Index: branches/FACT++_lidctrl_usb/src/HeadersLid.h
===================================================================
--- branches/FACT++_lidctrl_usb/src/HeadersLid.h	(revision 18724)
+++ branches/FACT++_lidctrl_usb/src/HeadersLid.h	(revision 18725)
@@ -2,6 +2,33 @@
 #define FACT_HeadersLid
 
-namespace LidCtrlUsb
+namespace Lid
 {
+
+    struct motor_status_t{
+        float current_mean;
+        float position_mean;
+        int32_t speed;
+    } __attribute__((__packed__));
+
+    struct mean_var_samples_t {
+        uint32_t mean;
+        uint32_t var;
+        uint16_t samples;
+    }__attribute__((packed));
+
+    struct message_t {
+        mean_var_samples_t inner_motor_current;
+        mean_var_samples_t outer_motor_current;
+
+        mean_var_samples_t inner_motor_position;
+        mean_var_samples_t outer_motor_position;
+
+        int16_t inner_motor_speed;
+        int16_t outer_motor_speed;
+
+        char current_cmd;
+        uint8_t system_state;
+    }__attribute__((packed));
+
     namespace State
     {
Index: branches/FACT++_lidctrl_usb/src/lidctrl.cc
===================================================================
--- branches/FACT++_lidctrl_usb/src/lidctrl.cc	(revision 18724)
+++ branches/FACT++_lidctrl_usb/src/lidctrl.cc	(revision 18725)
@@ -24,5 +24,5 @@
 using namespace std;
 
-using namespace LidCtrlUsb;
+using namespace Lid;
 
 #include "DimDescriptionService.h"
@@ -36,33 +36,9 @@
     State::states_t state;
     State::states_t last_state;
-    struct mean_std_t {
-      uint32_t mean;
-      uint32_t var;
-      uint16_t samples;
-    }__attribute__((packed));
-
-   struct motor_status_t{
-      float current_mean;
-      float position_mean;
-      int32_t speed;
-   } __attribute__((__packed__));
-
-   struct message_t {
-      mean_std_t inner_motor_current;
-      mean_std_t outer_motor_current;
-
-      mean_std_t inner_motor_position;
-      mean_std_t outer_motor_position;
-
-      int16_t inner_motor_speed;
-      int16_t outer_motor_speed;
-
-      char current_cmd;
-      uint8_t system_state;
-  }__attribute__((packed));
-
-  DimDescribedService fDimInnerMotor;
-  DimDescribedService fDimOuterMotor;
+
+    DimDescribedService fDimInnerMotor;
+    DimDescribedService fDimOuterMotor;
     message_t fLastMessage;
+
     void PrintMessage(const message_t msg)
     {
@@ -83,5 +59,5 @@
     {
         int complete_msg_size = 6 /*start:*/ + sizeof(message_t) + sizeof(uint16_t)/*chksum*/;  // 54 bytes
- 
+
         std::copy(fRecievedBytes.begin(), fRecievedBytes.begin()+bytes_received, std::back_inserter(fCollectedBytes));
         if (fCollectedBytes.size() > 2*complete_msg_size)
@@ -96,5 +72,5 @@
             message_t msg;
             memcpy(&msg, part.data(), sizeof(message_t));
-            
+
             const uint16_t chk0 = Tools::Fletcher16(part.c_str(), sizeof(message_t));
             uint16_t chk1;
@@ -111,5 +87,5 @@
                 inner_motor_status.position_mean = (float)(msg.inner_motor_position.mean);
                 inner_motor_status.speed = (int32_t)msg.inner_motor_speed;
-                
+
                 motor_status_t outer_motor_status;
                 outer_motor_status.current_mean = (float)(msg.outer_motor_current.mean) * 3.4;
@@ -122,5 +98,5 @@
                 }
 
-                last_state = state;            
+                last_state = state;
             }
         }
@@ -157,7 +133,4 @@
         return state;
     }
-
-
-
 };
 
@@ -204,5 +177,5 @@
         return T::GetCurrentState();
     }
-    
+
     int Close()
     {