPbuf) {
+    if (recv_pbuf)
+    {
         forgetRecvPbuf();
     }
 
@@ -171,35 +207,45 @@ bool UdpDriver::receive(uint8_t *rxArrayOut, const size_t numBytes) {
 }
 
 /**
- * @brief transmit data from txArrayIn through UDP. Allocates and cleans up a new packet internally.
- * @param txArrayIn array holding data to transmit.
- * @param number of bytes to transmit.
+ * @brief transmit data from txArrayIn through UDP. Allocates and cleans up a new temporary packet internally.
+ * @param tx_array_in array holding data to transmit.
+ * @param num_bytes number of bytes to transmit.
  * @return true if the data was transmitted successfully, false otherwise.
  */
-bool UdpDriver::transmit(const uint8_t *txArrayIn, const size_t numBytes) {
+bool UdpDriver::transmit(const uint8_t *tx_array_in, const size_t num_bytes)
+{
     bool success = false;
 
     /* TODO: see if this can be allocated once at setup, if numBytes is known and unchanging. */
-    struct pbuf *allocPbuf = getUdpInterface()->pbufAlloc(PBUF_TRANSPORT, numBytes, PBUF_RAM);
-    if (!allocPbuf) {
+    struct pbuf *temp_pbuf = getUdpIf()->pbufAlloc(
+            PBUF_TRANSPORT,
+            num_bytes,
+            PBUF_RAM
+    );
+    if (!temp_pbuf)
+    {
         goto out;
     }
 
-    if (!bytesToPacket(txArrayIn, numBytes, allocPbuf)) {
+    if (!bytesToPacket(tx_array_in, num_bytes, temp_pbuf))
+    {
         goto out;
     }
 
-    if (!transmitImpl(this, allocPbuf)) {
+    if (!transmitImpl(this, temp_pbuf))
+    {
         goto out;
     }
 
     success = true;
 
   out:
-    if (allocPbuf) {
+    if (temp_pbuf)
+    {
         /* Error if zero pbufs freed for the one just allocated for Tx. */
-        if ((success = getUdpInterface()->pbufFree(allocPbuf) > (u8_t) 0)) {
-            allocPbuf = nullptr;
+        if ((success = getUdpIf()->pbufFree(temp_pbuf) > (u8_t) 0))
+        {
+            temp_pbuf = nullptr;
         }
     }
 
@@ -208,106 +254,152 @@ bool UdpDriver::transmit(const uint8_t *txArrayIn, const size_t numBytes) {
 
 /**
  * @brief Copy the received packet to byteArrayOut, to a maximum of numBytes.
- * @param byteArrayOut the array to copy the bytes from the packet to.
- * @param numBytes the maximum number of bytes to copy (should not be greater than the size of byteArrayOut).
- * @param pPbuf pointer to the packet (pbuf) to copy the bytes from.
- * @return the number of bytes copied to byteArrayOut.
+ * @param byte_array_out the array to copy the bytes from the packet to.
+ * @param num_bytes the maximum number of bytes to copy (should not be greater than the size of byteArrayOut).
+ * @param p_pbuf pointer to the packet (pbuf) to copy the bytes from.
+ * @return the number of bytes copied to byte_array_out.
  */
-u16_t UdpDriver::packetToBytes(uint8_t *byteArrayOut, const size_t numBytes, struct pbuf *pPbuf) const {
-    if (!byteArrayOut || !pPbuf) {
+u16_t UdpDriver::packetToBytes(
+        uint8_t *byte_array_out,
+        const size_t num_bytes,
+        struct pbuf *p_pbuf
+        ) const
+{
+    if (!byte_array_out || !p_pbuf)
+    {
         return (u16_t) 0;
     }
 
-	return getUdpInterface()->pbufCopyPartial(pPbuf, byteArrayOut, numBytes, 0);
+	return getUdpIf()->pbufCopyPartial(
+	        p_pbuf,
+	        byte_array_out,
+	        num_bytes,
+	        0
+	);
 }
 
 /**
- * @brief Copy numBytes from byteArrayIn to a packet.
- * @param byteArrayOut the array to copy the bytes to the packet from.
- * @param numBytes the number of bytes to copy from byteArrayIn.
- * @param pPbuf pointer to the packet (pbuf) to copy the bytes to.
+ * @brief Copy num_bytes from byte_array_in to a packet.
+ * @param byte_array_in the array to copy the bytes to the packet from.
+ * @param num_bytes the number of bytes to copy from byte_array_in.
+ * @param p_pbuf pointer to the packet (pbuf) to copy the bytes to.
  * @return true if copied numBytes succesfully, false otherwise.
  */
-bool UdpDriver::bytesToPacket(const uint8_t *byteArrayIn, const size_t numBytes, struct pbuf *pPbuf) const {
-    if (!byteArrayIn || !pPbuf) {
+bool UdpDriver::bytesToPacket(
+        const uint8_t *byte_array_in,
+        const size_t num_bytes,
+        struct pbuf *p_pbuf) const
+{
+    if (!byte_array_in || !p_pbuf)
+    {
         return false;
     }
 
-	return (getUdpInterface()->pbufTake(pPbuf, byteArrayIn, numBytes) == ERR_OK);
+	return (getUdpIf()->pbufTake(p_pbuf, byte_array_in, num_bytes)
+	        == ERR_OK);
 }
 
-void UdpDriver::signalReceiveCplt() {
-    getOsInterface()->OS_osSemaphoreRelease(recvSemaphore);
+void UdpDriver::signalReceiveCplt()
+{
+    getOsIf()->OS_osSemaphoreRelease(m_recv_semaphore);
 }
 
-void UdpDriver::waitReceiveCplt() {
-    while (getOsInterface()->OS_osSemaphoreWait(recvSemaphore, SEMAPHORE_WAIT_NUM_MS) != osOK) {
+void UdpDriver::waitReceiveCplt()
+{
+    while (getOsIf()->OS_osSemaphoreWait(
+            m_recv_semaphore,
+            SEMAPHORE_WAIT_NUM_MS
+            ) != osOK)
+    {
         ;
     }
 }
 
-void UdpDriver::setRecvPbuf(struct pbuf *pPbuf) {
-    while (getOsInterface()->OS_osMutexWait(recvPbufMutex, SEMAPHORE_WAIT_NUM_MS) != osOK) {
+void UdpDriver::setRecvPbuf(struct pbuf *p_pbuf)
+{
+    while (getOsIf()->OS_osMutexWait(
+            m_recv_pbuf_mutex,
+            SEMAPHORE_WAIT_NUM_MS
+            ) != osOK)
+    {
         ;
     }
-    recvPbuf = pPbuf;
-    getOsInterface()->OS_osMutexRelease(recvPbufMutex);
+    m_recv_pbuf = p_pbuf;
+    getOsIf()->OS_osMutexRelease(m_recv_pbuf_mutex);
 }
 
-const ip_addr_t UdpDriver::getIpaddr() const {
-    return ipaddr;
+const ip_addr_t UdpDriver::getIpAddrSrc() const
+{
+    return m_ip_addr_src;
 }
 
-const ip_addr_t UdpDriver::getIpaddrPc() const {
-    return ipaddrPc;
+const ip_addr_t UdpDriver::getIpAddrDest() const
+{
+    return m_ip_addr_dest;
 }
 
-const u16_t UdpDriver::getPort() const {
-    return port;
+const u16_t UdpDriver::getPortSrc() const
+{
+    return m_port_src;
 }
 
-const u16_t UdpDriver::getPortPc() const {
-    return portPc;
+const u16_t UdpDriver::getPortDest() const
+{
+    return m_port_dest;
 }
 
-const UdpRawInterface* UdpDriver::getUdpInterface() const {
-    return udpInterface;
+const UdpRawInterface* UdpDriver::getUdpIf() const
+{
+    return m_udp_if;
 }
 
-const OsInterface* UdpDriver::getOsInterface() const {
-    return osInterface;
+const OsInterface* UdpDriver::getOsIf() const
+{
+    return m_os_if;
 }
 
-struct udp_pcb* UdpDriver::getPcb() const {
-    return pcb;
+struct udp_pcb* UdpDriver::getPcb() const
+{
+    return m_pcb;
 }
 
-struct pbuf* UdpDriver::getRecvPbuf() const {
-    while (getOsInterface()->OS_osMutexWait(recvPbufMutex, SEMAPHORE_WAIT_NUM_MS) != osOK) {
+struct pbuf* UdpDriver::getRecvPbuf() const
+{
+    while (getOsIf()->OS_osMutexWait(
+            m_recv_pbuf_mutex,
+            SEMAPHORE_WAIT_NUM_MS
+            ) != osOK)
+    {
         ;
     }
-    struct pbuf *pPbuf = recvPbuf;
-    getOsInterface()->OS_osMutexRelease(recvPbufMutex);
-    return pPbuf;
+    struct pbuf *p_pbuf = m_recv_pbuf;
+    getOsIf()->OS_osMutexRelease(m_recv_pbuf_mutex);
+    return p_pbuf;
 }
 
-void UdpDriver::forgetRecvPbuf() {
-    while (getOsInterface()->OS_osMutexWait(recvPbufMutex, SEMAPHORE_WAIT_NUM_MS) != osOK) {
+void UdpDriver::forgetRecvPbuf()
+{
+    while (getOsIf()->OS_osMutexWait(
+            m_recv_pbuf_mutex,
+            SEMAPHORE_WAIT_NUM_MS
+            ) != osOK)
+    {
         ;
     }
-    getUdpInterface()->pbufFree(recvPbuf);
+    getUdpIf()->pbufFree(m_recv_pbuf);
     setRecvPbuf(nullptr);
-    getOsInterface()->OS_osMutexRelease(recvPbufMutex);
+    getOsIf()->OS_osMutexRelease(m_recv_pbuf_mutex);
 }
 
-void UdpDriver::forgetPcb() {
-    getUdpInterface()->udpRemove(const_cast<struct udp_pcb *>(getPcb()));
-    pcb = nullptr;
+void UdpDriver::forgetPcb()
+{
+    getUdpIf()->udpRemove(const_cast<struct udp_pcb *>(getPcb()));
+    m_pcb = nullptr;
 }
 
-} // end namespace udp_driver
+} // end namespace udp
 
 /**
  * @}
  */
-/* end - udp_driver */
+/* end - udp */
diff --git a/Common/component/UdpDriver/UdpDriver.h b/Common/component/UdpDriver/UdpDriver.h
index 9180ab9d..1a296251 100644
--- a/Common/component/UdpDriver/UdpDriver.h
+++ b/Common/component/UdpDriver/UdpDriver.h
@@ -4,7 +4,7 @@
   * @author  Robert Fairley
   * @brief   Abstraction over UDP library providing common driver functions.
   *
-  * @defgroup Header
+  * @defgroup HeaderUdpDriver
   * @ingroup  lwip
   * @{
   *****************************************************************************
@@ -26,8 +26,6 @@
 using cmsis::OsInterface;
 using lwip::UdpRawInterface;
 
-
-/************************** udp_driver **************************/
 namespace udp {
 
 // Constants
@@ -40,69 +38,75 @@ constexpr TickType_t SEMAPHORE_WAIT_NUM_TICKS = pdMS_TO_TICKS(SEMAPHORE_WAIT_NUM
 class UdpDriver {
 public:
     UdpDriver();
-    UdpDriver(const ip_addr_t ipaddrIn,
-              const ip_addr_t ipaddrPcIn,
-              const u16_t portIn,
-              const u16_t portPcIn,
-              const UdpRawInterface *udpInterfaceIn,
-              const OsInterface *osInterfaceIn);
+    UdpDriver(const ip_addr_t m_ip_addr_src,
+              const ip_addr_t m_ip_addr_dest,
+              const u16_t m_port_src,
+              const u16_t m_port_dest,
+              const UdpRawInterface *m_udp_if,
+              const OsInterface *m_os_if);
     ~UdpDriver();
 
     /* User-facing - typically call directly. */
     bool initialize();
-    bool setupReceive(udp_recv_fn recvCallback);
-    bool receive(uint8_t *rxArrayOut, const size_t numBytes);
-    bool transmit(const uint8_t *txArrayIn, const size_t numBytes);
+    bool setupReceive(udp_recv_fn recv_callback);
+    bool receive(uint8_t *rx_array_out, const size_t num_bytes);
+    bool transmit(const uint8_t *tx_array_in, const size_t num_bytes);
 
     /* Utility - public but typically no need to call directly. */
-    bool bytesToPacket(const uint8_t *byteArrayIn, const size_t numBytes, struct pbuf *pPbuf) const;
-    u16_t packetToBytes(uint8_t *byteArrayOut, const size_t numBytes, struct pbuf *pPbuf) const;
+    bool bytesToPacket(
+            const uint8_t *byte_array_in,
+            const size_t num_bytes,
+            struct pbuf *p_pbuf
+    ) const;
+    u16_t packetToBytes(
+            uint8_t *byte_array_out,
+            const size_t num_bytes,
+            struct pbuf *p_pbuf
+    ) const;
     void signalReceiveCplt();
     void waitReceiveCplt();
-
-    /* Accessors - public but typically no need to call directly. */
-    void setRecvPbuf(struct pbuf *pPbuf);
-
-    const ip_addr_t                     getIpaddr() const;
-    const ip_addr_t                     getIpaddrPc() const;
-    const u16_t                         getPort() const;
-    const u16_t                         getPortPc() const;
-    const UdpRawInterface*  			getUdpInterface() const;
-    const OsInterface*             		getOsInterface() const;
-    struct udp_pcb*                     getPcb() const;
-    struct pbuf*                        getRecvPbuf() const;
-
     void forgetPcb();
     void forgetRecvPbuf();
 
+    /* Accessors - public but typically no need to call directly. */
+    void setRecvPbuf(struct pbuf *p_pbuf);
+    const ip_addr_t getIpAddrSrc() const;
+    const ip_addr_t getIpAddrDest() const;
+    const u16_t getPortSrc() const;
+    const u16_t getPortDest() const;
+    const UdpRawInterface* getUdpIf() const;
+    const OsInterface* getOsIf() const;
+    struct udp_pcb* getPcb() const;
+    struct pbuf* getRecvPbuf() const;
+
 private:
     /* UdpDriver configuration. */
-    const ip_addr_t ipaddr      = {0x0};
-    const ip_addr_t ipaddrPc    = {0x0};
-    const u16_t port            = 0;
-    const u16_t portPc          = 0;
+    const ip_addr_t m_ip_addr_src = {0x0};
+    const ip_addr_t m_ip_addr_dest = {0x0};
+    const u16_t m_port_src = 0;
+    const u16_t m_port_dest = 0;
 
     /* External interfaces. */
-    const UdpRawInterface *udpInterface     = nullptr;
-    const OsInterface *osInterface                  = nullptr;
+    const UdpRawInterface *m_udp_if = nullptr;
+    const OsInterface *m_os_if = nullptr;
 
     /* Data modified internally by the Raw API. */
     /* TODO: decide whether NULL or nullptr, since lwIP API will use NULL when setting these. */
-    struct udp_pcb *pcb     = nullptr;
-    struct pbuf *recvPbuf   = nullptr;
+    struct udp_pcb *m_pcb = nullptr;
+    struct pbuf *m_recv_pbuf = nullptr;
 
     /* Synchronization. */
-    mutable osSemaphoreId recvSemaphore; /* TODO: replace with binary semaphore-style task notification. */
-    mutable osStaticSemaphoreDef_t recvSemaphoreControlBlock;
-    mutable osMutexId recvPbufMutex;
-    mutable osStaticMutexDef_t recvPbufMutexControlBlock;
+    mutable osSemaphoreId m_recv_semaphore; /* TODO: replace with binary semaphore-style task notification. */
+    mutable osStaticSemaphoreDef_t m_recv_semaphore_control_block;
+    mutable osMutexId m_recv_pbuf_mutex;
+    mutable osStaticMutexDef_t m_recv_pbuf_mutex_control_block;
 };
 
-} // end namespace udp_driver
+} // end namespace lwip
 
 /**
  * @}
  */
-/* end - Header */
+/* end - HeaderUdpDriver */
 
 #endif /* UDP_DRIVER_H */
diff --git a/Common/hardware/GpioInterfaceImpl.cpp b/Common/hardware/GpioInterfaceImpl.cpp
index ea436048..7bb2e720 100644
--- a/Common/hardware/GpioInterfaceImpl.cpp
+++ b/Common/hardware/GpioInterfaceImpl.cpp
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    GpioInterfaceImpl.cpp
+  * @file
   * @author  Tyler Gamvrelis
   *
   * @defgroup Implementation
diff --git a/Common/hardware/GpioInterfaceImpl.h b/Common/hardware/GpioInterfaceImpl.h
index 783fe7dd..fdb998ca 100644
--- a/Common/hardware/GpioInterfaceImpl.h
+++ b/Common/hardware/GpioInterfaceImpl.h
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    GpioInterfaceImpl.h
+  * @file
   * @author  Tyler Gamvrelis
   *
   * @defgroup Header
diff --git a/Common/hardware/HalI2cInterface.cpp b/Common/hardware/I2CInterfaceImpl.cpp
similarity index 77%
rename from Common/hardware/HalI2cInterface.cpp
rename to Common/hardware/I2CInterfaceImpl.cpp
index 70b828de..5737f761 100644
--- a/Common/hardware/HalI2cInterface.cpp
+++ b/Common/hardware/I2CInterfaceImpl.cpp
@@ -1,10 +1,10 @@
 /**
  *****************************************************************************
- * @file    HalI2CInterface.cpp
+ * @file
  * @author  Hannah
  * @brief   Performs HAL related functions for I2C Interface
  *
- * @defgroup HalI2CInterface
+ * @defgroup I2CInterfaceImpl
  * @ingroup  I2C
  * @brief    HAL related functions for I2C Interface
  * @{
@@ -12,16 +12,16 @@
  */
 
 /********************************* Includes **********************************/
-#include "HalI2CInterface.h"
+#include "I2CInterfaceImpl.h"
 
 
 namespace hal{
 /**************************** HAL I2C Interface ******************************/
 // Public
-HALI2CInterface::HALI2CInterface() {}
-HALI2CInterface::~HALI2CInterface() {}
+I2CInterfaceImpl::I2CInterfaceImpl() {}
+I2CInterfaceImpl::~I2CInterfaceImpl() {}
 
-HAL_StatusTypeDef HALI2CInterface::memWrite(I2C_HandleTypeDef *i2cHandlePtr, uint16_t DevAddress,
+HAL_StatusTypeDef I2CInterfaceImpl::memWrite(I2C_HandleTypeDef *i2cHandlePtr, uint16_t DevAddress,
         uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size,
         uint32_t Timeout) const { //HAL_I2C_Mem_Write
 
@@ -29,21 +29,21 @@ HAL_StatusTypeDef HALI2CInterface::memWrite(I2C_HandleTypeDef *i2cHandlePtr, uin
             pData, Size, Timeout);
 }
 
-HAL_StatusTypeDef HALI2CInterface::memRead(I2C_HandleTypeDef *i2cHandlePtr, uint16_t DevAddress,
+HAL_StatusTypeDef I2CInterfaceImpl::memRead(I2C_HandleTypeDef *i2cHandlePtr, uint16_t DevAddress,
         uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size,
         uint32_t Timeout) const { //HAL_I2C_Mem_Read
     return HAL_I2C_Mem_Read(i2cHandlePtr, DevAddress, MemAddress, MemAddSize,
             pData, Size, Timeout);
 }
 
-HAL_StatusTypeDef HALI2CInterface::memWriteIT(I2C_HandleTypeDef *i2cHandlePtr, uint16_t DevAddress,
+HAL_StatusTypeDef I2CInterfaceImpl::memWriteIT(I2C_HandleTypeDef *i2cHandlePtr, uint16_t DevAddress,
         uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData,
         uint16_t Size) const { //HAL_I2C_Mem_Write_IT
     return HAL_I2C_Mem_Write_IT(i2cHandlePtr, DevAddress, MemAddress,
             MemAddSize, pData, Size);
 }
 
-HAL_StatusTypeDef HALI2CInterface::memReadIT(I2C_HandleTypeDef *i2cHandlePtr, uint16_t DevAddress,
+HAL_StatusTypeDef I2CInterfaceImpl::memReadIT(I2C_HandleTypeDef *i2cHandlePtr, uint16_t DevAddress,
         uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData,
         uint16_t Size) const { //HAL_I2C_Mem_Read_IT
     return HAL_I2C_Mem_Read_IT(i2cHandlePtr, DevAddress, MemAddress, MemAddSize,
@@ -56,5 +56,5 @@ HAL_StatusTypeDef HALI2CInterface::memReadIT(I2C_HandleTypeDef *i2cHandlePtr, ui
 /**
  * @}
  */
-/* end - HalI2CInterface */
+/* end - I2CInterfaceImpl */
 
diff --git a/Common/hardware/HalI2CInterface.h b/Common/hardware/I2CInterfaceImpl.h
similarity index 81%
rename from Common/hardware/HalI2CInterface.h
rename to Common/hardware/I2CInterfaceImpl.h
index d807aa3a..dda87cb4 100644
--- a/Common/hardware/HalI2CInterface.h
+++ b/Common/hardware/I2CInterfaceImpl.h
@@ -1,17 +1,17 @@
 /**
  *****************************************************************************
- * @file    HalI2CInterface.h
+ * @file
  * @author  Hannah L
- * @brief   Defines the HALI2CInterface class, which calls HAL functions related to I2C
+ * @brief   Defines the I2CInterfaceImpl class, which calls HAL functions related to I2C
  *
- * @defgroup HalI2CInterface
+ * @defgroup I2CInterfaceImpl
  * @ingroup  I2C
  * @{
  *****************************************************************************
  */
 
-#ifndef COMMON_HALI2CINTERFACE_H_
-#define COMMON_HALI2CINTERFACE_H_
+#ifndef COMMON_I2CINTERFACEIMPL_H_
+#define COMMON_I2CINTERFACEIMPL_H_
 
 /********************************* Includes **********************************/
 
@@ -24,10 +24,10 @@ namespace hal{
  * @class Concrete HAL implementation of the abstract I2CInterface class, to be
  *        used in production builds
  */
-class HALI2CInterface: public I2CInterface {
+class I2CInterfaceImpl: public I2CInterface {
 public:
-    HALI2CInterface();
-    ~HALI2CInterface();
+    I2CInterfaceImpl();
+    ~I2CInterfaceImpl();
     HAL_StatusTypeDef memWrite(I2C_HandleTypeDef *i2cHandlePtr, uint16_t DevAddress, uint16_t MemAddress,
             uint16_t MemAddSize, uint8_t *pData, uint16_t Size,
             uint32_t Timeout) const; //HAL_I2C_Mem_Write
@@ -47,4 +47,4 @@ class HALI2CInterface: public I2CInterface {
  */
 /* end - Header */
 
-#endif /* COMMON_HALI2CINTERFACE_H_ */
+#endif /* COMMON_I2CINTERFACEIMPL_H_ */
diff --git a/Common/hardware/OsInterfaceImpl.cpp b/Common/hardware/OsInterfaceImpl.cpp
index 64caed6a..5a7d9c09 100644
--- a/Common/hardware/OsInterfaceImpl.cpp
+++ b/Common/hardware/OsInterfaceImpl.cpp
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    OsInterfaceImpl.cpp
+  * @file
   * @author  Izaak Niksan
   * @brief   Implements the FreeRTOS wrapper class, which makes direct calls
   *          to the true functions defined in the FreeRTOS library
diff --git a/Common/hardware/OsInterfaceImpl.h b/Common/hardware/OsInterfaceImpl.h
index d1efcf74..c51512d6 100644
--- a/Common/hardware/OsInterfaceImpl.h
+++ b/Common/hardware/OsInterfaceImpl.h
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    OsInterfaceImpl.h
+  * @file
   * @author  Izaak Niksan
   * @brief   An interface to various production FreeRTOS functions, which serves
   *          as a wrapper to the true functionality of the OS.
@@ -76,7 +76,7 @@ class OsInterfaceImpl : public OsInterface{
     osMutexId OS_osMutexCreate (
         const osMutexDef_t *mutex_def
     ) const override final;
-    
+
     osSemaphoreId OS_osSemaphoreCreate (
         const osSemaphoreDef_t *semaphore_def,
         int32_t count
diff --git a/Common/hardware/HalUartInterface.cpp b/Common/hardware/UartInterfaceImpl.cpp
similarity index 89%
rename from Common/hardware/HalUartInterface.cpp
rename to Common/hardware/UartInterfaceImpl.cpp
index 93e06b65..958123c1 100644
--- a/Common/hardware/HalUartInterface.cpp
+++ b/Common/hardware/UartInterfaceImpl.cpp
@@ -1,9 +1,9 @@
 /**
   *****************************************************************************
-  * @file    HalUartInterface.cpp
+  * @file
   * @author  Tyler Gamvrelis
   *
-  * @defgroup HalUartInterface
+  * @defgroup UartInterfaceImpl
   * @brief    Implements UartInterface using HAL functions
   * @{
   *****************************************************************************
@@ -13,7 +13,7 @@
 
 
 /********************************* Includes **********************************/
-#include "HalUartInterface.h"
+#include "UartInterfaceImpl.h"
 
 
 
@@ -112,14 +112,14 @@ HAL_StatusTypeDef HAL_UART_AbortReceive(UART_HandleTypeDef *huart)
 
 
 namespace hal{
-/***************************** HalUartInterface ******************************/
+/***************************** UartInterfaceImpl ******************************/
 // Public
 // ----------------------------------------------------------------------------
-HalUartInterface::HalUartInterface(){;}
+UartInterfaceImpl::UartInterfaceImpl(){;}
 
-HalUartInterface::~HalUartInterface(){;}
+UartInterfaceImpl::~UartInterfaceImpl(){;}
 
-HAL_StatusTypeDef HalUartInterface::transmitPoll(
+HAL_StatusTypeDef UartInterfaceImpl::transmitPoll(
     const UART_HandleTypeDef* uartHandlePtr,
     uint8_t* arrTransmit,
     size_t numBytes,
@@ -136,7 +136,7 @@ HAL_StatusTypeDef HalUartInterface::transmitPoll(
     return status;
 }
 
-HAL_StatusTypeDef HalUartInterface::receivePoll(
+HAL_StatusTypeDef UartInterfaceImpl::receivePoll(
     const UART_HandleTypeDef* uartHandlePtr,
     uint8_t* arrReceive,
     size_t numBytes,
@@ -154,7 +154,7 @@ HAL_StatusTypeDef HalUartInterface::receivePoll(
 }
 
 #if defined(THREADED)
-HAL_StatusTypeDef HalUartInterface::transmitIT(
+HAL_StatusTypeDef UartInterfaceImpl::transmitIT(
     const UART_HandleTypeDef* uartHandlePtr,
     uint8_t* arrTransmit,
     size_t numBytes
@@ -169,7 +169,7 @@ HAL_StatusTypeDef HalUartInterface::transmitIT(
     return status;
 }
 
-HAL_StatusTypeDef HalUartInterface::receiveIT(
+HAL_StatusTypeDef UartInterfaceImpl::receiveIT(
     const UART_HandleTypeDef* uartHandlePtr,
     uint8_t* arrReceive,
     size_t numBytes
@@ -184,7 +184,7 @@ HAL_StatusTypeDef HalUartInterface::receiveIT(
     return status;
 }
 
-HAL_StatusTypeDef HalUartInterface::transmitDMA(
+HAL_StatusTypeDef UartInterfaceImpl::transmitDMA(
     const UART_HandleTypeDef* uartHandlePtr,
     uint8_t* arrTransmit,
     size_t numBytes
@@ -199,7 +199,7 @@ HAL_StatusTypeDef HalUartInterface::transmitDMA(
     return status;
 }
 
-HAL_StatusTypeDef HalUartInterface::receiveDMA(
+HAL_StatusTypeDef UartInterfaceImpl::receiveDMA(
     const UART_HandleTypeDef* uartHandlePtr,
     uint8_t* arrReceive,
     size_t numBytes
@@ -214,7 +214,7 @@ HAL_StatusTypeDef HalUartInterface::receiveDMA(
     return status;
 }
 
-__IO uint32_t HalUartInterface::getDmaRxInstanceNDTR(
+__IO uint32_t UartInterfaceImpl::getDmaRxInstanceNDTR(
     const UART_HandleTypeDef* uartHandlePtr
 ) const
 {
@@ -223,7 +223,7 @@ __IO uint32_t HalUartInterface::getDmaRxInstanceNDTR(
 
 #endif
 
-void HalUartInterface::abortTransmit(
+void UartInterfaceImpl::abortTransmit(
     const UART_HandleTypeDef* uartHandlePtr
 ) const
 {
@@ -232,7 +232,7 @@ void HalUartInterface::abortTransmit(
     );
 }
 
-void HalUartInterface::abortReceive(
+void UartInterfaceImpl::abortReceive(
     const UART_HandleTypeDef* uartHandlePtr
 ) const
 {
@@ -241,7 +241,7 @@ void HalUartInterface::abortReceive(
     );
 }
 
-__IO uint32_t HalUartInterface::getErrorCode(
+__IO uint32_t UartInterfaceImpl::getErrorCode(
     const UART_HandleTypeDef* uartHandlePtr
 ) const
 {
@@ -253,4 +253,4 @@ __IO uint32_t HalUartInterface::getErrorCode(
 /**
  * @}
  */
-/* end - HalUartInterface */
+/* end - UartInterfaceImpl */
diff --git a/Common/hardware/HalUartInterface.h b/Common/hardware/UartInterfaceImpl.h
similarity index 88%
rename from Common/hardware/HalUartInterface.h
rename to Common/hardware/UartInterfaceImpl.h
index 822b9143..f70c3c0d 100644
--- a/Common/hardware/HalUartInterface.h
+++ b/Common/hardware/UartInterfaceImpl.h
@@ -1,9 +1,9 @@
 /**
   *****************************************************************************
-  * @file    HalUartInterface.h
+  * @file
   * @author  Tyler Gamvrelis
   *
-  * @defgroup   HalUartInterface
+  * @defgroup   UartInterfaceImpl
   * @addtogroup UART
   * @{
   *****************************************************************************
@@ -12,8 +12,8 @@
 
 
 
-#ifndef HAL_UART_INTERFACE_H
-#define HAL_UART_INTERFACE_H
+#ifndef UART_INTERFACE_IMPL_H
+#define UART_INTERFACE_IMPL_H
 
 
 
@@ -24,7 +24,7 @@
 
 
 
-/****************************** HalUartInterface *****************************/
+/****************************** UartInterfaceImpl *****************************/
 namespace hal{
 // Classes and structs
 // ----------------------------------------------------------------------------
@@ -32,10 +32,10 @@ namespace hal{
  * @class Concrete implementation of the abstract UartInterface class, to be
  *        used in production builds
  */
-class HalUartInterface : public UartInterface{
+class UartInterfaceImpl : public UartInterface{
 public:
-    HalUartInterface();
-    ~HalUartInterface();
+    UartInterfaceImpl();
+    ~UartInterfaceImpl();
 
     HAL_StatusTypeDef transmitPoll(
         const UART_HandleTypeDef* uartHandlePtr,
diff --git a/Common/hardware/UdpRawInterfaceImpl.cpp b/Common/hardware/UdpRawInterfaceImpl.cpp
index 157b82d7..13d965a2 100644
--- a/Common/hardware/UdpRawInterfaceImpl.cpp
+++ b/Common/hardware/UdpRawInterfaceImpl.cpp
@@ -11,52 +11,88 @@
 
 #include "UdpRawInterfaceImpl.h"
 
-namespace lwip {
+namespace lwip
+{
 
-struct udp_pcb* UdpRawInterfaceImpl::udpNew() const {
+struct udp_pcb* UdpRawInterfaceImpl::udpNew() const
+{
     return udp_new();
 }
 
-err_t UdpRawInterfaceImpl::udpBind(struct udp_pcb *pcb, const ip_addr_t *ipaddr,
-        u16_t port) const {
+err_t UdpRawInterfaceImpl::udpBind(
+    struct udp_pcb *pcb,
+    const ip_addr_t *ipaddr,
+    u16_t port
+) const
+{
     return udp_bind(pcb, ipaddr, port);
 }
 
-void UdpRawInterfaceImpl::udpRecv(struct udp_pcb *pcb, udp_recv_fn recv,
-        void *recv_arg) const {
+void UdpRawInterfaceImpl::udpRecv(
+    struct udp_pcb *pcb,
+    udp_recv_fn recv,
+    void *recv_arg
+) const
+{
     udp_recv(pcb, recv, recv_arg);
 }
 
-void UdpRawInterfaceImpl::udpRemove(struct udp_pcb *pcb) const {
+void UdpRawInterfaceImpl::udpRemove(struct udp_pcb *pcb) const
+{
     udp_remove(pcb);
 }
 
-err_t UdpRawInterfaceImpl::udpConnect(struct udp_pcb *pcb, const ip_addr_t *ipaddr,
-        u16_t port) const {
+err_t UdpRawInterfaceImpl::udpConnect(
+    struct udp_pcb *pcb,
+    const ip_addr_t *ipaddr,
+    u16_t port
+) const
+{
     return udp_connect(pcb, ipaddr, port);
 }
 
-err_t UdpRawInterfaceImpl::udpSend(struct udp_pcb *pcb, struct pbuf *p) const {
+err_t UdpRawInterfaceImpl::udpSend(
+    struct udp_pcb *pcb,
+    struct pbuf *p
+) const
+{
     return udp_send(pcb, p);
 }
 
-void UdpRawInterfaceImpl::udpDisconnect(struct udp_pcb *pcb) const {
+void UdpRawInterfaceImpl::udpDisconnect(struct udp_pcb *pcb) const
+{
     udp_disconnect(pcb);
 }
 
-u8_t UdpRawInterfaceImpl::pbufFree(struct pbuf *p) const {
+u8_t UdpRawInterfaceImpl::pbufFree(struct pbuf *p) const
+{
     return pbuf_free(p);
 }
 
-struct pbuf* UdpRawInterfaceImpl::pbufAlloc(pbuf_layer layer, u16_t length, pbuf_type type) const {
+struct pbuf* UdpRawInterfaceImpl::pbufAlloc(
+        pbuf_layer layer,
+        u16_t length,
+        pbuf_type type
+) const
+{
     return pbuf_alloc(layer, length, type);
 }
 
-u16_t UdpRawInterfaceImpl::pbufCopyPartial(const struct pbuf *buf, void *dataptr, u16_t len, u16_t offset) const {
+u16_t UdpRawInterfaceImpl::pbufCopyPartial(
+        const struct pbuf *buf,
+        void *dataptr, u16_t len,
+        u16_t offset
+) const
+{
     return pbuf_copy_partial(buf, dataptr, len, offset);
 }
 
-err_t UdpRawInterfaceImpl::pbufTake(struct pbuf *buf, const void *dataptr, u16_t len) const {
+err_t UdpRawInterfaceImpl::pbufTake(
+        struct pbuf *buf,
+        const void *dataptr,
+        u16_t len
+) const
+{
     return pbuf_take(buf, dataptr, len);
 }
 
diff --git a/Common/interface/GpioInterface.h b/Common/interface/GpioInterface.h
index 163f95c7..9aaa2edf 100644
--- a/Common/interface/GpioInterface.h
+++ b/Common/interface/GpioInterface.h
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    GpioInterface.h
+  * @file
   * @author  Tyler Gamvrelis
   * @brief   Abstract interface for GPIO functions
   *
diff --git a/Common/interface/I2CInterface.h b/Common/interface/I2CInterface.h
index ac51e1a7..32a1c663 100644
--- a/Common/interface/I2CInterface.h
+++ b/Common/interface/I2CInterface.h
@@ -1,6 +1,6 @@
 /**
  *****************************************************************************
- * @file    I2CInterface.h
+ * @file
  * @author  Hannah L
  *
  * @defgroup I2CInterface
@@ -9,8 +9,8 @@
  *****************************************************************************
  */
 
-#ifndef COMMON_INCLUDE_I2CINTERFACE_H_
-#define COMMON_INCLUDE_I2CINTERFACE_H_
+#ifndef COMMON_INCLUDE_I2CINTERFACE_H
+#define COMMON_INCLUDE_I2CINTERFACE_H
 
 /********************************* Includes **********************************/
 #include <stdint.h>
@@ -101,4 +101,4 @@ class I2CInterface {
 // ----------------------------------------------------------------------------
 }// end namespace hal
 
-#endif /* COMMON_INCLUDE_I2CINTERFACE_H_ */
+#endif /* COMMON_INCLUDE_I2CINTERFACE_H */
diff --git a/Common/interface/OsInterface.h b/Common/interface/OsInterface.h
index cceb1df0..4a090b56 100644
--- a/Common/interface/OsInterface.h
+++ b/Common/interface/OsInterface.h
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    OsInterface.h
+  * @file
   * @author  Izaak Niksan
   * @brief   Defines an abstract interface of FreeRTOS functions.
   *
diff --git a/Common/interface/UartInterface.h b/Common/interface/UartInterface.h
index f939cd09..ecd24062 100644
--- a/Common/interface/UartInterface.h
+++ b/Common/interface/UartInterface.h
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    UartInterface.h
+  * @file
   * @author  Tyler Gamvrelis
   *
   * @defgroup UartInterface
diff --git a/Common/interface/UdpRawInterface.h b/Common/interface/UdpRawInterface.h
index 7fd08d44..e65c7b28 100644
--- a/Common/interface/UdpRawInterface.h
+++ b/Common/interface/UdpRawInterface.h
@@ -4,29 +4,26 @@
   * @author  Robert Fairley
   * @brief   Wrapper interface for UDP function calls from the lwIP Raw API.
   *
-  * @defgroup Header
+  * @defgroup HeaderUdpRawInterface
   * @defgroup lwip
   * @{
   *****************************************************************************
   */
 
-/* NB: defgroup used above since there is no .cpp file associated with this class. */
-
 #ifndef UDP_RAW_INTERFACE_H
 #define UDP_RAW_INTERFACE_H
 
 #include <stdint.h>
 
-#include <lwip/netif.h>
-#include <lwip/udp.h>
-#include <lwip/arch.h>
+#include "lwip/netif.h"
+#include "lwip/udp.h"
+#include "lwip/arch.h"
 
 namespace lwip {
 
 class UdpRawInterface {
 public:
-    virtual ~UdpRawInterface() {
-    }
+    virtual ~UdpRawInterface() {}
     virtual struct udp_pcb *udpNew() const = 0;
     virtual err_t udpBind(struct udp_pcb *pcb, const ip_addr_t *ipaddr,
             u16_t port) const = 0;
@@ -48,6 +45,6 @@ class UdpRawInterface {
 /**
  * @}
  */
-/* end - Header */
+/* end - HeaderUdpRawInterface */
 
 #endif /* UDP_INTERFACE_H */
diff --git a/Common/mock/MockGpioInterface.h b/Common/mock/GpioInterfaceMock.h
similarity index 82%
rename from Common/mock/MockGpioInterface.h
rename to Common/mock/GpioInterfaceMock.h
index 8f5878aa..f5285611 100644
--- a/Common/mock/MockGpioInterface.h
+++ b/Common/mock/GpioInterfaceMock.h
@@ -1,10 +1,10 @@
 /**
   *****************************************************************************
-  * @file    MockGpioInterface.h
+  * @file
   * @author  Tyler Gamvrelis
   * @brief   Mocks GPIO functions
   *
-  * @defgroup MockGpioInterface
+  * @defgroup GpioInterfaceMock
   * @ingroup  Mocks
   * @{
   *****************************************************************************
@@ -13,8 +13,8 @@
 
 
 
-#ifndef MOCK_GPIO_INTERFACE_H
-#define MOCK_GPIO_INTERFACE_H
+#ifndef GPIO_INTERFACE_MOCK_H
+#define GPIO_INTERFACE_MOCK_H
 
 
 
@@ -34,7 +34,7 @@ namespace hal {
 namespace gmock {
 // Classes and structs
 // ----------------------------------------------------------------------------
-class MockGpioInterface : public GpioInterface{
+class GpioInterfaceMock : public GpioInterface{
 public:
     MOCK_CONST_METHOD2(
         readPin,
@@ -71,6 +71,6 @@ class MockGpioInterface : public GpioInterface{
 /**
  * @}
  */
-/* end - MockGpioInterface */
+/* end - GpioInterfaceMock */
 
-#endif /* MOCK_GPIO_INTERFACE_H */
+#endif /* GPIO_INTERFACE_MOCK_H */
diff --git a/Common/mock/MockI2CInterface.h b/Common/mock/I2CInterfaceMock.h
similarity index 84%
rename from Common/mock/MockI2CInterface.h
rename to Common/mock/I2CInterfaceMock.h
index b3839c5e..47174bc8 100644
--- a/Common/mock/MockI2CInterface.h
+++ b/Common/mock/I2CInterfaceMock.h
@@ -1,17 +1,17 @@
 /**
  *****************************************************************************
- * @file    MockI2CInterface.h
+ * @file
  * @author  Hannah L
  * @brief   Defines the MockI2CInterface class using gmock
  *
- * @defgroup MockI2CInterface
+ * @defgroup I2CInterfaceMock
  * @ingroup  I2C
  * @{
  *****************************************************************************
  */
 
-#ifndef COMMON_INCLUDE_MOCKI2CINTERFACE_H_
-#define COMMON_INCLUDE_MOCKI2CINTERFACE_H_
+#ifndef COMMON_INCLUDE_I2CINTERFACEMOCK_H_
+#define COMMON_INCLUDE_I2CINTERFACEMOCK_H_
 
 /********************************* Includes **********************************/
 #include "I2CInterface.h"
@@ -27,7 +27,7 @@ namespace gmock {
 /**
  * @class MockI2CInterface Emulates I2CInterface for unit testing purposes
  */
-class MockI2CInterface: public I2CInterface{
+class I2CInterfaceMock: public I2CInterface{
 public:
 	MOCK_CONST_METHOD1(assignHandle, void(I2C_HandleTypeDef *hi2c));
 	MOCK_CONST_METHOD6(memWrite , HAL_StatusTypeDef(uint16_t DevAddress, uint16_t MemAddress,
@@ -45,4 +45,9 @@ class MockI2CInterface: public I2CInterface{
 } // end namespace gmock
 } // end namespace hal
 
-#endif /* COMMON_INCLUDE_MOCKI2CINTERFACE_H_ */
+/**
+ * @}
+ */
+/* end I2CInterfaceMock */
+
+#endif /* COMMON_INCLUDE_I2CINTERFACEMOCK_H_ */
diff --git a/Common/mock/MockMotor.h b/Common/mock/MotorMock.h
similarity index 82%
rename from Common/mock/MockMotor.h
rename to Common/mock/MotorMock.h
index 0860fc0f..e88cf3b0 100644
--- a/Common/mock/MockMotor.h
+++ b/Common/mock/MotorMock.h
@@ -1,11 +1,11 @@
 /**
   *****************************************************************************
-  * @file    MockMotor.h
+  * @file
   * @author  Tyler Gamvrelis
   * @brief   Since this is an abstract class, it needs to be mocked to test the
   *          concrete methods
   *
-  * @defgroup MockMotor
+  * @defgroup MotorMock
   * @ingroup Mocks
   * @{
   *****************************************************************************
@@ -14,8 +14,8 @@
 
 
 
-#ifndef MOCK_MOTOR_H
-#define MOCK_MOTOR_H
+#ifndef MOTOR_MOCK_H
+#define MOTOR_MOCK_H
 
 
 
@@ -32,18 +32,18 @@ using dynamixel::ResolutionDivider;
 
 
 
-/****************************** MockMotorInterface ******************************/
+/****************************** MotorMockInterface ******************************/
 namespace dynamixel {
 namespace gmock {
 // Classes and structs
 // ----------------------------------------------------------------------------
 /**
- * @class MockMotor Mocks the abstract methods of Motor so that it can be
+ * @class MotorMock Mocks the abstract methods of Motor so that it can be
  *        unit tested
  */
-class MockMotor : public Motor {
+class MotorMock : public Motor {
 public:
-    MockMotor(
+    MotorMock(
         uint8_t id,
         DaisyChain* daisyChain,
         ResolutionDivider divider
@@ -84,6 +84,6 @@ class MockMotor : public Motor {
 /**
  * @}
  */
-/* end MockMotor */
+/* end MotorMock */
 
 #endif /* MOCK_MOTOR_H */
diff --git a/Common/mock/MockOsInterface.h b/Common/mock/OsInterfaceMock.h
similarity index 88%
rename from Common/mock/MockOsInterface.h
rename to Common/mock/OsInterfaceMock.h
index 0e7ebf73..72fb8ec1 100644
--- a/Common/mock/MockOsInterface.h
+++ b/Common/mock/OsInterfaceMock.h
@@ -1,10 +1,10 @@
 /**
   *****************************************************************************
-  * @file    MockOsInterface.h
+  * @file
   * @author  Izaak Niksan
   * @author  Tyler Gamvrelis
   *
-  * @defgroup MockOsInterface
+  * @defgroup OsInterfaceMock
   * @ingroup Mocks
   * @{
   *****************************************************************************
@@ -13,8 +13,8 @@
 
 
 
-#ifndef MOCK_OS_INTERFACE_H
-#define MOCK_OS_INTERFACE_H
+#ifndef OS_INTERFACE_MOCK_H
+#define OS_INTERFACE_MOCK_H
 
 
 
@@ -29,16 +29,16 @@ using cmsis::OsInterface;
 
 
 
-/****************************** MockOsInterface ******************************/
+/****************************** OsInterfaceMock ******************************/
 namespace cmsis {
 namespace gmock {
 // Classes and structs
 // ----------------------------------------------------------------------------
 /**
- * @class MockOsInterface Implements OsInterface for unit testing
+ * @class OsInterfaceMock Implements OsInterface for unit testing
  *        purposes
  */
-class MockOsInterface : public OsInterface {
+class OsInterfaceMock : public OsInterface {
 public:
     MOCK_CONST_METHOD4(
         OS_xTaskNotifyWait,
@@ -153,6 +153,6 @@ class MockOsInterface : public OsInterface {
 /**
  * @}
  */
-/* end - MockOsInterface */
+/* end - OsInterfaceMock */
 
-#endif /* MOCK_OS_INTERFACE_H */
+#endif /* OS_INTERFACE_MOCK_H */
diff --git a/Common/mock/MockUartInterface.h b/Common/mock/UartInterfaceMock.h
similarity index 87%
rename from Common/mock/MockUartInterface.h
rename to Common/mock/UartInterfaceMock.h
index 0049d10b..ed68bf9d 100644
--- a/Common/mock/MockUartInterface.h
+++ b/Common/mock/UartInterfaceMock.h
@@ -1,9 +1,9 @@
 /**
   *****************************************************************************
-  * @file    MockUartInterface.h
+  * @file
   * @author  Tyler Gamvrelis
   *
-  * @defgroup MockUartInterface
+  * @defgroup UartInterfaceMock
   * @ingroup Mocks
   * @{
   *****************************************************************************
@@ -28,15 +28,15 @@ using hal::UartInterface;
 
 
 
-/***************************** MockUartInterface *****************************/
+/***************************** UartInterfaceMock *****************************/
 namespace hal {
 namespace gmock {
 // Classes and structs
 // ----------------------------------------------------------------------------
 /**
- * @class MockUartInterface Implements UartInterface for unit testing purposes
+ * @class UartInterfaceMock Implements UartInterface for unit testing purposes
  */
-class MockUartInterface : public UartInterface{
+class UartInterfaceMock : public UartInterface{
 public:
     MOCK_CONST_METHOD4(
         transmitPoll,
@@ -94,6 +94,6 @@ class MockUartInterface : public UartInterface{
 /**
  * @}
  */
-/* end - MockUartInterface */
+/* end - UartInterfaceMock */
 
 #endif /* MOCK_UART_INTERFACE_H */
diff --git a/Common/test/AX12A_test.cpp b/Common/test/AX12ATest.cpp
similarity index 92%
rename from Common/test/AX12A_test.cpp
rename to Common/test/AX12ATest.cpp
index fc517fbc..622fda94 100644
--- a/Common/test/AX12A_test.cpp
+++ b/Common/test/AX12ATest.cpp
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    AX12A_test.cpp
+  * @file
   * @author  Tyler Gamvrelis
   *
   * @defgroup AX12A_Test
@@ -16,19 +16,19 @@
 /********************************* Includes **********************************/
 #include "Dynamixel/AX12A.h"
 
-#include "MockUartInterface.h"
-#include "MockOsInterface.h"
-#include "MockGpioInterface.h"
-#include "UartDriver/UartDriver.h"
-
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
 
+#include "GpioInterfaceMock.h"
+#include "OsInterfaceMock.h"
+#include "UartDriver/UartDriver.h"
+#include "UartInterfaceMock.h"
+
 using ::testing::_;
 
-using cmsis::gmock::MockOsInterface;
-using hal::gmock::MockUartInterface;
-using hal::gmock::MockGpioInterface;
+using cmsis::gmock::OsInterfaceMock;
+using hal::gmock::UartInterfaceMock;
+using hal::gmock::GpioInterfaceMock;
 
 using dynamixel::DaisyChainParams;
 using dynamixel::DaisyChain;
@@ -66,9 +66,9 @@ class AX12ATest : public ::testing::Test {
     }
 
     UartDriver *UARTxDriver = nullptr;
-    MockUartInterface uart;
-    MockOsInterface os;
-    MockGpioInterface gpio;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
+    GpioInterfaceMock gpio;
     DaisyChainParams p;
 };
 
diff --git a/Common/test/Buffer_test.cpp b/Common/test/BufferTest.cpp
similarity index 97%
rename from Common/test/Buffer_test.cpp
rename to Common/test/BufferTest.cpp
index cfd5b430..30065dd1 100644
--- a/Common/test/Buffer_test.cpp
+++ b/Common/test/BufferTest.cpp
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    Buffer_test.cpp
+  * @file
   * @author  Gokul Dharan
   *
   * @defgroup Buffer_test
@@ -16,11 +16,11 @@
 /********************************* Includes **********************************/
 #include "uart_handler.h"
 #include "PeripheralInstances.h"
-#include "MockOsInterface.h"
 #include "BufferBase.h"
 
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
+#include "OsInterfaceMock.h"
 
 
 using ::testing::DoAll;
@@ -28,7 +28,7 @@ using ::testing::SetArgPointee;
 using ::testing::Return;
 using ::testing::_;
 
-using cmsis::gmock::MockOsInterface;
+using cmsis::gmock::OsInterfaceMock;
 using namespace buffer;
 
 
@@ -43,7 +43,7 @@ osMutexId mutex = nullptr;
 // ----------------------------------------------------------------------------
 class BufferTest : public ::testing::Test {
 protected:
-    MockOsInterface os;
+    OsInterfaceMock os;
 };
 
 // Functions
diff --git a/Common/test/CircularDmaBuffer_test.cpp b/Common/test/CircularDmaBufferTest.cpp
similarity index 98%
rename from Common/test/CircularDmaBuffer_test.cpp
rename to Common/test/CircularDmaBufferTest.cpp
index 0298f469..fa5c1d9a 100644
--- a/Common/test/CircularDmaBuffer_test.cpp
+++ b/Common/test/CircularDmaBufferTest.cpp
@@ -1,6 +1,6 @@
 /**
  *****************************************************************************
- * @file   CircularDmaBuffer_test.cpp
+ * @file
  * @author Robert
  *
  * @defgroup circular_dma_buffer_test
@@ -13,13 +13,12 @@
 /********************************* Includes **********************************/
 #include "CircularDmaBuffer/CircularDmaBuffer.h"
 
-#include "MockUartInterface.h"
-
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
+#include "UartInterfaceMock.h"
 
 using uart::CircularDmaBuffer;
-using hal::gmock::MockUartInterface;
+using hal::gmock::UartInterfaceMock;
 
 using ::testing::Return;
 using ::testing::_;
@@ -58,7 +57,7 @@ class CircularDmaBufferTest : public ::testing::Test {
     /* buff_ is an automatically initialized CircularDmaBuffer object, to avoid
      * repeating code where only some default initialization is needed. */
     CircularDmaBuffer* buff_ = nullptr;
-    MockUartInterface uart_if;
+    UartInterfaceMock uart_if;
 };
 
 // Functions
diff --git a/Common/test/DaisyChain_test.cpp b/Common/test/DaisyChainTest.cpp
similarity index 90%
rename from Common/test/DaisyChain_test.cpp
rename to Common/test/DaisyChainTest.cpp
index 8f41ada9..1601403c 100644
--- a/Common/test/DaisyChain_test.cpp
+++ b/Common/test/DaisyChainTest.cpp
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    DaisyChain_test.cpp
+  * @file
   * @author  Tyler Gamvrelis
   *
   * @defgroup DaisyChain_Test
@@ -16,14 +16,12 @@
 /********************************* Includes **********************************/
 #include "DaisyChain/DaisyChain.h"
 
-#include "DaisyChain/DaisyChain.h"
-#include "MockUartInterface.h"
-#include "MockOsInterface.h"
-#include "MockGpioInterface.h"
-
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
 
+#include "GpioInterfaceMock.h"
+#include "OsInterfaceMock.h"
+#include "UartInterfaceMock.h"
 
 using ::testing::DoAll;
 using ::testing::Return;
@@ -31,9 +29,9 @@ using ::testing::_;
 
 using uart::UartDriver;
 using hal::IO_Type;
-using cmsis::gmock::MockOsInterface;
-using hal::gmock::MockUartInterface;
-using hal::gmock::MockGpioInterface;
+using cmsis::gmock::OsInterfaceMock;
+using hal::gmock::UartInterfaceMock;
+using hal::gmock::GpioInterfaceMock;
 
 using dynamixel::DaisyChainParams;
 using dynamixel::DaisyChain;
@@ -69,9 +67,9 @@ class DaisyChainShould : public ::testing::Test {
     }
 
     UartDriver *UARTxDriver = nullptr;
-    MockUartInterface uart;
-    MockOsInterface os;
-    MockGpioInterface gpio;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
+    GpioInterfaceMock gpio;
     DaisyChainParams p;
 };
 
diff --git a/Common/test/MX28_test.cpp b/Common/test/MX28Test.cpp
similarity index 90%
rename from Common/test/MX28_test.cpp
rename to Common/test/MX28Test.cpp
index 36fa3e9e..9b93f96f 100644
--- a/Common/test/MX28_test.cpp
+++ b/Common/test/MX28Test.cpp
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    MX28_test.cpp
+  * @file
   * @author  Tyler Gamvrelis
   *
   * @defgroup MX28_Test
@@ -16,22 +16,22 @@
 /********************************* Includes **********************************/
 #include "Dynamixel/MX28.h"
 
-#include "MockUartInterface.h"
-#include "MockOsInterface.h"
-#include "MockGpioInterface.h"
 #include "UartDriver/UartDriver.h"
 
-
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
 
+#include "GpioInterfaceMock.h"
+#include "OsInterfaceMock.h"
+#include "UartInterfaceMock.h"
+
 using ::testing::_;
 
 using uart::UartDriver;
 
-using cmsis::gmock::MockOsInterface;
-using hal::gmock::MockUartInterface;
-using hal::gmock::MockGpioInterface;
+using cmsis::gmock::OsInterfaceMock;
+using hal::gmock::UartInterfaceMock;
+using hal::gmock::GpioInterfaceMock;
 
 using dynamixel::DaisyChainParams;
 using dynamixel::DaisyChain;
@@ -69,9 +69,9 @@ class MX28Test : public ::testing::Test {
     }
 
     UartDriver *UARTxDriver = nullptr;
-    MockUartInterface uart;
-    MockOsInterface os;
-    MockGpioInterface gpio;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
+    GpioInterfaceMock gpio;
     DaisyChainParams p;
 };
 
diff --git a/Common/test/Motor_test.cpp b/Common/test/MotorTest.cpp
similarity index 77%
rename from Common/test/Motor_test.cpp
rename to Common/test/MotorTest.cpp
index 1d9a57d4..714cbc8e 100644
--- a/Common/test/Motor_test.cpp
+++ b/Common/test/MotorTest.cpp
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    Motor_test.cpp
+  * @file
   * @author  Tyler Gamvrelis
   *
   * @defgroup Motor_Test
@@ -14,15 +14,14 @@
 
 
 /********************************* Includes **********************************/
-#include "MockMotor.h"
-
-#include "MockUartInterface.h"
-#include "MockOsInterface.h"
-#include "MockGpioInterface.h"
-
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
 
+#include "GpioInterfaceMock.h"
+#include "MotorMock.h"
+#include "OsInterfaceMock.h"
+#include "UartInterfaceMock.h"
+
 using ::testing::_;
 using ::testing::Args;
 using ::testing::ElementsAreArray;
@@ -31,10 +30,10 @@ using ::testing::Return;
 
 using uart::UartDriver;
 
-using dynamixel::gmock::MockMotor;
-using cmsis::gmock::MockOsInterface;
-using hal::gmock::MockUartInterface;
-using hal::gmock::MockGpioInterface;
+using dynamixel::gmock::MotorMock;
+using cmsis::gmock::OsInterfaceMock;
+using hal::gmock::UartInterfaceMock;
+using hal::gmock::GpioInterfaceMock;
 
 using dynamixel::Motor;
 using dynamixel::DaisyChainParams;
@@ -76,9 +75,9 @@ class MotorTest : public ::testing::Test {
     }
 
     UartDriver *UARTxDriver = nullptr;
-    MockUartInterface uart;
-    MockOsInterface os;
-    MockGpioInterface gpio;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
+    GpioInterfaceMock gpio;
     DaisyChainParams p;
 };
 
@@ -89,13 +88,13 @@ class MotorTest : public ::testing::Test {
 // ----------------------------------------------------------------------------
 TEST_F(MotorTest, CanBeCreated){
     DaisyChain chain(p);
-    MockMotor m1(1, &chain, ResolutionDivider::AX12A);
-    MockMotor m2(1, &chain, ResolutionDivider::MX28);
+    MotorMock m1(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m2(1, &chain, ResolutionDivider::MX28);
 }
 
 TEST_F(MotorTest, CanResetMotor){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.reset();
 }
@@ -103,22 +102,22 @@ TEST_F(MotorTest, CanResetMotor){
 TEST_F(MotorTest, IdReturnsIdSetAtInitialization){
     DaisyChain chain(p);
 
-    MockMotor m0(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m0(1, &chain, ResolutionDivider::AX12A);
     ASSERT_EQ(m0.id(), 1);
 
-    MockMotor m1(2, &chain, ResolutionDivider::AX12A);
+    MotorMock m1(2, &chain, ResolutionDivider::AX12A);
     ASSERT_EQ(m1.id(), 2);
 
-    MockMotor m2(18, &chain, ResolutionDivider::AX12A);
+    MotorMock m2(18, &chain, ResolutionDivider::AX12A);
     ASSERT_EQ(m2.id(), 18);
 
-    MockMotor m3(42, &chain, ResolutionDivider::AX12A);
+    MotorMock m3(42, &chain, ResolutionDivider::AX12A);
     ASSERT_NE(m3.id(), 0);
 }
 
 TEST_F(MotorTest, setIdBoundsCheckPasses){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setId(10);
 
@@ -128,7 +127,7 @@ TEST_F(MotorTest, setIdBoundsCheckPasses){
 
 TEST_F(MotorTest, setReturnDelayTimeBoundsCheckPasses){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setReturnDelayTime(150);
 
@@ -138,7 +137,7 @@ TEST_F(MotorTest, setReturnDelayTimeBoundsCheckPasses){
 
 TEST_F(MotorTest, setCWAngleLimitBoundsCheckPasses){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setCwAngleLimit(dynamixel::MIN_ANGLE);
 
@@ -148,7 +147,7 @@ TEST_F(MotorTest, setCWAngleLimitBoundsCheckPasses){
 
 TEST_F(MotorTest, setCCWAngleLimitBoundsCheckPasses){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setCcwAngleLimit(dynamixel::MAX_ANGLE);
 
@@ -158,7 +157,7 @@ TEST_F(MotorTest, setCCWAngleLimitBoundsCheckPasses){
 
 TEST_F(MotorTest, setVoltageLimitsBoundsCheckPasses){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setVoltageLimit(VoltageLimit::HIGHEST, dynamixel::MAX_VOLTAGE);
     m.setVoltageLimit(VoltageLimit::LOWEST, dynamixel::MIN_VOLTAGE);
@@ -174,7 +173,7 @@ TEST_F(MotorTest, setVoltageLimitsBoundsCheckPasses){
 
 TEST_F(MotorTest, setMaxTorqueBoundsCheckPasses){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setMaxTorque(100.0);
 
@@ -184,7 +183,7 @@ TEST_F(MotorTest, setMaxTorqueBoundsCheckPasses){
 
 TEST_F(MotorTest, setStatusReturnLevelBoundsCheckPasses){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setStatusReturnLevel(StatusReturnLevel::PING_ONLY);
     m.setStatusReturnLevel(StatusReturnLevel::READS_ONLY);
@@ -195,7 +194,7 @@ TEST_F(MotorTest, setStatusReturnLevelBoundsCheckPasses){
 
 TEST_F(MotorTest, setAlarmBoundsCheckPasses){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setAlarm(AlarmType::LED, AlarmCondition::INPUT_VOLTAGE_ERR);
     m.setAlarm(AlarmType::SHUTDOWN, AlarmCondition::OVERHEATING_ERR);
@@ -209,7 +208,7 @@ TEST_F(MotorTest, setAlarmBoundsCheckPasses){
 
 TEST_F(MotorTest, CanEnableTorque){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.enableTorque(true);
     m.enableTorque(false);
@@ -217,7 +216,7 @@ TEST_F(MotorTest, CanEnableTorque){
 
 TEST_F(MotorTest, CanEnableLed){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.enableLed(true);
     m.enableLed(false);
@@ -225,7 +224,7 @@ TEST_F(MotorTest, CanEnableLed){
 
 TEST_F(MotorTest, setGoalPositionBoundsCheckPasses){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setGoalPosition(150.0);
 
@@ -235,7 +234,7 @@ TEST_F(MotorTest, setGoalPositionBoundsCheckPasses){
 
 TEST_F(MotorTest, setGoalTorqueBoundsCheckPasses){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setGoalTorque(100.0);
 
@@ -245,14 +244,14 @@ TEST_F(MotorTest, setGoalTorqueBoundsCheckPasses){
 
 TEST_F(MotorTest, CanLockEEPROM){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.lockEEPROM();
 }
 
 TEST_F(MotorTest, CanSetPunch){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.setPunch(10.0);
 
@@ -262,7 +261,7 @@ TEST_F(MotorTest, CanSetPunch){
 
 TEST_F(MotorTest, CanGetGoalPosition){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     float angle = 0;
     m.getPosition(angle);
@@ -270,7 +269,7 @@ TEST_F(MotorTest, CanGetGoalPosition){
 
 TEST_F(MotorTest, CanGetLoad){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     float load = 0;
     m.getLoad(load);
@@ -278,7 +277,7 @@ TEST_F(MotorTest, CanGetLoad){
 
 TEST_F(MotorTest, CanGetVoltage){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     float voltage = 0;
     m.getVoltage(voltage);
@@ -286,7 +285,7 @@ TEST_F(MotorTest, CanGetVoltage){
 
 TEST_F(MotorTest, CanGetTemperature){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     uint8_t temp = 0;
     m.getTemperature(temp);
@@ -294,7 +293,7 @@ TEST_F(MotorTest, CanGetTemperature){
 
 TEST_F(MotorTest, CanCheckIfIsJointMode){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     bool isJointMode = false;
     m.isJointMode(isJointMode);
@@ -302,7 +301,7 @@ TEST_F(MotorTest, CanCheckIfIsJointMode){
 
 TEST_F(MotorTest, CanPing){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     uint8_t retrievedId;
     m.ping(retrievedId);
@@ -310,7 +309,7 @@ TEST_F(MotorTest, CanPing){
 
 TEST_F(MotorTest, CanCheckIfIsMoving){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     bool isMoving = false;
     m.isMoving(isMoving);
@@ -318,21 +317,21 @@ TEST_F(MotorTest, CanCheckIfIsMoving){
 
 TEST_F(MotorTest, CanEnterWheelMode){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.enterWheelMode();
 }
 
 TEST_F(MotorTest, CanEnterJointMode){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     m.enterJointMode();
 }
 
 TEST_F(MotorTest, ParsesReadDataExampleProperly){
     DaisyChain chain(p);
-    MockMotor m(1, &chain, ResolutionDivider::AX12A);
+    MotorMock m(1, &chain, ResolutionDivider::AX12A);
 
     // AX12A datasheet page 20, section 4-2
     uint8_t expectedTxArray[] = {0xFF, 0xFF, 0x01, 0x04, 0x02, 0x2B, 0x01, 0xCC};
diff --git a/Common/test/UartDriver_test.cpp b/Common/test/UartDriverTest.cpp
similarity index 90%
rename from Common/test/UartDriver_test.cpp
rename to Common/test/UartDriverTest.cpp
index 7da21a7d..4deebdd5 100644
--- a/Common/test/UartDriver_test.cpp
+++ b/Common/test/UartDriverTest.cpp
@@ -1,6 +1,6 @@
 /**
   *****************************************************************************
-  * @file    UartDriver_test.cpp
+  * @file
   * @author  Tyler Gamvrelis
   *
   * @defgroup UartDriver_Test
@@ -18,12 +18,12 @@
 #include "UartDriver/UartDriver.h"
 #include "Notification.h"
 
-#include "MockUartInterface.h"
-#include "MockOsInterface.h"
-
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
 
+#include "OsInterfaceMock.h"
+#include "UartInterfaceMock.h"
+
 
 using ::testing::DoAll;
 using ::testing::SetArgPointee;
@@ -32,8 +32,8 @@ using ::testing::_;
 
 
 using uart::UartDriver;
-using cmsis::gmock::MockOsInterface;
-using hal::gmock::MockUartInterface;
+using cmsis::gmock::OsInterfaceMock;
+using hal::gmock::UartInterfaceMock;
 using hal::IO_Type;
 
 
@@ -81,7 +81,7 @@ TEST(UartDriver, ShouldFailReceiveWithNullInitializers){
 // This is needed so that the driver won't work unless it's initialized
 // properly
 TEST(UartDriver, ShouldFailTransmitWithNullUartInterface){
-    MockOsInterface os;
+    OsInterfaceMock os;
 
     UART_HandleTypeDef UARTx = {0};
 
@@ -96,7 +96,7 @@ TEST(UartDriver, ShouldFailTransmitWithNullUartInterface){
 // This is needed so that the driver won't work unless it's initialized
 // properly
 TEST(UartDriver, ShouldFailReceiveWithNullUartInterface){
-    MockOsInterface os;
+    OsInterfaceMock os;
 
     UART_HandleTypeDef UARTx = {0};
 
@@ -111,8 +111,8 @@ TEST(UartDriver, ShouldFailReceiveWithNullUartInterface){
 // This is needed so that the driver won't work unless it's initialized
 // properly
 TEST(UartDriver, ShouldFailTransmitWithNullUartHandle){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
 
     UartDriver UARTxDriver(&os, &uart, nullptr);
 
@@ -125,8 +125,8 @@ TEST(UartDriver, ShouldFailTransmitWithNullUartHandle){
 // This is needed so that the driver won't work unless it's initialized
 // properly
 TEST(UartDriver, ShouldFailReceiveWithNullUartHandle){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
 
     UartDriver UARTxDriver(&os, &uart, nullptr);
 
@@ -139,7 +139,7 @@ TEST(UartDriver, ShouldFailReceiveWithNullUartHandle){
 // This is needed so that the driver won't work unless it's initialized
 // properly
 TEST(UartDriver, ShouldFailTransmitITWithNullOSInterface){
-    MockUartInterface uart;
+    UartInterfaceMock uart;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(nullptr, &uart, &UARTx);
@@ -154,7 +154,7 @@ TEST(UartDriver, ShouldFailTransmitITWithNullOSInterface){
 // This is needed so that the driver won't work unless it's initialized
 // properly
 TEST(UartDriver, ShouldFailTransmitDMAWithNullOSInterface){
-    MockUartInterface uart;
+    UartInterfaceMock uart;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(nullptr, &uart, &UARTx);
@@ -169,7 +169,7 @@ TEST(UartDriver, ShouldFailTransmitDMAWithNullOSInterface){
 // This is needed so that the driver won't work unless it's initialized
 // properly
 TEST(UartDriver, ShouldFailReceiveITWithNullOSInterface){
-    MockUartInterface uart;
+    UartInterfaceMock uart;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(nullptr, &uart, &UARTx);
@@ -184,7 +184,7 @@ TEST(UartDriver, ShouldFailReceiveITWithNullOSInterface){
 // This is needed so that the driver won't work unless it's initialized
 // properly
 TEST(UartDriver, ShouldFailReceiveDMAWithNullOSInterface){
-    MockUartInterface uart;
+    UartInterfaceMock uart;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(nullptr, &uart, &UARTx);
@@ -197,7 +197,7 @@ TEST(UartDriver, ShouldFailReceiveDMAWithNullOSInterface){
 }
 
 TEST(UartDriver, ShouldCallTransmitPollForPollIOType){
-    MockUartInterface uart;
+    UartInterfaceMock uart;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(nullptr, &uart, &UARTx);
@@ -212,8 +212,8 @@ TEST(UartDriver, ShouldCallTransmitPollForPollIOType){
 }
 
 TEST(UartDriver, ShouldCallTransmitITPollForITIOType){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -228,8 +228,8 @@ TEST(UartDriver, ShouldCallTransmitITPollForITIOType){
 }
 
 TEST(UartDriver, ShouldCallTransmitDMAForDMAIOType){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -244,8 +244,8 @@ TEST(UartDriver, ShouldCallTransmitDMAForDMAIOType){
 }
 
 TEST(UartDriver, ShouldFailAndAbortTransmitPollWhenHardwareCallFails){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -263,8 +263,8 @@ TEST(UartDriver, ShouldFailAndAbortTransmitPollWhenHardwareCallFails){
 }
 
 TEST(UartDriver, ShouldFailAndAbortTransmitITWhenHardwareCallFails){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -282,8 +282,8 @@ TEST(UartDriver, ShouldFailAndAbortTransmitITWhenHardwareCallFails){
 }
 
 TEST(UartDriver, ShouldFailAndAbortTransmitDMAWhenHardwareCallFails){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -301,8 +301,8 @@ TEST(UartDriver, ShouldFailAndAbortTransmitDMAWhenHardwareCallFails){
 }
 
 TEST(UartDriver, ShouldFailAndAbortTransmitITWhenOSBlockTimesOut){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -322,8 +322,8 @@ TEST(UartDriver, ShouldFailAndAbortTransmitITWhenOSBlockTimesOut){
 }
 
 TEST(UartDriver, ShouldFailAndAbortTransmitDMAWhenOSBlockTimesOut){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -343,8 +343,8 @@ TEST(UartDriver, ShouldFailAndAbortTransmitDMAWhenOSBlockTimesOut){
 }
 
 TEST(UartDriver, PollTransmitCanSucceed){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -360,8 +360,8 @@ TEST(UartDriver, PollTransmitCanSucceed){
 }
 
 TEST(UartDriver, ITTransmitCanSucceed){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -379,8 +379,8 @@ TEST(UartDriver, ITTransmitCanSucceed){
 }
 
 TEST(UartDriver, DMATransmitCanSucceed){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -398,8 +398,8 @@ TEST(UartDriver, DMATransmitCanSucceed){
 }
 
 TEST(UartDriver, ShouldCallReceivePollForPollIOType){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(nullptr, &uart, &UARTx);
@@ -414,8 +414,8 @@ TEST(UartDriver, ShouldCallReceivePollForPollIOType){
 }
 
 TEST(UartDriver, ShouldCallReceiveITForITIOType){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -430,8 +430,8 @@ TEST(UartDriver, ShouldCallReceiveITForITIOType){
 }
 
 TEST(UartDriver, ShouldCallReceiveDMAForDMAIOType){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -446,8 +446,8 @@ TEST(UartDriver, ShouldCallReceiveDMAForDMAIOType){
 }
 
 TEST(UartDriver, ShouldFailAndAbortReceivePollWhenHardwareCallFails){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(nullptr, &uart, &UARTx);
@@ -465,8 +465,8 @@ TEST(UartDriver, ShouldFailAndAbortReceivePollWhenHardwareCallFails){
 }
 
 TEST(UartDriver, ShouldFailAndAbortReceiveITWhenHardwareCallFails){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -484,8 +484,8 @@ TEST(UartDriver, ShouldFailAndAbortReceiveITWhenHardwareCallFails){
 }
 
 TEST(UartDriver, ShouldFailAndAbortReceiveDMAWhenHardwareCallFails){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -503,8 +503,8 @@ TEST(UartDriver, ShouldFailAndAbortReceiveDMAWhenHardwareCallFails){
 }
 
 TEST(UartDriver, ShouldFailAndAbortReceiveITWhenOSBlockTimesOut){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -524,8 +524,8 @@ TEST(UartDriver, ShouldFailAndAbortReceiveITWhenOSBlockTimesOut){
 }
 
 TEST(UartDriver, ShouldFailAndAbortReceiveDMAWhenOSBlockTimesOut){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -545,8 +545,8 @@ TEST(UartDriver, ShouldFailAndAbortReceiveDMAWhenOSBlockTimesOut){
 }
 
 TEST(UartDriver, PollReceiveCanSucceed){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(nullptr, &uart, &UARTx);
@@ -562,8 +562,8 @@ TEST(UartDriver, PollReceiveCanSucceed){
 }
 
 TEST(UartDriver, ITReceiveCanSucceed){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
@@ -581,8 +581,8 @@ TEST(UartDriver, ITReceiveCanSucceed){
 }
 
 TEST(UartDriver, DMAReceiveCanSucceed){
-    MockUartInterface uart;
-    MockOsInterface os;
+    UartInterfaceMock uart;
+    OsInterfaceMock os;
     UART_HandleTypeDef UARTx = {0};
 
     UartDriver UARTxDriver(&os, &uart, &UARTx);
diff --git a/Common/test/UdpDriver_test.cpp b/Common/test/UdpDriverTest.cpp
similarity index 92%
rename from Common/test/UdpDriver_test.cpp
rename to Common/test/UdpDriverTest.cpp
index 375128fb..7c74561c 100644
--- a/Common/test/UdpDriver_test.cpp
+++ b/Common/test/UdpDriverTest.cpp
@@ -1,10 +1,10 @@
 /**
   *****************************************************************************
-  * @file    UdpDriver_test.cpp
+  * @file
   * @author  Robert Fairley
   *
-  * @defgroup udp_driver_test
-  * @ingroup  udp_driver
+  * @defgroup UdpDriver_Test
+  * @ingroup  UDP
   * @brief    Unit tests for the UdpDriver class.
   * @{
   *****************************************************************************
@@ -15,19 +15,16 @@
 
 
 /********************************* Includes **********************************/
-#include <MockOsInterface.h>
-#include <UdpDriver/UdpDriver.h>
-
 #include <gtest/gtest.h>
 #include <gmock/gmock.h>
-#include "UdpRawInterfaceMock.h"
-
-
 
+#include "OsInterfaceMock.h"
+#include "UdpRawInterfaceMock.h"
+#include "UdpDriver/UdpDriver.h"
 
 using udp::UdpDriver;
 using lwip::gmock::UdpRawInterfaceMock;
-using cmsis::gmock::MockOsInterface;
+using cmsis::gmock::OsInterfaceMock;
 
 using ::testing::Return;
 using ::testing::_;
@@ -56,10 +53,10 @@ const ip_addr_t ZERO_IP_ADDR_T = {0x0};
 class UdpDriverTest : public ::testing::Test {
 protected:
     UdpRawInterfaceMock udp_if;
-    MockOsInterface os_if;
+    OsInterfaceMock os_if;
 };
 
-}
+} // end anonymous namespace
 
 
 
@@ -67,12 +64,12 @@ class UdpDriverTest : public ::testing::Test {
 TEST_F(UdpDriverTest, DefaultInitializeMembersToZero) {
     UdpDriver udpDriverUnderTest;
 
-    EXPECT_EQ(udpDriverUnderTest.getIpaddr(), ZERO_IP_ADDR_T);
-    EXPECT_EQ(udpDriverUnderTest.getIpaddrPc(), ZERO_IP_ADDR_T);
-    EXPECT_EQ(udpDriverUnderTest.getPort(), (u16_t) 0);
-    EXPECT_EQ(udpDriverUnderTest.getPortPc(), (u16_t) 0);
-    EXPECT_EQ(udpDriverUnderTest.getUdpInterface(), nullptr);
-    EXPECT_EQ(udpDriverUnderTest.getOsInterface(), nullptr);
+    EXPECT_EQ(udpDriverUnderTest.getIpAddrSrc(), ZERO_IP_ADDR_T);
+    EXPECT_EQ(udpDriverUnderTest.getIpAddrDest(), ZERO_IP_ADDR_T);
+    EXPECT_EQ(udpDriverUnderTest.getPortSrc(), (u16_t) 0);
+    EXPECT_EQ(udpDriverUnderTest.getPortDest(), (u16_t) 0);
+    EXPECT_EQ(udpDriverUnderTest.getUdpIf(), nullptr);
+    EXPECT_EQ(udpDriverUnderTest.getOsIf(), nullptr);
 }
 
 TEST_F(UdpDriverTest, InitializeMembersWithParameterizedConstructor) {
@@ -82,12 +79,12 @@ TEST_F(UdpDriverTest, InitializeMembersWithParameterizedConstructor) {
     UdpDriver udpDriverUnderTest(TEST_IP_ADDR, TEST_IP_ADDR_PC, (u16_t) 7,
             (u16_t) 6340, &udp_if, &os_if);
 
-    EXPECT_EQ(TEST_IP_ADDR, udpDriverUnderTest.getIpaddr());
-    EXPECT_EQ(TEST_IP_ADDR_PC, udpDriverUnderTest.getIpaddrPc());
-    EXPECT_EQ((u16_t) 7, udpDriverUnderTest.getPort());
-    EXPECT_EQ((u16_t) 6340, udpDriverUnderTest.getPortPc());
-    EXPECT_EQ(&udp_if, udpDriverUnderTest.getUdpInterface());
-    EXPECT_EQ(&os_if, udpDriverUnderTest.getOsInterface());
+    EXPECT_EQ(TEST_IP_ADDR, udpDriverUnderTest.getIpAddrSrc());
+    EXPECT_EQ(TEST_IP_ADDR_PC, udpDriverUnderTest.getIpAddrDest());
+    EXPECT_EQ((u16_t) 7, udpDriverUnderTest.getPortSrc());
+    EXPECT_EQ((u16_t) 6340, udpDriverUnderTest.getPortDest());
+    EXPECT_EQ(&udp_if, udpDriverUnderTest.getUdpIf());
+    EXPECT_EQ(&os_if, udpDriverUnderTest.getOsIf());
 }
 
 TEST_F(UdpDriverTest, SucceedInitialize) {
@@ -347,3 +344,8 @@ TEST_F(UdpDriverTest, FailTransmitWhenUdpSendUnsuccessful) {
 
     ASSERT_FALSE(udpDriverUnderTest.transmit(txBuff, sizeof(txBuff)));
 }
+
+/**
+ * @}
+ */
+/* end - UdpDriver_Test */
diff --git a/Robot/.cproject b/Robot/.cproject
index d7c26387..46787dd6 100644
--- a/Robot/.cproject
+++ b/Robot/.cproject
@@ -135,12 +135,22 @@
 							<option id="fr.ac6.managedbuild.option.gnu.cross.instructionSet.2017315828.1740887960" name="Instruction Set" superClass="fr.ac6.managedbuild.option.gnu.cross.instructionSet.2017315828"/>
 							<option id="fr.ac6.managedbuild.option.gnu.cross.fpu.1583098095.193170990" name="Floating point hardware" superClass="fr.ac6.managedbuild.option.gnu.cross.fpu.1583098095"/>
 							<option id="fr.ac6.managedbuild.option.gnu.cross.floatabi.38155892.679453292" name="Floating-point ABI" superClass="fr.ac6.managedbuild.option.gnu.cross.floatabi.38155892"/>
-							<tool id="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.731843740" name="MCU GCC Compiler" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.421499216"/>
-							<tool id="fr.ac6.managedbuild.tool.gnu.cross.cpp.compiler.753821842" name="MCU G++ Compiler" superClass="fr.ac6.managedbuild.tool.gnu.cross.cpp.compiler.217106513"/>
+							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="fr.ac6.managedbuild.targetPlatform.gnu.cross" isAbstract="false" osList="all" superClass="fr.ac6.managedbuild.targetPlatform.gnu.cross"/>
+							<tool id="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.731843740" name="MCU GCC Compiler" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.421499216">
+								<inputType id="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.c.546031639" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.c"/>
+								<inputType id="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.s.972722963" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.compiler.input.s"/>
+							</tool>
+							<tool id="fr.ac6.managedbuild.tool.gnu.cross.cpp.compiler.753821842" name="MCU G++ Compiler" superClass="fr.ac6.managedbuild.tool.gnu.cross.cpp.compiler.217106513">
+								<inputType id="fr.ac6.managedbuild.tool.gnu.cross.cpp.compiler.input.cpp.791886455" superClass="fr.ac6.managedbuild.tool.gnu.cross.cpp.compiler.input.cpp"/>
+								<inputType id="fr.ac6.managedbuild.tool.gnu.cross.cpp.compiler.input.s.1935552632" superClass="fr.ac6.managedbuild.tool.gnu.cross.cpp.compiler.input.s"/>
+							</tool>
 							<tool id="fr.ac6.managedbuild.tool.gnu.cross.c.linker.573084931" name="MCU GCC Linker" superClass="fr.ac6.managedbuild.tool.gnu.cross.c.linker.1140926668"/>
 							<tool id="fr.ac6.managedbuild.tool.gnu.cross.cpp.linker.1249762644" name="MCU G++ Linker" superClass="fr.ac6.managedbuild.tool.gnu.cross.cpp.linker.351128959"/>
 							<tool id="fr.ac6.managedbuild.tool.gnu.archiver.564521805" name="MCU GCC Archiver" superClass="fr.ac6.managedbuild.tool.gnu.archiver.724791010"/>
-							<tool id="fr.ac6.managedbuild.tool.gnu.cross.assembler.1311690320" name="MCU GCC Assembler" superClass="fr.ac6.managedbuild.tool.gnu.cross.assembler.777379930"/>
+							<tool id="fr.ac6.managedbuild.tool.gnu.cross.assembler.1311690320" name="MCU GCC Assembler" superClass="fr.ac6.managedbuild.tool.gnu.cross.assembler.777379930">
+								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.168698564" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+								<inputType id="fr.ac6.managedbuild.tool.gnu.cross.assembler.input.309635075" superClass="fr.ac6.managedbuild.tool.gnu.cross.assembler.input"/>
+							</tool>
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
diff --git a/RobotTest/.cproject b/RobotTest/.cproject
index 1305fb52..7414fbd1 100644
--- a/RobotTest/.cproject
+++ b/RobotTest/.cproject
@@ -221,7 +221,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="Common/app|include|src/FunctionalFreeRTOSInterface.cpp|inc|src|Common/include|component|Common/hardware|app|hardware/HalUartInterface.cpp|Common/component|src/Hardware_UART/HalUartInterface.cpp|src/HalUartInterface.cpp|Common/test/UdpDriver_test.cpp|googletest" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="Common/test/UdpDriverTest.cpp|Common/app|include|src/FunctionalFreeRTOSInterface.cpp|inc|src|Common/include|component|Common/hardware|app|hardware/HalUartInterface.cpp|Common/component|src/Hardware_UART/HalUartInterface.cpp|src/HalUartInterface.cpp|Common/test/UdpDriver_test.cpp|googletest" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Common/component/CircularDmaBuffer"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Common/component/DaisyChain"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Common/component/Dynamixel"/>
diff --git a/utils/clear_doxygen_file_tags.py b/utils/clear_doxygen_file_tags.py
new file mode 100644
index 00000000..27ca7768
--- /dev/null
+++ b/utils/clear_doxygen_file_tags.py
@@ -0,0 +1,30 @@
+#!/usr/bin/python3
+
+import fileinput
+import os
+import re
+import sys
+
+def print_log(log):
+    for line in log:
+        print(line)
+
+walkdir = sys.argv[1]
+
+print("Clearing @file tags found under directory tree {}...".format(walkdir))
+
+for root, dirs, files in os.walk(walkdir):
+    for f in files:
+        fp = root + os.sep + f
+        print("Reading path {}:".format(fp))
+        replace_log = []
+        with fileinput.input(fp, inplace=1, backup=".bak") as f:
+            for line in f:
+                line_prev = line.rstrip()
+                line = re.sub(r"^ *\* *@file.*", "  * @file", line.rstrip())
+                print(line)
+                if line_prev != line:
+                    replace_log.append("  Replaced \"{}\" with \"{}\".".format(line_prev, line))
+        print_log(replace_log)
+        print("Wrote backup at: {}.bak".format(fp))
+