diff --git a/network_interface.py b/network_interface.py
--- a/network_interface.py
+++ b/network_interface.py
@@ -1,12 +1,12 @@
-#!/usr/bin/env python
-
 import os
 import struct
 import _thread
 from abc import ABCMeta, abstractmethod
+import logging
 
 from message import HydroBotMessage
 import module
+import protocol
 
 from canard import can
 from canard.hw import socketcan
@@ -14,27 +14,27 @@ from canard.utils import queue
 
 class NetworkInterface(metaclass=ABCMeta):
     
-    def __init__(self, network, logger):
+    def __init__(self, network):
+        self.logger = logging.getLogger('hydrobot')
         self.network = network
-        self.logger = logger
     
     @abstractmethod
     def start(self):
-        print("Network: start")
+        self.logger.info("Network: start")
     
     @abstractmethod
     def send_message(self, message):
         pass
     
     def process_message(self, message):
-        print("Network Interface: process message")
+        self.logger.debug("Network Interface: process message")
     
 
 
 class CanBusNetworkInterface(NetworkInterface):
     
-    def __init__(self, network, interface_name, logger):
-        super(CanBusNetworkInterface, self).__init__(network, logger)
+    def __init__(self, network, interface_name):
+        super(CanBusNetworkInterface, self).__init__(network)
         
         # Bring up CAN interface (maybe do this in a systemd service file)
         # Passing random arguments to sudo is super dangerous
@@ -44,12 +44,13 @@ class CanBusNetworkInterface(NetworkInte
         self.dev = socketcan.SocketCanDev(interface_name)
         self.queue = queue.CanQueue(self.dev)
         
+        #bidirectional address <==> uuid lookup
         self.address_lookup = {}
         self.uuid_lookup = {}
         
     def start(self):
         super(CanBusNetworkInterface, self).start()
-        print("CanBusNetworkInterface: start")
+        self.logger.info("CanBusNetworkInterface: start")
         self.queue.start()
         _thread.start_new_thread(self.process_message, ())
         
@@ -63,23 +64,30 @@ class CanBusNetworkInterface(NetworkInte
         while True:
             frame = self.queue.recv()
             if frame != None:
-                print("CanBusNetworkInterface: process message")
+                
+                base_id = frame.id & 0x7fe
                 
-                if not frame.id in self.address_lookup:
-                    new_module = self.network.module_list.new_module(frame.data[0] & 0x7f, frame.id, self)
-                    self.address_lookup[frame.id] = new_module.uuid
-                    self.uuid_lookup[new_module.uuid] = frame.id
+                if not base_id in self.address_lookup:
+                    self.logger.debug("Uknown module address: " + hex(base_id))
+                    device_id = frame.data[0] & 0x7f
+                    new_module = self.network.module_list.new_module(device_id, base_id, self)
+                    self.address_lookup[base_id] = new_module.uuid
+                    self.uuid_lookup[new_module.uuid] = base_id
                 
                 self.logger.debug("Received CAN message! ID: " + hex(frame.id))
-                message = HydroBotMessage(self.address_lookup[frame.id], frame.data[0], ((frame.data[1] << 8) + frame.data[2]), frame.data[3], ((frame.data[4] << 24) + (frame.data[5] << 16) + (frame.data[6] << 8) + frame.data[7]))
-                print(message)
+                
+                data = [frame.data[7], frame.data[6], frame.data[5], frame.data[4]]
+                b = struct.pack('4B', *data)
+                f_data = struct.unpack('>f', b)[0]
+                message = HydroBotMessage(self.address_lookup[base_id], frame.data[0], ((frame.data[1] << 8) + frame.data[2]), frame.data[3], f_data)
+                self.logger.debug("Process message: " + str(message))
                 self.network.process_message(message)
         
 
 class WifiNetworkInterface(NetworkInterface):
     
-    def __init__(self, network, logger):
-        super(WifiNetworkInterface, self).__init__(network, logger)
+    def __init__(self, network):
+        super(WifiNetworkInterface, self).__init__(network)
         
     def start(self):
         pass
@@ -90,7 +98,3 @@ class WifiNetworkInterface(NetworkInterf
     def process_message(self, message):
         pass
         
-
-
-#module knows how to send and recieve messages
-