diff --git a/Devices/Control/Firmware/lib/Communicator/Communicator.cpp b/Devices/Control/Firmware/lib/Communicator/Communicator.cpp
index ffa6c8f..69ab6b6 100644
--- a/Devices/Control/Firmware/lib/Communicator/Communicator.cpp
+++ b/Devices/Control/Firmware/lib/Communicator/Communicator.cpp
@@ -44,5 +44,5 @@ void Communicator::sendMessage(char *message)
 
 char *Communicator::receiveMessage()
 {
-    return "";
+    return nullptr;
 }
\ No newline at end of file
diff --git a/Devices/Control/Firmware/lib/Communicator/I2CCommunicator.cpp b/Devices/Control/Firmware/lib/Communicator/I2CCommunicator.cpp
deleted file mode 100644
index 48837fd..0000000
--- a/Devices/Control/Firmware/lib/Communicator/I2CCommunicator.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-#include <I2CCommunicator.h>
-#include <Wire.h>
-
-I2CCommunicator::I2CCommunicator(int slaveAddr, __SIZE_TYPE__ bufferSize) : Communicator(bufferSize)
-{
-    Wire.begin(slaveAddr);
-}
-
-void I2CCommunicator::sendMessage(int *values, int numberOfValues)
-{
-    char message[calculateMessageOutSize(numberOfValues)];
-    parseIDs(values, numberOfValues, message);
-    Serial.println(message);
-}
-
-void I2CCommunicator::sendMessage(char *message)
-{
-    Wire.println(message);
-}
-
-char *I2CCommunicator::receiveMessage()
-{
-    if (Wire.available())
-    {
-        memset(getBuffer(), '\0', getBufferSize());
-        Wire.readBytesUntil('\n', getBuffer(), getBufferSize());
-    }
-    return getBuffer();
-}
\ No newline at end of file
diff --git a/Devices/Control/Firmware/lib/Communicator/I2CCommunicator.h b/Devices/Control/Firmware/lib/Communicator/I2CCommunicator.h
deleted file mode 100644
index ac1ce45..0000000
--- a/Devices/Control/Firmware/lib/Communicator/I2CCommunicator.h
+++ /dev/null
@@ -1,11 +0,0 @@
-#include <Communicator.h>
-
-class I2CCommunicator : public Communicator
-{
-private:
-public:
-    I2CCommunicator(int slaveAddr, __SIZE_TYPE__ bufferSize);
-    void sendMessage(int *values, int numberOfValues);
-    void sendMessage(char *message);
-    char *receiveMessage();
-};
\ No newline at end of file
diff --git a/Devices/Control/Firmware/lib/Communicator/SerialCommunicator.cpp b/Devices/Control/Firmware/lib/Communicator/SerialCommunicator.cpp
deleted file mode 100644
index 16ff238..0000000
--- a/Devices/Control/Firmware/lib/Communicator/SerialCommunicator.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-#include <SerialCommunicator.h>
-#include <HardwareSerial.h>
-
-SerialCommunicator::SerialCommunicator(HardwareSerial &p_out, int baudRate, int timeout, __SIZE_TYPE__ bufferSize) : Communicator(bufferSize), port(p_out)
-{
-    port.begin(baudRate);
-}
-
-void SerialCommunicator::sendMessage(int *values, int numberOfValues)
-{
-    char message[calculateMessageOutSize(numberOfValues)];
-    parseIDs(values, numberOfValues, message);
-    port.println(message);
-}
-
-void SerialCommunicator::sendMessage(char *message)
-{
-    port.println(message);
-}
-
-char *SerialCommunicator::receiveMessage()
-{
-    if (port.available())
-    {
-        memset(getBuffer(), '\0', getBufferSize());
-        port.readBytesUntil('\n', getBuffer(), getBufferSize());
-    }
-    return getBuffer();
-}
\ No newline at end of file
diff --git a/Devices/Control/Firmware/lib/Communicator/SerialCommunicator.h b/Devices/Control/Firmware/lib/Communicator/SerialCommunicator.h
deleted file mode 100644
index 656cc07..0000000
--- a/Devices/Control/Firmware/lib/Communicator/SerialCommunicator.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#include <Communicator.h>
-#include <HardwareSerial.h>
-
-class SerialCommunicator : public Communicator
-{
-protected:
-    HardwareSerial &port;
-
-public:
-    SerialCommunicator(HardwareSerial &port, int baudRate, int timeout, __SIZE_TYPE__ bufferSize);
-    void sendMessage(int *values, int numberOfValues);
-    void sendMessage(char *message);
-    char *receiveMessage();
-};
diff --git a/Devices/Control/Firmware/lib/README b/Devices/Control/Firmware/lib/README
deleted file mode 100644
index 6debab1..0000000
--- a/Devices/Control/Firmware/lib/README
+++ /dev/null
@@ -1,46 +0,0 @@
-
-This directory is intended for project specific (private) libraries.
-PlatformIO will compile them to static libraries and link into executable file.
-
-The source code of each library should be placed in a an own separate directory
-("lib/your_library_name/[here are source files]").
-
-For example, see a structure of the following two libraries `Foo` and `Bar`:
-
-|--lib
-|  |
-|  |--Bar
-|  |  |--docs
-|  |  |--examples
-|  |  |--src
-|  |     |- Bar.c
-|  |     |- Bar.h
-|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
-|  |
-|  |--Foo
-|  |  |- Foo.c
-|  |  |- Foo.h
-|  |
-|  |- README --> THIS FILE
-|
-|- platformio.ini
-|--src
-   |- main.c
-
-and a contents of `src/main.c`:
-```
-#include <Foo.h>
-#include <Bar.h>
-
-int main (void)
-{
-  ...
-}
-
-```
-
-PlatformIO Library Dependency Finder will find automatically dependent
-libraries scanning project source files.
-
-More information about PlatformIO Library Dependency Finder
-- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/Devices/Control/Firmware/lib/SerialCommunicator/SerialCommunicator.cpp b/Devices/Control/Firmware/lib/SerialCommunicator/SerialCommunicator.cpp
new file mode 100644
index 0000000..5bafb71
--- /dev/null
+++ b/Devices/Control/Firmware/lib/SerialCommunicator/SerialCommunicator.cpp
@@ -0,0 +1,7 @@
+#include <SerialCommunicator.h>
+#include <HardwareSerial.h>
+
+SerialCommunicator::SerialCommunicator(HardwareSerial &p_out, int baudRate, int timeout, __SIZE_TYPE__ bufferSize) : StreamCommunicator(p_out, bufferSize)
+{
+    p_out.begin(baudRate);
+}
\ No newline at end of file
diff --git a/Devices/Control/Firmware/lib/SerialCommunicator/SerialCommunicator.h b/Devices/Control/Firmware/lib/SerialCommunicator/SerialCommunicator.h
new file mode 100644
index 0000000..9c2c050
--- /dev/null
+++ b/Devices/Control/Firmware/lib/SerialCommunicator/SerialCommunicator.h
@@ -0,0 +1,8 @@
+#include <StreamCommunicator.h>
+#include <HardwareSerial.h>
+
+class SerialCommunicator : public StreamCommunicator
+{
+public:
+    SerialCommunicator(HardwareSerial &p_out, int baudRate, int timeout, __SIZE_TYPE__ bufferSize);
+};
diff --git a/Devices/Control/Firmware/lib/StreamCommunicator/StreamCommunicator.cpp b/Devices/Control/Firmware/lib/StreamCommunicator/StreamCommunicator.cpp
new file mode 100644
index 0000000..dbd2f03
--- /dev/null
+++ b/Devices/Control/Firmware/lib/StreamCommunicator/StreamCommunicator.cpp
@@ -0,0 +1,27 @@
+#include <StreamCommunicator.h>
+
+StreamCommunicator::StreamCommunicator(Stream &s_out, __SIZE_TYPE__ bufferSize) : Communicator(bufferSize), stream(s_out)
+{
+}
+
+void StreamCommunicator::sendMessage(int *values, int numberOfValues)
+{
+    char message[calculateMessageOutSize(numberOfValues)];
+    parseIDs(values, numberOfValues, message);
+    stream.println(message);
+}
+
+void StreamCommunicator::sendMessage(char *message)
+{
+    stream.println(message);
+}
+
+char *StreamCommunicator::receiveMessage()
+{
+    if (stream.available())
+    {
+        memset(getBuffer(), '\0', getBufferSize());
+        stream.readBytesUntil('\n', getBuffer(), getBufferSize());
+    }
+    return getBuffer();
+}
\ No newline at end of file
diff --git a/Devices/Control/Firmware/lib/StreamCommunicator/StreamCommunicator.h b/Devices/Control/Firmware/lib/StreamCommunicator/StreamCommunicator.h
new file mode 100644
index 0000000..2f7a8da
--- /dev/null
+++ b/Devices/Control/Firmware/lib/StreamCommunicator/StreamCommunicator.h
@@ -0,0 +1,14 @@
+#include <Communicator.h>
+#include "Stream.h"
+
+class StreamCommunicator : public Communicator
+{
+protected:
+    Stream &stream;
+
+public:
+    StreamCommunicator(Stream &s_out, __SIZE_TYPE__ bufferSize);
+    void sendMessage(int *values, int numberOfValues);
+    void sendMessage(char *message);
+    char *receiveMessage();
+};
\ No newline at end of file