diff --git a/g2core/gpio.cpp b/g2core/gpio.cpp
index 02bf650f..51ca4a60 100644
--- a/g2core/gpio.cpp
+++ b/g2core/gpio.cpp
@@ -55,8 +55,6 @@
 #include "xio.h"
 
 #include "MotateTimers.h"
-using namespace Motate;
-
 /****
  *
  * Important: Do not directly allocate or access pins here!
diff --git a/g2core/main.cpp b/g2core/main.cpp
index b0a57ff2..2bed0f80 100644
--- a/g2core/main.cpp
+++ b/g2core/main.cpp
@@ -55,13 +55,10 @@ stat_t status_code;						    // allocate a variable for the ritorno macro
 // See also: util.h for debugging and diagnostics
 
 // Using motate pins for profiling
-// Usage: https://github.com/synthetos/g2/wiki/Using-Pin-Changes-for-Timing-(and-light-debugging)
-
-using namespace Motate;
-OutputPin<kDebug1_PinNumber> debug_pin1;
-OutputPin<kDebug2_PinNumber> debug_pin2;
-OutputPin<kDebug3_PinNumber> debug_pin3;
-OutputPin<kDebug4_PinNumber> debug_pin4;
+// Usage: https://github.com/synthetos/g2/wiki/Using-Pin-Changes-for-Timing-(and-light-debugging)OutputPin<Motate::kDebug1_PinNumber> debug_pin1;
+OutputPin<Motate::kDebug2_PinNumber> debug_pin2;
+OutputPin<Motate::kDebug3_PinNumber> debug_pin3;
+OutputPin<Motate::kDebug4_PinNumber> debug_pin4;
 
 // or these to disable the pin
 //OutputPin<-1> debug_pin1;
@@ -70,12 +67,10 @@ OutputPin<kDebug4_PinNumber> debug_pin4;
 //OutputPin<-1> debug_pin4;
 
 // Put these lines in the .cpp file where you are using the debug pins (appropriately commented / uncommented)
-/*
-using namespace Motate;
-extern OutputPin<kDebug1_PinNumber> debug_pin1;
-extern OutputPin<kDebug2_PinNumber> debug_pin2;
-extern OutputPin<kDebug3_PinNumber> debug_pin3;
-extern OutputPin<kDebug4_PinNumber> debug_pin4;
+/*extern OutputPin<Motate::kDebug1_PinNumber> debug_pin1;
+extern OutputPin<Motate::kDebug2_PinNumber> debug_pin2;
+extern OutputPin<Motate::kDebug3_PinNumber> debug_pin3;
+extern OutputPin<Motate::kDebug4_PinNumber> debug_pin4;
 
 //extern OutputPin<-1> debug_pin1;
 //extern OutputPin<-1> debug_pin2;
diff --git a/g2core/plan_line.cpp b/g2core/plan_line.cpp
index 8ca8028e..83cfb246 100644
--- a/g2core/plan_line.cpp
+++ b/g2core/plan_line.cpp
@@ -42,10 +42,9 @@
 
 // Using motate pins for profiling (see main.cpp)
 // see https://github.com/synthetos/g2/wiki/Using-Pin-Changes-for-Timing-(and-light-debugging)
-using namespace Motate;
-extern OutputPin<kDebug1_PinNumber> debug_pin1;
-extern OutputPin<kDebug2_PinNumber> debug_pin2;
-extern OutputPin<kDebug3_PinNumber> debug_pin3;
+extern OutputPin<Motate::kDebug1_PinNumber> debug_pin1;
+extern OutputPin<Motate::kDebug2_PinNumber> debug_pin2;
+extern OutputPin<Motate::kDebug3_PinNumber> debug_pin3;
 
 // planner helper functions
 static mpBuf_t* _plan_block(mpBuf_t* bf);
diff --git a/g2core/settings/settings_Printrbot_Play.h b/g2core/settings/settings_Printrbot_Play.h
index 7c7acb29..0ddb44ad 100644
--- a/g2core/settings/settings_Printrbot_Play.h
+++ b/g2core/settings/settings_Printrbot_Play.h
@@ -262,7 +262,7 @@
 #if HAS_TEMPERATURE_SENSOR_1
     #define TEMPERATURE_SENSOR_1_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_1_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_1_TYPE  Thermistor<ADCPin<kADC1_PinNumber>>
+    #define TEMPERATURE_SENSOR_1_TYPE  Thermistor<ADCPin<Motate::kADC1_PinNumber>>
     #define TEMPERATURE_SENSOR_1_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
@@ -277,7 +277,7 @@
 #if HAS_TEMPERATURE_SENSOR_2
     #define TEMPERATURE_SENSOR_2_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_2_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_2_TYPE  Thermistor<ADCPin<kADC2_PinNumber>>
+    #define TEMPERATURE_SENSOR_2_TYPE  Thermistor<ADCPin<Motate::kADC2_PinNumber>>
     #define TEMPERATURE_SENSOR_2_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
@@ -292,7 +292,7 @@
 #if HAS_TEMPERATURE_SENSOR_3
     #define TEMPERATURE_SENSOR_3_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_3_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_3_TYPE  Thermistor<ADCPin<kADC3_PinNumber>>
+    #define TEMPERATURE_SENSOR_3_TYPE  Thermistor<ADCPin<Motate::kADC3_PinNumber>>
     #define TEMPERATURE_SENSOR_3_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
diff --git a/g2core/settings/settings_Printrbot_Plus.h b/g2core/settings/settings_Printrbot_Plus.h
index a2971968..4b3ff2c1 100644
--- a/g2core/settings/settings_Printrbot_Plus.h
+++ b/g2core/settings/settings_Printrbot_Plus.h
@@ -249,7 +249,7 @@
 #if HAS_TEMPERATURE_SENSOR_1
     #define TEMPERATURE_SENSOR_1_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_1_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_1_TYPE  Thermistor<ADCPin<kADC1_PinNumber>>
+    #define TEMPERATURE_SENSOR_1_TYPE  Thermistor<ADCPin<Motate::kADC1_PinNumber>>
     #define TEMPERATURE_SENSOR_1_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
@@ -264,7 +264,7 @@
 #if HAS_TEMPERATURE_SENSOR_2
     #define TEMPERATURE_SENSOR_2_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_2_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_2_TYPE  Thermistor<ADCPin<kADC2_PinNumber>>
+    #define TEMPERATURE_SENSOR_2_TYPE  Thermistor<ADCPin<Motate::kADC2_PinNumber>>
     #define TEMPERATURE_SENSOR_2_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
@@ -279,7 +279,7 @@
 #if HAS_TEMPERATURE_SENSOR_3
     #define TEMPERATURE_SENSOR_3_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_3_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_3_TYPE  Thermistor<ADCPin<kADC3_PinNumber>>
+    #define TEMPERATURE_SENSOR_3_TYPE  Thermistor<ADCPin<Motate::kADC3_PinNumber>>
     #define TEMPERATURE_SENSOR_3_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
diff --git a/g2core/settings/settings_Printrbot_Simple_1403.h b/g2core/settings/settings_Printrbot_Simple_1403.h
index de04c7c5..ce2f6cc0 100644
--- a/g2core/settings/settings_Printrbot_Simple_1403.h
+++ b/g2core/settings/settings_Printrbot_Simple_1403.h
@@ -245,7 +245,7 @@
 #if HAS_TEMPERATURE_SENSOR_1
     #define TEMPERATURE_SENSOR_1_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_1_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_1_TYPE  Thermistor<ADCPin<kADC1_PinNumber>>
+    #define TEMPERATURE_SENSOR_1_TYPE  Thermistor<ADCPin<Motate::kADC1_PinNumber>>
     #define TEMPERATURE_SENSOR_1_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
@@ -260,7 +260,7 @@
 #if HAS_TEMPERATURE_SENSOR_2
     #define TEMPERATURE_SENSOR_2_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_2_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_2_TYPE  Thermistor<ADCPin<kADC2_PinNumber>>
+    #define TEMPERATURE_SENSOR_2_TYPE  Thermistor<ADCPin<Motate::kADC2_PinNumber>>
     #define TEMPERATURE_SENSOR_2_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
@@ -275,7 +275,7 @@
 #if HAS_TEMPERATURE_SENSOR_3
     #define TEMPERATURE_SENSOR_3_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_3_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_3_TYPE  Thermistor<ADCPin<kADC3_PinNumber>>
+    #define TEMPERATURE_SENSOR_3_TYPE  Thermistor<ADCPin<Motate::kADC3_PinNumber>>
     #define TEMPERATURE_SENSOR_3_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
diff --git a/g2core/settings/settings_Printrbot_Simple_1608.h b/g2core/settings/settings_Printrbot_Simple_1608.h
index bfb3ee40..444971ae 100644
--- a/g2core/settings/settings_Printrbot_Simple_1608.h
+++ b/g2core/settings/settings_Printrbot_Simple_1608.h
@@ -259,7 +259,7 @@
 #if HAS_TEMPERATURE_SENSOR_1
     #define TEMPERATURE_SENSOR_1_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_1_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_1_TYPE  Thermistor<ADCPin<kADC1_PinNumber>>
+    #define TEMPERATURE_SENSOR_1_TYPE  Thermistor<ADCPin<Motate::kADC1_PinNumber>>
     #define TEMPERATURE_SENSOR_1_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
@@ -274,7 +274,7 @@
 #if HAS_TEMPERATURE_SENSOR_2
     #define TEMPERATURE_SENSOR_2_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_2_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_2_TYPE  Thermistor<ADCPin<kADC2_PinNumber>>
+    #define TEMPERATURE_SENSOR_2_TYPE  Thermistor<ADCPin<Motate::kADC2_PinNumber>>
     #define TEMPERATURE_SENSOR_2_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
@@ -289,7 +289,7 @@
 #if HAS_TEMPERATURE_SENSOR_3
     #define TEMPERATURE_SENSOR_3_CIRCUIT_TYPE ADCCircuitSimplePullup
     #define TEMPERATURE_SENSOR_3_CIRCUIT_INIT { /*pullup_resistance:*/ 4700 }
-    #define TEMPERATURE_SENSOR_3_TYPE  Thermistor<ADCPin<kADC3_PinNumber>>
+    #define TEMPERATURE_SENSOR_3_TYPE  Thermistor<ADCPin<Motate::kADC3_PinNumber>>
     #define TEMPERATURE_SENSOR_3_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, \
diff --git a/g2core/settings/settings_Ultimaker_2_Plus.h b/g2core/settings/settings_Ultimaker_2_Plus.h
index 350ebeb7..6d89b6a5 100644
--- a/g2core/settings/settings_Ultimaker_2_Plus.h
+++ b/g2core/settings/settings_Ultimaker_2_Plus.h
@@ -377,7 +377,7 @@ M100.1 ({{ajh:144000.0}})
 #if HAS_TEMPERATURE_SENSOR_1
 //    #define TEMPERATURE_SENSOR_1_CIRCUIT_TYPE ADCCircuitDifferentialPullup
 //    #define TEMPERATURE_SENSOR_1_CIRCUIT_INIT { /*pullup_resistance:*/ 200 }
-//    #define TEMPERATURE_SENSOR_1_TYPE  PT100<ADCDifferentialPair<kADC1_Neg_PinNumber, kADC1_Pos_PinNumber>>
+//    #define TEMPERATURE_SENSOR_1_TYPE  PT100<ADCDifferentialPair<Motate::kADC1_Neg_PinNumber, kADC1_Pos_PinNumber>>
 //    #define TEMPERATURE_SENSOR_1_INIT {&temperature_sensor_1_circuit}
 
     #define TEMPERATURE_SENSOR_1_CIRCUIT_TYPE ADCCircuitRawResistance
@@ -393,7 +393,7 @@ M100.1 ({{ajh:144000.0}})
 #if HAS_TEMPERATURE_SENSOR_2
     #define TEMPERATURE_SENSOR_2_CIRCUIT_TYPE ADCCircuitDifferentialPullup
     #define TEMPERATURE_SENSOR_2_CIRCUIT_INIT { /*pullup_resistance:*/ 200 }
-    #define TEMPERATURE_SENSOR_2_TYPE  PT100<ADCDifferentialPair<kADC2_Neg_PinNumber, kADC2_Pos_PinNumber>>
+    #define TEMPERATURE_SENSOR_2_TYPE  PT100<ADCDifferentialPair<Motate::kADC2_Neg_PinNumber, kADC2_Pos_PinNumber>>
     #define TEMPERATURE_SENSOR_2_INIT {&temperature_sensor_2_circuit}
 
     // #define TEMPERATURE_SENSOR_2_CIRCUIT_TYPE ADCCircuitRawResistance
@@ -408,7 +408,7 @@ M100.1 ({{ajh:144000.0}})
 #if HAS_TEMPERATURE_SENSOR_3
 //    #define TEMPERATURE_SENSOR_3_CIRCUIT_TYPE ADCCircuitDifferentialPullup
 //    #define TEMPERATURE_SENSOR_3_CIRCUIT_INIT { /*pullup_resistance:*/ 200 }
-//    #define TEMPERATURE_SENSOR_3_TYPE  PT100<ADCDifferentialPair<kADC3_Neg_PinNumber, kADC3_Pos_PinNumber>>
+//    #define TEMPERATURE_SENSOR_3_TYPE  PT100<ADCDifferentialPair<Motate::kADC3_Neg_PinNumber, kADC3_Pos_PinNumber>>
 //    #define TEMPERATURE_SENSOR_3_INIT {&temperature_sensor_3_circuit}
 
     #define TEMPERATURE_SENSOR_3_CIRCUIT_TYPE ADCCircuitRawResistance
diff --git a/g2core/settings/settings_ender.h b/g2core/settings/settings_ender.h
index 59433e7c..442236cf 100644
--- a/g2core/settings/settings_ender.h
+++ b/g2core/settings/settings_ender.h
@@ -302,7 +302,7 @@
 #define B_ZERO_BACKOFF          2
 #define B_JERK_HIGH_SPEED       361108.0 // ~150 million mm/min^3
 
- 
+
 //*** Input / output settings ***
 
 //** Temperature Sensors **
@@ -316,13 +316,13 @@
 #if HAS_TEMPERATURE_SENSOR_1
 // Must choose Thermistor or PT100
 #if 1 // 1 if a Thermistor, 0 if a PT100
-    #define TEMPERATURE_SENSOR_1_TYPE  Thermistor<ADCDifferentialPair<kADC1_Neg_PinNumber, kADC1_Pos_PinNumber>>
+    #define TEMPERATURE_SENSOR_1_TYPE  Thermistor<ADCDifferentialPair<Motate::kADC1_Neg_PinNumber, kADC1_Pos_PinNumber>>
     #define TEMPERATURE_SENSOR_1_INIT { \
         /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
         /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, /*pullup_resistance:*/ 200 \
     }
 #else
-    // #define TEMPERATURE_SENSOR_1_TYPE  PT100<ADCDifferentialPair<kADC1_Neg_PinNumber, kADC1_Pos_PinNumber>>
+    // #define TEMPERATURE_SENSOR_1_TYPE  PT100<ADCDifferentialPair<Motate::kADC1_Neg_PinNumber, kADC1_Pos_PinNumber>>
     // #define TEMPERATURE_SENSOR_1_INIT {/*pullup_resistance:*/ 2000, /*inline_resistance*/0.0}
    #define TEMPERATURE_SENSOR_1_TYPE  PT100<MAX31865<SPIBus_used_t::SPIBusDevice>>
    #define TEMPERATURE_SENSOR_1_INIT {/*pullup_resistance:*/ 430, /*inline_resistance*/0, spiBus, spiCSPinMux.getCS(5)}
@@ -335,13 +335,13 @@
 #define HAS_TEMPERATURE_SENSOR_2  false
 #if HAS_TEMPERATURE_SENSOR_2
 #if 1 // 1 if a Thermistor, 0 if a PT100
-    #define TEMPERATURE_SENSOR_2_TYPE  Thermistor<ADCDifferentialPair<kADC2_Neg_PinNumber, kADC2_Pos_PinNumber>>
+    #define TEMPERATURE_SENSOR_2_TYPE  Thermistor<ADCDifferentialPair<Motate::kADC2_Neg_PinNumber, kADC2_Pos_PinNumber>>
     #define TEMPERATURE_SENSOR_2_INIT { \
     /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
     /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, /*pullup_resistance:*/ 4700 \
     }
 #else
-    #define TEMPERATURE_SENSOR_2_TYPE  PT100<ADCDifferentialPair<kADC2_Neg_PinNumber, kADC2_Pos_PinNumber>>
+    #define TEMPERATURE_SENSOR_2_TYPE  PT100<ADCDifferentialPair<Motate::kADC2_Neg_PinNumber, kADC2_Pos_PinNumber>>
     #define TEMPERATURE_SENSOR_2_INIT {/*pullup_resistance:*/ 200, /*inline_resistance*/0.0}
 //    #define TEMPERATURE_SENSOR_2_TYPE  PT100<MAX31865<SPIBus_used_t::SPIBusDevice>>
 //    #define TEMPERATURE_SENSOR_2_INIT {/*pullup_resistance:*/ 430, /*inline_resistance*/0, spiBus, spiCSPinMux.getCS(5)}
@@ -353,13 +353,13 @@
 #define HAS_TEMPERATURE_SENSOR_3  true
 #if HAS_TEMPERATURE_SENSOR_3
 #if 1 // 1 if a Thermistor, 0 if a PT100
-    #define TEMPERATURE_SENSOR_3_TYPE  Thermistor<ADCDifferentialPair<kADC3_Neg_PinNumber, kADC3_Pos_PinNumber>>
+    #define TEMPERATURE_SENSOR_3_TYPE  Thermistor<ADCDifferentialPair<Motate::kADC3_Neg_PinNumber, kADC3_Pos_PinNumber>>
     #define TEMPERATURE_SENSOR_3_INIT { \
     /*T1:*/     20.0, /*T2:*/   190.0,  /*T3:*/ 255.0, \
     /*R1:*/ 144700.0, /*R2:*/  5190.0, /*R3:*/ 4809.0, /*pullup_resistance:*/ 4700 \
     }
 #else
-    // #define TEMPERATURE_SENSOR_3_TYPE  PT100<ADCDifferentialPair<kADC3_Neg_PinNumber, kADC3_Pos_PinNumber>>
+    // #define TEMPERATURE_SENSOR_3_TYPE  PT100<ADCDifferentialPair<Motate::kADC3_Neg_PinNumber, kADC3_Pos_PinNumber>>
     // #define TEMPERATURE_SENSOR_3_INIT {/*pullup_resistance:*/ 200, /*inline_resistance*/0.0}
    #define TEMPERATURE_SENSOR_3_TYPE  PT100<MAX31865<SPIBus_used_t::SPIBusDevice>>
    #define TEMPERATURE_SENSOR_3_INIT {/*pullup_resistance:*/ 430, /*inline_resistance*/0, spiBus, spiCSPinMux.getCS(6)}
@@ -491,4 +491,4 @@
 #define H3_DEFAULT_D                50
 #define H3_DEFAULT_F                0.0015
 
-#define TEMP_MIN_BED_RISE_DEGREES_OVER_TIME 0.1
\ No newline at end of file
+#define TEMP_MIN_BED_RISE_DEGREES_OVER_TIME 0.1
diff --git a/g2core/stepper.cpp b/g2core/stepper.cpp
index 079b91f9..25179b32 100644
--- a/g2core/stepper.cpp
+++ b/g2core/stepper.cpp
@@ -62,13 +62,12 @@ static void _load_move(void) HOT_FUNC;
 
 /**** Setup motate ****/
 
-using namespace Motate;
-extern OutputPin<kDebug1_PinNumber> debug_pin1;
-extern OutputPin<kDebug2_PinNumber> debug_pin2;
-extern OutputPin<kDebug3_PinNumber> debug_pin3;
-//extern OutputPin<kDebug4_PinNumber> debug_pin4;
+extern OutputPin<Motate::kDebug1_PinNumber> debug_pin1;
+extern OutputPin<Motate::kDebug2_PinNumber> debug_pin2;
+extern OutputPin<Motate::kDebug3_PinNumber> debug_pin3;
+//extern OutputPin<Motate::kDebug4_PinNumber> debug_pin4;
 
-dda_timer_type dda_timer     {kTimerUpToMatch, FREQUENCY_DDA};      // stepper pulse generation
+dda_timer_type dda_timer     {Motate::kTimerUpToMatch, FREQUENCY_DDA};      // stepper pulse generation
 exec_timer_type exec_timer;         // triggers calculation of next+1 stepper segment
 fwd_plan_timer_type fwd_plan_timer; // triggers planning of next block
 
@@ -126,6 +125,8 @@ http://en.cppreference.com/w/cpp/language/lambda
  */
 void stepper_init()
 {
+    using namespace Motate;
+
     memset(&st_run, 0, sizeof(st_run));            // clear all values, pointers and status
     memset(&st_pre, 0, sizeof(st_pre));            // clear all values, pointers and status
     stepper_init_assertions();
diff --git a/g2core/temperature.cpp b/g2core/temperature.cpp
index 4e7b1cd3..25decdb0 100644
--- a/g2core/temperature.cpp
+++ b/g2core/temperature.cpp
@@ -53,19 +53,19 @@
 #define HAS_TEMPERATURE_SENSOR_3  false
 #endif
 #ifndef EXTRUDER_1_OUTPUT_PIN
-#define EXTRUDER_1_OUTPUT_PIN kOutput1_PinNumber
+#define EXTRUDER_1_OUTPUT_PIN Motate::kOutput1_PinNumber
 #endif
 #ifndef EXTRUDER_1_FAN_PIN
-#define EXTRUDER_1_FAN_PIN    kOutput3_PinNumber
+#define EXTRUDER_1_FAN_PIN    Motate::kOutput3_PinNumber
 #endif
 #ifndef EXTRUDER_2_OUTPUT_PIN
-#define EXTRUDER_2_OUTPUT_PIN kOutput2_PinNumber
+#define EXTRUDER_2_OUTPUT_PIN Motate::kOutput2_PinNumber
 #endif
 #ifndef BED_OUTPUT_PIN
-#define BED_OUTPUT_PIN kOutput11_PinNumber
+#define BED_OUTPUT_PIN Motate::kOutput11_PinNumber
 #endif
 #ifndef BED_OUTPUT_INIT
-#define BED_OUTPUT_INIT {kNormal, fet_pin3_freq}
+#define BED_OUTPUT_INIT {Motate::kNormal, fet_pin3_freq}
 // OR
 //#define BED_OUTPUT_INIT {kPWMPinInverted, fet_pin3_freq};
 #endif
@@ -125,8 +125,6 @@
 /**** Allocate structures ****/
 
 // This makes the Motate:: prefix unnecessary.
-using namespace Motate;
-
 /****** Create file-global objects ******/
 
 // The should be set in hardware.h for each board.
@@ -314,10 +312,10 @@ struct Thermistor {
     template <typename... Ts>
     Thermistor(const float temp_low, const float temp_med, const float temp_high, const float res_low, const float res_med, const float res_high, const ADCCircuit *_circuit, Ts&&... additional_values)
     : circuit{_circuit},
-      adc_pin{kNormal, [&]{this->adc_has_new_value();}, std::forward<Ts>(additional_values)...}
+      adc_pin{Motate::kNormal, [&]{this->adc_has_new_value();}, std::forward<Ts>(additional_values)...}
     {
         setup(temp_low, temp_med, temp_high, res_low, res_med, res_high);
-        adc_pin.setInterrupts(kPinInterruptOnChange|kInterruptPriorityLow);
+        adc_pin.setInterrupts(Motate::kPinInterruptOnChange|Motate::kInterruptPriorityLow);
         adc_pin.setVoltageRange(kSystemVoltage,
                                 0, //get_voltage_of_temp(min_temp),
                                 kSystemVoltage, //get_voltage_of_temp(max_temp),
@@ -435,9 +433,9 @@ struct PT100 {
     template <typename... Ts>
     PT100(const ADCCircuit *_circuit, Ts&&... additional_values)
     : circuit{_circuit},
-      adc_pin{kNormal, [&](bool e){this->adc_has_new_value(e);}, additional_values...}
+      adc_pin{Motate::kNormal, [&](bool e){this->adc_has_new_value(e);}, additional_values...}
     {
-        adc_pin.setInterrupts(kPinInterruptOnChange|kInterruptPriorityLow);
+        adc_pin.setInterrupts(Motate::kPinInterruptOnChange|Motate::kInterruptPriorityLow);
         adc_pin.setVoltageRange(kSystemVoltage,
                                 get_voltage_of_temp(min_temp),
                                 get_voltage_of_temp(max_temp),
@@ -579,7 +577,7 @@ float last_reported_temp3 = 0;
 // DO_1: Extruder1_PWM
 const int32_t fet_pin1_freq = 2000;
 #if TEMPERATURE_OUTPUT_ON == 1
-PWMOutputPin<EXTRUDER_1_OUTPUT_PIN> fet_pin1 {kNormal, fet_pin1_freq};// {kPWMPinInverted, fet_pin1_freq};
+PWMOutputPin<EXTRUDER_1_OUTPUT_PIN> fet_pin1 {Motate::kNormal, fet_pin1_freq};// {kPWMPinInverted, fet_pin1_freq};
 #else
 PWMOutputPin<-1> fet_pin1;// {kPWMPinInverted};
 #endif
@@ -587,7 +585,7 @@ PWMOutputPin<-1> fet_pin1;// {kPWMPinInverted};
 // DO_2: Extruder2_PWM
 const int32_t fet_pin2_freq = 2000;
 #if TEMPERATURE_OUTPUT_ON == 1
-PWMOutputPin<EXTRUDER_2_OUTPUT_PIN> fet_pin2 {kNormal, fet_pin2_freq};// {kPWMPinInverted, fet_pin1_freq};
+PWMOutputPin<EXTRUDER_2_OUTPUT_PIN> fet_pin2 {Motate::kNormal, fet_pin2_freq};// {kPWMPinInverted, fet_pin1_freq};
 #else
 PWMOutputPin<-1> fet_pin2;// {kPWMPinInverted};
 #endif
@@ -603,11 +601,11 @@ PWMOutputPin<-1> fet_pin3;// {kPWMPinInverted};
 
 
 // DO_3: Fan1A_PWM
-//PWMOutputPin<kOutput3_PinNumber> fan_pin1;
+//PWMOutputPin<Motate::kOutput3_PinNumber> fan_pin1;
 // DO_4: Fan1B_PWM
-//PWMOutputPin<kOutput4_PinNumber> fan_pin2;
+//PWMOutputPin<Motate::kOutput4_PinNumber> fan_pin2;
 // DO_5: Fan2A_PWM
-//PWMOutputPin<kOutput5_PinNumber> fan_pin3;
+//PWMOutputPin<Motate::kOutput5_PinNumber> fan_pin3;
 
 
 //// We're going to utilize the fet_pin1 PWMOutputPin<>'s timer interrupt to drive the ADC sampling.
@@ -616,7 +614,7 @@ PWMOutputPin<-1> fet_pin3;// {kPWMPinInverted};
 //#if TEMPERATURE_OUTPUT_ON == 1
 //namespace Motate {
 //    template<>
-//    void PWMOutputPin<kOutput1_PinNumber>::parentTimerType::interrupt() {
+//    void PWMOutputPin<Motate::kOutput1_PinNumber>::parentTimerType::interrupt() {
 //        if (!--fet_pin1_sample_counter) {
 //            ADC_Module::startSampling();
 //            fet_pin1_sample_counter = fet_pin1_sample_freq;
@@ -630,7 +628,7 @@ PWMOutputPin<-1> fet_pin3;// {kPWMPinInverted};
 // We're going to register a SysTick event
 const int16_t temperature_sample_freq = 10; // every fet_pin1_sample_freq interrupts, sample
 int16_t temperature_sample_counter = temperature_sample_freq;
-SysTickEvent adc_tick_event {[&] {
+Motate::SysTickEvent adc_tick_event {[&] {
     if (!--temperature_sample_counter) {
         temperature_sensor_1.start_sampling();
         temperature_sensor_2.start_sampling();
@@ -861,7 +859,7 @@ void temperature_init()
 
     // Register the SysTick event (described above)
 #if TEMPERATURE_OUTPUT_ON == 1
-    SysTickTimer.registerEvent(&adc_tick_event);
+    Motate::SysTickTimer.registerEvent(&adc_tick_event);
 #endif
 
     temperature_reset();
diff --git a/g2core/util.cpp b/g2core/util.cpp
index d1b9e7a1..377fbfbb 100644
--- a/g2core/util.cpp
+++ b/g2core/util.cpp
@@ -694,7 +694,7 @@ char inttoa(char *str, int n)
 void LAGER(const char * msg)
 {
     char message[64];
-    sprintf(message, "%lu: %s\n", SysTickTimer_getValue(), msg);
+    sprintf(message, "%lu: %s\n", Motate::SysTickTimer.getValue(), msg);
     xio_writeline(message);
 }
 
@@ -702,9 +702,9 @@ void LAGER_cm(const char * msg)
 {
     char message[64];
     if (cm == &cm1) {
-        sprintf(message, "%lu: p1 %s\n", SysTickTimer_getValue(), msg);
+        sprintf(message, "%lu: p1 %s\n", Motate::SysTickTimer.getValue(), msg);
     } else {
-        sprintf(message, "%lu: p2 %s\n", SysTickTimer_getValue(), msg);
+        sprintf(message, "%lu: p2 %s\n", Motate::SysTickTimer.getValue(), msg);
     }
     xio_writeline(message);
 }