diff --git a/mkdocs.yml b/mkdocs.yml
index e3f7c2e..3de1379 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -1,6 +1,6 @@
 site_name: ftSwarm.py - Help and Reference
 copyright: "© Christian Bergschneider & Stefan Fuss"
-site_url: https://ftswarm-py.bloeckchengrafik.de
+site_url: https://bloeckchengrafik.de/ftswarm.py
 
 theme:
   name: material
@@ -8,5 +8,5 @@ theme:
 nav:
   - Introduction: 'index.md'
   - 'quickstart.md'
-  - Reference: '/reference'
+  - Reference: '/ftswarm.py/reference/swarm.html'
   - 'Issue Tracker': 'https://github.com/Bloeckchengrafik/ftswarm.py'
\ No newline at end of file
diff --git a/swarm/__init__.py b/swarm/__init__.py
index ec2295e..3d08ca4 100644
--- a/swarm/__init__.py
+++ b/swarm/__init__.py
@@ -1,5 +1,4 @@
 import asyncio
-import logging
 from swarm.swarm import *
 
 from .serialhandler import SerialHandler
@@ -98,20 +97,20 @@ async def get_thermometer(self, port_name: str) -> FtSwarmThermometer:
     async def get_ldr(self, port_name: str) -> FtSwarmLDR:
         return await self._get_object(port_name, FtSwarmLDR)
 
-    async def get_motor(self, port_name: str) -> FtSwarmMotor:
-        return await self._get_object(port_name, FtSwarmMotor)
+    async def get_motor(self, port_name: str, high_precision: bool = False) -> FtSwarmMotor:
+        return await self._get_object(port_name, FtSwarmMotor, high_precision)
 
-    async def get_tractor_motor(self, port_name: str) -> FtSwarmTractorMotor:
-        return await self._get_object(port_name, FtSwarmTractorMotor)
+    async def get_tractor_motor(self, port_name: str, high_precision: bool = False) -> FtSwarmTractorMotor:
+        return await self._get_object(port_name, FtSwarmTractorMotor, high_precision)
 
-    async def get_xm_motor(self, port_name: str) -> FtSwarmXMMotor:
-        return await self._get_object(port_name, FtSwarmXMMotor)
+    async def get_xm_motor(self, port_name: str, high_precision: bool = False) -> FtSwarmXMMotor:
+        return await self._get_object(port_name, FtSwarmXMMotor, high_precision)
 
-    async def get_encoder_motor(self, port_name: str) -> FtSwarmEncoderMotor:
-        return await self._get_object(port_name, FtSwarmEncoderMotor)
+    async def get_encoder_motor(self, port_name: str, high_precision: bool = False) -> FtSwarmEncoderMotor:
+        return await self._get_object(port_name, FtSwarmEncoderMotor, high_precision)
 
-    async def get_lamp(self, port_name: str) -> FtSwarmLamp:
-        return await self._get_object(port_name, FtSwarmLamp)
+    async def get_lamp(self, port_name: str, high_precision: bool = False) -> FtSwarmLamp:
+        return await self._get_object(port_name, FtSwarmLamp, high_precision)
 
     async def get_valve(self, port_name: str) -> FtSwarmValve:
         return await self._get_object(port_name, FtSwarmValve)
diff --git a/swarm/swarm.py b/swarm/swarm.py
index aeef380..ac1115c 100644
--- a/swarm/swarm.py
+++ b/swarm/swarm.py
@@ -290,8 +290,12 @@ class FtSwarmActor(FtSwarmIO):
     Don't use this class directly, use one of the derived classes instead
     """
 
+    def __init__(self, swarm: FtSwarmBase, port_name: str, high_precision: bool = False) -> None:
+        super().__init__(swarm, port_name)
+        self._high_precision = high_precision
+
     async def post_init(self) -> None:
-        await self._swarm.send(self._port_name, "setActorType", await self.get_actor_type())
+        await self._swarm.send(self._port_name, "setActorType", await self.get_actor_type(), self._high_precision)
 
     async def get_actor_type(self) -> Actor:
         return Actor.UNDEFINDED