diff --git a/examples/avr/display/dogm128/benchmark/main.cpp b/examples/avr/display/dogm128/benchmark/main.cpp
index b8989c1dbe..6489192b54 100644
--- a/examples/avr/display/dogm128/benchmark/main.cpp
+++ b/examples/avr/display/dogm128/benchmark/main.cpp
@@ -129,8 +129,8 @@ introScreen()
 void
 drawSpinner(Point center, uint8_t pos)
 {
-	const uint8_t x = center.getX();
-	const uint8_t y = center.getY();
+	const uint8_t x = center.x();
+	const uint8_t y = center.y();
 
 	switch(pos % 8)
 	{
diff --git a/examples/nucleo_f042k6/lis3mdl/main.cpp b/examples/nucleo_f042k6/lis3mdl/main.cpp
index 461a11c476..2c1d95e5b6 100644
--- a/examples/nucleo_f042k6/lis3mdl/main.cpp
+++ b/examples/nucleo_f042k6/lis3mdl/main.cpp
@@ -58,9 +58,9 @@ main()
 		if(success)
 		{
 			MODM_LOG_INFO << "Magnetic Vector:" << modm::endl;
-			MODM_LOG_INFO << "X: "<< magVector.x << " gauss" << modm::endl;
-			MODM_LOG_INFO << "Y: "<< magVector.y << " gauss" << modm::endl;
-			MODM_LOG_INFO << "Z: "<< magVector.z << " gauss" << modm::endl;
+			MODM_LOG_INFO << "X: "<< magVector.x() << " gauss" << modm::endl;
+			MODM_LOG_INFO << "Y: "<< magVector.y() << " gauss" << modm::endl;
+			MODM_LOG_INFO << "Z: "<< magVector.z() << " gauss" << modm::endl;
 			MODM_LOG_INFO  << modm::endl;
 		}
 		else
diff --git a/examples/nucleo_f042k6/lsm6ds33/main.cpp b/examples/nucleo_f042k6/lsm6ds33/main.cpp
index 0c839f9d24..9c9af231f8 100644
--- a/examples/nucleo_f042k6/lsm6ds33/main.cpp
+++ b/examples/nucleo_f042k6/lsm6ds33/main.cpp
@@ -54,15 +54,15 @@ main()
 		if(accSuccess && gyroSuccess)
 		{
 			MODM_LOG_INFO << "Acceleration Vector:" << modm::endl;
-			MODM_LOG_INFO << "X: "<< accVector.x << " g" << modm::endl;
-			MODM_LOG_INFO << "Y: "<< accVector.y << " g" << modm::endl;
-			MODM_LOG_INFO << "Z: "<< accVector.z << " g" << modm::endl;
+			MODM_LOG_INFO << "X: "<< accVector.x() << " g" << modm::endl;
+			MODM_LOG_INFO << "Y: "<< accVector.y() << " g" << modm::endl;
+			MODM_LOG_INFO << "Z: "<< accVector.z() << " g" << modm::endl;
 			MODM_LOG_INFO  << modm::endl;
 
 			MODM_LOG_INFO << "Spin Rates Vector:" << modm::endl;
-			MODM_LOG_INFO << "X: "<< gyroVector.x << " deg/s" << modm::endl;
-			MODM_LOG_INFO << "Y: "<< gyroVector.y << " deg/s" << modm::endl;
-			MODM_LOG_INFO << "Z: "<< gyroVector.z << " deg/s" << modm::endl;
+			MODM_LOG_INFO << "X: "<< gyroVector.x() << " deg/s" << modm::endl;
+			MODM_LOG_INFO << "Y: "<< gyroVector.y() << " deg/s" << modm::endl;
+			MODM_LOG_INFO << "Z: "<< gyroVector.z() << " deg/s" << modm::endl;
 			MODM_LOG_INFO  << modm::endl;
 
 		}
diff --git a/examples/nucleo_f429zi/pat9125el/main.cpp b/examples/nucleo_f429zi/pat9125el/main.cpp
index 7a4ea3ea36..9ddb3c845c 100644
--- a/examples/nucleo_f429zi/pat9125el/main.cpp
+++ b/examples/nucleo_f429zi/pat9125el/main.cpp
@@ -57,7 +57,7 @@ class Thread : public modm::pt::Protothread
 				position += sensor.getData();
 
 				Board::Leds::write(0b111);
-				MODM_LOG_INFO << "Position: " << position.x << ", " << position.y << modm::endl;
+				MODM_LOG_INFO << "Position: " << position << modm::endl;
 				sensor.resetMoved();
 			} else {
 				Board::Leds::write(0b000);
diff --git a/examples/stm32_f4ve/gui/main.cpp b/examples/stm32_f4ve/gui/main.cpp
index 29c27eecaa..a979e96173 100644
--- a/examples/stm32_f4ve/gui/main.cpp
+++ b/examples/stm32_f4ve/gui/main.cpp
@@ -169,23 +169,23 @@ static void
 drawCross(modm::ColorGraphicDisplay& display, modm::glcd::Point center)
 {
 	display.setColor(html::Red);
-	display.drawLine(center.x - 15, center.y, center.x - 2, center.y);
-	display.drawLine(center.x + 2, center.y, center.x + 15, center.y);
-	display.drawLine(center.x, center.y - 15, center.x, center.y - 2);
-	display.drawLine(center.x, center.y + 2, center.x, center.y + 15);
+	display.drawLine(center.x() - 15, center.y(), center.x() - 2, center.y());
+	display.drawLine(center.x() + 2, center.y(), center.x() + 15, center.y());
+	display.drawLine(center.x(), center.y() - 15, center.x(), center.y() - 2);
+	display.drawLine(center.x(), center.y() + 2, center.x(), center.y() + 15);
 
 	display.setColor(html::White);
-	display.drawLine(center.x - 15, center.y + 15, center.x - 7, center.y + 15);
-	display.drawLine(center.x - 15, center.y + 7, center.x - 15, center.y + 15);
+	display.drawLine(center.x() - 15, center.y() + 15, center.x() - 7, center.y() + 15);
+	display.drawLine(center.x() - 15, center.y() + 7, center.x() - 15, center.y() + 15);
 
-	display.drawLine(center.x - 15, center.y - 15, center.x - 7, center.y - 15);
-	display.drawLine(center.x - 15, center.y - 7, center.x - 15, center.y - 15);
+	display.drawLine(center.x() - 15, center.y() - 15, center.x() - 7, center.y() - 15);
+	display.drawLine(center.x() - 15, center.y() - 7, center.x() - 15, center.y() - 15);
 
-	display.drawLine(center.x + 7, center.y + 15, center.x + 15, center.y + 15);
-	display.drawLine(center.x + 15, center.y + 7, center.x + 15, center.y + 15);
+	display.drawLine(center.x() + 7, center.y() + 15, center.x() + 15, center.y() + 15);
+	display.drawLine(center.x() + 15, center.y() + 7, center.x() + 15, center.y() + 15);
 
-	display.drawLine(center.x + 7, center.y - 15, center.x + 15, center.y - 15);
-	display.drawLine(center.x + 15, center.y - 15, center.x + 15, center.y - 7);
+	display.drawLine(center.x() + 7, center.y() - 15, center.x() + 15, center.y() - 15);
+	display.drawLine(center.x() + 15, center.y() - 15, center.x() + 15, center.y() - 7);
 }
 
 static void
@@ -211,7 +211,7 @@ calibrateTouchscreen(modm::ColorGraphicDisplay& display, modm::glcd::Point *fixe
 				// wait until a valid sample can be taken
 			}
 
-			MODM_LOG_DEBUG << "calibration point: ("  << sample[i].x << " | " << sample[i].y << ")" << modm::endl;
+			MODM_LOG_DEBUG << "calibration point: ("  << sample[i].x() << " | " << sample[i].y() << ")" << modm::endl;
 		}
 
 		touchscreen.calibrate(calibrationPoint, sample);
@@ -227,14 +227,14 @@ void
 drawPoint(modm::GraphicDisplay& display, modm::glcd::Point point)
 {
 	MODM_LOG_DEBUG << __PRETTY_FUNCTION__ << modm::endl;
-	if (point.x < 0 || point.y < 0) {
+	if (point.x() < 0 || point.y() < 0) {
 		return;
 	}
 
-	display.setPixel(point.x, point.y);
-	display.setPixel(point.x + 1, point.y);
-	display.setPixel(point.x, point.y + 1);
-	display.setPixel(point.x + 1, point.y + 1);
+	display.setPixel(point.x(), point.y());
+	display.setPixel(point.x() + 1, point.y());
+	display.setPixel(point.x(), point.y() + 1);
+	display.setPixel(point.x() + 1, point.y() + 1);
 }
 
 // ----------------------------------------------------------------------------
@@ -286,8 +286,8 @@ debounceTouch(modm::glcd::Point *out, modm::glcd::Point *old)
 			// translate point according to calibration
 			touchscreen.translate(&raw, &point);
 
-			if(abs(point.x - old->x) < TP_TOLERANCE &&
-			   abs(point.y - old->y) < TP_TOLERANCE
+			if(abs(point.x() - old->x()) < TP_TOLERANCE &&
+			   abs(point.y() - old->y()) < TP_TOLERANCE
 			  )
 			{
 				// point is within area of last touch
@@ -321,8 +321,8 @@ touchUp(void* data)
 	modm::gui::InputEvent* ev = static_cast<modm::gui::InputEvent*>(data);
 
 	MODM_LOG_DEBUG << "asynchronous UP-event:" << modm::endl;
-	MODM_LOG_DEBUG << "x: " << ev->coord.x << modm::endl;
-	MODM_LOG_DEBUG << "y: " << ev->coord.y << modm::endl;
+	MODM_LOG_DEBUG << "x: " << ev->coord.x() << modm::endl;
+	MODM_LOG_DEBUG << "y: " << ev->coord.y() << modm::endl;
 
 	// queue UP-event as new input event
 	input_queue.push(ev);
@@ -351,8 +351,8 @@ gatherInput()
 		auto async_ev = new modm::gui::AsyncEvent(500, &touchUp, (void*)(ev_up));
 		async_events.append(async_ev);
 
-		MODM_LOG_DEBUG << "touch down x: " << point.x << modm::endl;
-		MODM_LOG_DEBUG << "touch down y: " << point.y << modm::endl;
+		MODM_LOG_DEBUG << "touch down x: " << point.x() << modm::endl;
+		MODM_LOG_DEBUG << "touch down y: " << point.y() << modm::endl;
 
 	}
 }
@@ -492,11 +492,11 @@ main()
 		/*
 		 * display an arbitrary image
 		 */
-		// if(pixPos.x < 0 || (pixPos.x + pix[0]) > tft.getWidth()){
-		// 	pixDeltaPos.x *= -1;
+		// if(pixPos.x() < 0 || (pixPos.x() + pix[0]) > tft.getWidth()){
+		// 	pixDeltaPos.x() *= -1;
 		// }
-		// if(pixPos.y < 0 || (pixPos.y + pix[1]) > tft.getHeight()){
-		// 	pixDeltaPos.y *= -1;
+		// if(pixPos.y() < 0 || (pixPos.y() + pix[1]) > tft.getHeight()){
+		// 	pixDeltaPos.y() *= -1;
 		// }
 		// pixPos += pixDeltaPos;
 		// tft.drawImage(pixPos, pix);
diff --git a/examples/stm32_f4ve/gui/touchscreen_calibrator.hpp b/examples/stm32_f4ve/gui/touchscreen_calibrator.hpp
index 9fe858941a..f8fefd47be 100644
--- a/examples/stm32_f4ve/gui/touchscreen_calibrator.hpp
+++ b/examples/stm32_f4ve/gui/touchscreen_calibrator.hpp
@@ -56,34 +56,34 @@ modm::TouchscreenCalibrator::calibrate(
 		modm::glcd::Point * display, modm::glcd::Point * sample)
 {
 	// K��(X0��X2) (Y1��Y2)��(X1��X2) (Y0��Y2)
-	scale =	((sample[0].x - sample[2].x) * (sample[1].y - sample[2].y)) -
-			((sample[1].x - sample[2].x) * (sample[0].y - sample[2].y));
+	scale =	((sample[0].x() - sample[2].x()) * (sample[1].y() - sample[2].y())) -
+			((sample[1].x() - sample[2].x()) * (sample[0].y() - sample[2].y()));
 
 	if (scale == 0) {
 		return false;
 	}
 
 	// A��((XD0��XD2) (Y1��Y2)��(XD1��XD2) (Y0��Y2))��K
-	An =	((display[0].x - display[2].x) * (sample[1].y - sample[2].y)) -
-			((display[1].x - display[2].x) * (sample[0].y - sample[2].y));
+	An =	((display[0].x() - display[2].x()) * (sample[1].y() - sample[2].y())) -
+			((display[1].x() - display[2].x()) * (sample[0].y() - sample[2].y()));
 	// B��((X0��X2) (XD1��XD2)��(XD0��XD2) (X1��X2))��K	*/
-	Bn =	((sample[0].x - sample[2].x) * (display[1].x - display[2].x)) -
-			((display[0].x - display[2].x) * (sample[1].x - sample[2].x));
+	Bn =	((sample[0].x() - sample[2].x()) * (display[1].x() - display[2].x())) -
+			((display[0].x() - display[2].x()) * (sample[1].x() - sample[2].x()));
 	// C��(Y0(X2XD1��X1XD2)+Y1(X0XD2��X2XD0)+Y2(X1XD0��X0XD1))��K */
-	Cn =	(sample[2].x * display[1].x - sample[1].x * display[2].x) * sample[0].y +
-			(sample[0].x * display[2].x - sample[2].x * display[0].x) * sample[1].y +
-			(sample[1].x * display[0].x - sample[0].x * display[1].x) * sample[2].y;
+	Cn =	(sample[2].x() * display[1].x() - sample[1].x() * display[2].x()) * sample[0].y() +
+			(sample[0].x() * display[2].x() - sample[2].x() * display[0].x()) * sample[1].y() +
+			(sample[1].x() * display[0].x() - sample[0].x() * display[1].x()) * sample[2].y();
 
 	// D��((YD0��YD2) (Y1��Y2)��(YD1��YD2) (Y0��Y2))��K	*/
-	Dn =	((display[0].y - display[2].y) * (sample[1].y - sample[2].y)) -
-			((display[1].y - display[2].y) * (sample[0].y - sample[2].y));
+	Dn =	((display[0].y() - display[2].y()) * (sample[1].y() - sample[2].y())) -
+			((display[1].y() - display[2].y()) * (sample[0].y() - sample[2].y()));
 	// E��((X0��X2) (YD1��YD2)��(YD0��YD2) (X1��X2))��K	*/
-	En =	((sample[0].x - sample[2].x) * (display[1].y - display[2].y)) -
-			((display[0].y - display[2].y) * (sample[1].x - sample[2].x));
+	En =	((sample[0].x() - sample[2].x()) * (display[1].y() - display[2].y())) -
+			((display[0].y() - display[2].y()) * (sample[1].x() - sample[2].x()));
 	// F��(Y0(X2YD1��X1YD2)+Y1(X0YD2��X2YD0)+Y2(X1YD0��X0YD1))��K */
-	Fn =	(sample[2].x * display[1].y - sample[1].x * display[2].y) * sample[0].y +
-			(sample[0].x * display[2].y - sample[2].x * display[0].y) * sample[1].y +
-			(sample[1].x * display[0].y - sample[0].x * display[1].y) * sample[2].y;
+	Fn =	(sample[2].x() * display[1].y() - sample[1].x() * display[2].y()) * sample[0].y() +
+			(sample[0].x() * display[2].y() - sample[2].x() * display[0].y()) * sample[1].y() +
+			(sample[1].x() * display[0].y() - sample[0].x() * display[1].y()) * sample[2].y();
 
 	return true;
 }
@@ -94,12 +94,12 @@ modm::TouchscreenCalibrator::translate(modm::glcd::Point * raw, modm::glcd::Poin
 	if (scale != 0)
 	{
 		/* XD = AX+BY+C */
-		translated->x =
-				((An * raw->x) +
-				 (Bn * raw->y) + Cn) / scale;
+		translated->x() =
+				((An * raw->x()) +
+				 (Bn * raw->y()) + Cn) / scale;
 		/* YD = DX+EY+F */
-		translated->y =
-				((Dn * raw->x)	+
-				 (En * raw->y) + Fn) / scale;
+		translated->y() =
+				((Dn * raw->x())	+
+				 (En * raw->y()) + Fn) / scale;
 	}
 }
diff --git a/examples/stm32f4_discovery/open407v-d/gui/main.cpp b/examples/stm32f4_discovery/open407v-d/gui/main.cpp
index 994beaf434..f1e97a8d03 100644
--- a/examples/stm32f4_discovery/open407v-d/gui/main.cpp
+++ b/examples/stm32f4_discovery/open407v-d/gui/main.cpp
@@ -178,23 +178,23 @@ static void
 drawCross(modm::ColorGraphicDisplay& display, modm::glcd::Point center)
 {
 	display.setColor(Red);
-	display.drawLine(center.x - 15, center.y, center.x - 2, center.y);
-	display.drawLine(center.x + 2, center.y, center.x + 15, center.y);
-	display.drawLine(center.x, center.y - 15, center.x, center.y - 2);
-	display.drawLine(center.x, center.y + 2, center.x, center.y + 15);
+	display.drawLine(center.x() - 15, center.y(), center.x() - 2, center.y());
+	display.drawLine(center.x() + 2, center.y(), center.x() + 15, center.y());
+	display.drawLine(center.x(), center.y() - 15, center.x(), center.y() - 2);
+	display.drawLine(center.x(), center.y() + 2, center.x(), center.y() + 15);
 
 	display.setColor(White);
-	display.drawLine(center.x - 15, center.y + 15, center.x - 7, center.y + 15);
-	display.drawLine(center.x - 15, center.y + 7, center.x - 15, center.y + 15);
+	display.drawLine(center.x() - 15, center.y() + 15, center.x() - 7, center.y() + 15);
+	display.drawLine(center.x() - 15, center.y() + 7, center.x() - 15, center.y() + 15);
 
-	display.drawLine(center.x - 15, center.y - 15, center.x - 7, center.y - 15);
-	display.drawLine(center.x - 15, center.y - 7, center.x - 15, center.y - 15);
+	display.drawLine(center.x() - 15, center.y() - 15, center.x() - 7, center.y() - 15);
+	display.drawLine(center.x() - 15, center.y() - 7, center.x() - 15, center.y() - 15);
 
-	display.drawLine(center.x + 7, center.y + 15, center.x + 15, center.y + 15);
-	display.drawLine(center.x + 15, center.y + 7, center.x + 15, center.y + 15);
+	display.drawLine(center.x() + 7, center.y() + 15, center.x() + 15, center.y() + 15);
+	display.drawLine(center.x() + 15, center.y() + 7, center.x() + 15, center.y() + 15);
 
-	display.drawLine(center.x + 7, center.y - 15, center.x + 15, center.y - 15);
-	display.drawLine(center.x + 15, center.y - 15, center.x + 15, center.y - 7);
+	display.drawLine(center.x() + 7, center.y() - 15, center.x() + 15, center.y() - 15);
+	display.drawLine(center.x() + 15, center.y() - 15, center.x() + 15, center.y() - 7);
 }
 
 static void
@@ -219,7 +219,7 @@ calibrateTouchscreen(modm::ColorGraphicDisplay& display, modm::glcd::Point *fixe
 				// wait until a valid sample can be taken
 			}
 
-			MODM_LOG_DEBUG << "calibration point: (" << sample[i].x << " | " << sample[i].y << ")" << modm::endl;
+			MODM_LOG_DEBUG << "calibration point: (" << sample[i].x() << " | " << sample[i].y() << ")" << modm::endl;
 		}
 
 		touchscreen.calibrate(calibrationPoint, sample);
@@ -234,14 +234,14 @@ calibrateTouchscreen(modm::ColorGraphicDisplay& display, modm::glcd::Point *fixe
 void
 drawPoint(modm::GraphicDisplay& display, modm::glcd::Point point)
 {
-	if (point.x < 0 || point.y < 0) {
+	if (point.x() < 0 || point.y() < 0) {
 		return;
 	}
 
-	display.setPixel(point.x, point.y);
-	display.setPixel(point.x + 1, point.y);
-	display.setPixel(point.x, point.y + 1);
-	display.setPixel(point.x + 1, point.y + 1);
+	display.setPixel(point.x(), point.y());
+	display.setPixel(point.x() + 1, point.y());
+	display.setPixel(point.x(), point.y() + 1);
+	display.setPixel(point.x() + 1, point.y() + 1);
 }
 
 // ----------------------------------------------------------------------------
@@ -293,8 +293,8 @@ debounceTouch(modm::glcd::Point *out, modm::glcd::Point *old)
 			// translate point according to calibration
 			touchscreen.translate(&raw, &point);
 
-			if(abs(point.x - old->x) < TP_TOLERANCE &&
-			   abs(point.y - old->y) < TP_TOLERANCE
+			if(abs(point.x() - old->x()) < TP_TOLERANCE &&
+			   abs(point.y() - old->y()) < TP_TOLERANCE
 			  )
 			{
 				// point is within area of last touch
@@ -327,8 +327,8 @@ touchUp(void* data)
 	modm::gui::InputEvent* ev = static_cast<modm::gui::InputEvent*>(data);
 
 	MODM_LOG_DEBUG << "asynchronous UP-event:" << modm::endl;
-	MODM_LOG_DEBUG << "x: " << ev->coord.x << modm::endl;
-	MODM_LOG_DEBUG << "y: " << ev->coord.y << modm::endl;
+	MODM_LOG_DEBUG << "x: " << ev->coord.x() << modm::endl;
+	MODM_LOG_DEBUG << "y: " << ev->coord.y() << modm::endl;
 
 	// queue UP-event as new input event
 	input_queue.push(ev);
@@ -358,8 +358,8 @@ gatherInput()
 		auto async_ev = new modm::gui::AsyncEvent(500, &touchUp, (void*)(ev_up));
 		async_events.append(async_ev);
 
-		MODM_LOG_DEBUG << "touch down x: " << point.x << modm::endl;
-		MODM_LOG_DEBUG << "touch down y: " << point.y << modm::endl;
+		MODM_LOG_DEBUG << "touch down x: " << point.x() << modm::endl;
+		MODM_LOG_DEBUG << "touch down y: " << point.y() << modm::endl;
 
 	}
 }
diff --git a/examples/stm32f4_discovery/open407v-d/gui/touchscreen_calibrator.hpp b/examples/stm32f4_discovery/open407v-d/gui/touchscreen_calibrator.hpp
index 27c60664a9..3670852be2 100644
--- a/examples/stm32f4_discovery/open407v-d/gui/touchscreen_calibrator.hpp
+++ b/examples/stm32f4_discovery/open407v-d/gui/touchscreen_calibrator.hpp
@@ -59,34 +59,34 @@ modm::TouchscreenCalibrator::calibrate(
 		modm::glcd::Point * display, modm::glcd::Point * sample)
 {
 	// K��(X0��X2) (Y1��Y2)��(X1��X2) (Y0��Y2)
-	scale =	((sample[0].x - sample[2].x) * (sample[1].y - sample[2].y)) -
-			((sample[1].x - sample[2].x) * (sample[0].y - sample[2].y));
+	scale =	((sample[0].x() - sample[2].x()) * (sample[1].y() - sample[2].y())) -
+			((sample[1].x() - sample[2].x()) * (sample[0].y() - sample[2].y()));
 
 	if (scale == 0) {
 		return false;
 	}
 
 	// A��((XD0��XD2) (Y1��Y2)��(XD1��XD2) (Y0��Y2))��K
-	An =	((display[0].x - display[2].x) * (sample[1].y - sample[2].y)) -
-			((display[1].x - display[2].x) * (sample[0].y - sample[2].y));
+	An =	((display[0].x() - display[2].x()) * (sample[1].y() - sample[2].y())) -
+			((display[1].x() - display[2].x()) * (sample[0].y() - sample[2].y()));
 	// B��((X0��X2) (XD1��XD2)��(XD0��XD2) (X1��X2))��K	*/
-	Bn =	((sample[0].x - sample[2].x) * (display[1].x - display[2].x)) -
-			((display[0].x - display[2].x) * (sample[1].x - sample[2].x));
+	Bn =	((sample[0].x() - sample[2].x()) * (display[1].x() - display[2].x())) -
+			((display[0].x() - display[2].x()) * (sample[1].x() - sample[2].x()));
 	// C��(Y0(X2XD1��X1XD2)+Y1(X0XD2��X2XD0)+Y2(X1XD0��X0XD1))��K */
-	Cn =	(sample[2].x * display[1].x - sample[1].x * display[2].x) * sample[0].y +
-			(sample[0].x * display[2].x - sample[2].x * display[0].x) * sample[1].y +
-			(sample[1].x * display[0].x - sample[0].x * display[1].x) * sample[2].y;
+	Cn =	(sample[2].x() * display[1].x() - sample[1].x() * display[2].x()) * sample[0].y() +
+			(sample[0].x() * display[2].x() - sample[2].x() * display[0].x()) * sample[1].y() +
+			(sample[1].x() * display[0].x() - sample[0].x() * display[1].x()) * sample[2].y();
 
 	// D��((YD0��YD2) (Y1��Y2)��(YD1��YD2) (Y0��Y2))��K	*/
-	Dn =	((display[0].y - display[2].y) * (sample[1].y - sample[2].y)) -
-			((display[1].y - display[2].y) * (sample[0].y - sample[2].y));
+	Dn =	((display[0].y() - display[2].y()) * (sample[1].y() - sample[2].y())) -
+			((display[1].y() - display[2].y()) * (sample[0].y() - sample[2].y()));
 	// E��((X0��X2) (YD1��YD2)��(YD0��YD2) (X1��X2))��K	*/
-	En =	((sample[0].x - sample[2].x) * (display[1].y - display[2].y)) -
-			((display[0].y - display[2].y) * (sample[1].x - sample[2].x));
+	En =	((sample[0].x() - sample[2].x()) * (display[1].y() - display[2].y())) -
+			((display[0].y() - display[2].y()) * (sample[1].x() - sample[2].x()));
 	// F��(Y0(X2YD1��X1YD2)+Y1(X0YD2��X2YD0)+Y2(X1YD0��X0YD1))��K */
-	Fn =	(sample[2].x * display[1].y - sample[1].x * display[2].y) * sample[0].y +
-			(sample[0].x * display[2].y - sample[2].x * display[0].y) * sample[1].y +
-			(sample[1].x * display[0].y - sample[0].x * display[1].y) * sample[2].y;
+	Fn =	(sample[2].x() * display[1].y() - sample[1].x() * display[2].y()) * sample[0].y() +
+			(sample[0].x() * display[2].y() - sample[2].x() * display[0].y()) * sample[1].y() +
+			(sample[1].x() * display[0].y() - sample[0].x() * display[1].y()) * sample[2].y();
 
 	return true;
 }
@@ -97,12 +97,12 @@ modm::TouchscreenCalibrator::translate(modm::glcd::Point * raw, modm::glcd::Poin
 	if (scale != 0)
 	{
 		/* XD = AX+BY+C */
-		translated->x =
-				((An * raw->x) +
-				 (Bn * raw->y) + Cn) / scale;
+		translated->x() =
+				((An * raw->x()) +
+				 (Bn * raw->y()) + Cn) / scale;
 		/* YD = DX+EY+F */
-		translated->y =
-				((Dn * raw->x)	+
-				 (En * raw->y) + Fn) / scale;
+		translated->y() =
+				((Dn * raw->x())	+
+				 (En * raw->y()) + Fn) / scale;
 	}
 }
diff --git a/examples/stm32f4_discovery/open407v-d/touchscreen/main.cpp b/examples/stm32f4_discovery/open407v-d/touchscreen/main.cpp
index c82fbdc9bb..7495adcb96 100644
--- a/examples/stm32f4_discovery/open407v-d/touchscreen/main.cpp
+++ b/examples/stm32f4_discovery/open407v-d/touchscreen/main.cpp
@@ -135,23 +135,23 @@ static void
 drawCross(modm::ColorGraphicDisplay& display, modm::glcd::Point center)
 {
 	display.setColor(Red);
-	display.drawLine(center.x - 15, center.y, center.x - 2, center.y);
-	display.drawLine(center.x + 2, center.y, center.x + 15, center.y);
-	display.drawLine(center.x, center.y - 15, center.x, center.y - 2);
-	display.drawLine(center.x, center.y + 2, center.x, center.y + 15);
+	display.drawLine(center.x()- 15, center.y(), center.x()- 2, center.y());
+	display.drawLine(center.x()+ 2, center.y(), center.x()+ 15, center.y());
+	display.drawLine(center.x(), center.y() - 15, center.x(), center.y() - 2);
+	display.drawLine(center.x(), center.y() + 2, center.x(), center.y() + 15);
 
 	display.setColor(White);
-	display.drawLine(center.x - 15, center.y + 15, center.x - 7, center.y + 15);
-	display.drawLine(center.x - 15, center.y + 7, center.x - 15, center.y + 15);
+	display.drawLine(center.x()- 15, center.y() + 15, center.x()- 7, center.y() + 15);
+	display.drawLine(center.x()- 15, center.y() + 7, center.x()- 15, center.y() + 15);
 
-	display.drawLine(center.x - 15, center.y - 15, center.x - 7, center.y - 15);
-	display.drawLine(center.x - 15, center.y - 7, center.x - 15, center.y - 15);
+	display.drawLine(center.x()- 15, center.y() - 15, center.x()- 7, center.y() - 15);
+	display.drawLine(center.x()- 15, center.y() - 7, center.x()- 15, center.y() - 15);
 
-	display.drawLine(center.x + 7, center.y + 15, center.x + 15, center.y + 15);
-	display.drawLine(center.x + 15, center.y + 7, center.x + 15, center.y + 15);
+	display.drawLine(center.x()+ 7, center.y() + 15, center.x()+ 15, center.y() + 15);
+	display.drawLine(center.x()+ 15, center.y() + 7, center.x()+ 15, center.y() + 15);
 
-	display.drawLine(center.x + 7, center.y - 15, center.x + 15, center.y - 15);
-	display.drawLine(center.x + 15, center.y - 15, center.x + 15, center.y - 7);
+	display.drawLine(center.x()+ 7, center.y() - 15, center.x()+ 15, center.y() - 15);
+	display.drawLine(center.x()+ 15, center.y() - 15, center.x()+ 15, center.y() - 7);
 }
 
 static void
@@ -184,14 +184,14 @@ calibrateTouchscreen(modm::ColorGraphicDisplay& display)
 void
 drawPoint(modm::GraphicDisplay& display, modm::glcd::Point point)
 {
-	if (point.x < 0 || point.y < 0) {
+	if (point.x()< 0 || point.y() < 0) {
 		return;
 	}
 
-	display.setPixel(point.x, point.y);
-	display.setPixel(point.x + 1, point.y);
-	display.setPixel(point.x, point.y + 1);
-	display.setPixel(point.x + 1, point.y + 1);
+	display.setPixel(point.x(), point.y());
+	display.setPixel(point.x()+ 1, point.y());
+	display.setPixel(point.x(), point.y() + 1);
+	display.setPixel(point.x()+ 1, point.y() + 1);
 }
 
 // ----------------------------------------------------------------------------
diff --git a/examples/stm32f4_discovery/open407v-d/touchscreen/touchscreen_calibrator.hpp b/examples/stm32f4_discovery/open407v-d/touchscreen/touchscreen_calibrator.hpp
index dacb51c44f..35a6ff26a6 100644
--- a/examples/stm32f4_discovery/open407v-d/touchscreen/touchscreen_calibrator.hpp
+++ b/examples/stm32f4_discovery/open407v-d/touchscreen/touchscreen_calibrator.hpp
@@ -58,34 +58,34 @@ modm::TouchscreenCalibrator::calibrate(
 		modm::glcd::Point * display, modm::glcd::Point * sample)
 {
 	// K��(X0��X2) (Y1��Y2)��(X1��X2) (Y0��Y2)
-	scale =	((sample[0].x - sample[2].x) * (sample[1].y - sample[2].y)) -
-			((sample[1].x - sample[2].x) * (sample[0].y - sample[2].y));
+	scale =	((sample[0].x() - sample[2].x()) * (sample[1].y() - sample[2].y())) -
+			((sample[1].x() - sample[2].x()) * (sample[0].y() - sample[2].y()));
 
 	if (scale == 0) {
 		return false;
 	}
 
 	// A��((XD0��XD2) (Y1��Y2)��(XD1��XD2) (Y0��Y2))��K
-	An =	((display[0].x - display[2].x) * (sample[1].y - sample[2].y)) -
-			((display[1].x - display[2].x) * (sample[0].y - sample[2].y));
+	An =	((display[0].x() - display[2].x()) * (sample[1].y() - sample[2].y())) -
+			((display[1].x() - display[2].x()) * (sample[0].y() - sample[2].y()));
 	// B��((X0��X2) (XD1��XD2)��(XD0��XD2) (X1��X2))��K	*/
-	Bn =	((sample[0].x - sample[2].x) * (display[1].x - display[2].x)) -
-			((display[0].x - display[2].x) * (sample[1].x - sample[2].x));
+	Bn =	((sample[0].x() - sample[2].x()) * (display[1].x() - display[2].x())) -
+			((display[0].x() - display[2].x()) * (sample[1].x() - sample[2].x()));
 	// C��(Y0(X2XD1��X1XD2)+Y1(X0XD2��X2XD0)+Y2(X1XD0��X0XD1))��K */
-	Cn =	(sample[2].x * display[1].x - sample[1].x * display[2].x) * sample[0].y +
-			(sample[0].x * display[2].x - sample[2].x * display[0].x) * sample[1].y +
-			(sample[1].x * display[0].x - sample[0].x * display[1].x) * sample[2].y;
+	Cn =	(sample[2].x() * display[1].x() - sample[1].x() * display[2].x()) * sample[0].y() +
+			(sample[0].x() * display[2].x() - sample[2].x() * display[0].x()) * sample[1].y() +
+			(sample[1].x() * display[0].x() - sample[0].x() * display[1].x()) * sample[2].y();
 
 	// D��((YD0��YD2) (Y1��Y2)��(YD1��YD2) (Y0��Y2))��K	*/
-	Dn =	((display[0].y - display[2].y) * (sample[1].y - sample[2].y)) -
-			((display[1].y - display[2].y) * (sample[0].y - sample[2].y));
+	Dn =	((display[0].y() - display[2].y()) * (sample[1].y() - sample[2].y())) -
+			((display[1].y() - display[2].y()) * (sample[0].y() - sample[2].y()));
 	// E��((X0��X2) (YD1��YD2)��(YD0��YD2) (X1��X2))��K	*/
-	En =	((sample[0].x - sample[2].x) * (display[1].y - display[2].y)) -
-			((display[0].y - display[2].y) * (sample[1].x - sample[2].x));
+	En =	((sample[0].x() - sample[2].x()) * (display[1].y() - display[2].y())) -
+			((display[0].y() - display[2].y()) * (sample[1].x() - sample[2].x()));
 	// F��(Y0(X2YD1��X1YD2)+Y1(X0YD2��X2YD0)+Y2(X1YD0��X0YD1))��K */
-	Fn =	(sample[2].x * display[1].y - sample[1].x * display[2].y) * sample[0].y +
-			(sample[0].x * display[2].y - sample[2].x * display[0].y) * sample[1].y +
-			(sample[1].x * display[0].y - sample[0].x * display[1].y) * sample[2].y;
+	Fn =	(sample[2].x() * display[1].y() - sample[1].x() * display[2].y()) * sample[0].y() +
+			(sample[0].x() * display[2].y() - sample[2].x() * display[0].y()) * sample[1].y() +
+			(sample[1].x() * display[0].y() - sample[0].x() * display[1].y()) * sample[2].y();
 
 	return true;
 }
@@ -96,12 +96,12 @@ modm::TouchscreenCalibrator::translate(modm::glcd::Point * raw, modm::glcd::Poin
 	if (scale != 0)
 	{
 		/* XD = AX+BY+C */
-		translated->x =
-				((An * raw->x) +
-				 (Bn * raw->y) + Cn) / scale;
+		translated->x() =
+				((An * raw->x()) +
+				 (Bn * raw->y()) + Cn) / scale;
 		/* YD = DX+EY+F */
-		translated->y =
-				((Dn * raw->x)	+
-				 (En * raw->y) + Fn) / scale;
+		translated->y() =
+				((Dn * raw->x()) +
+				 (En * raw->y()) + Fn) / scale;
 	}
 }
diff --git a/src/modm/driver/display/ili9341_impl.hpp b/src/modm/driver/display/ili9341_impl.hpp
index d44ce85c69..07756489c5 100644
--- a/src/modm/driver/display/ili9341_impl.hpp
+++ b/src/modm/driver/display/ili9341_impl.hpp
@@ -209,7 +209,7 @@ Ili9341<Interface, Reset, Backlight, BufferSize>::drawHorizontalLine(
 
 	BatchHandle h(*this);
 
-	setClipping(start.getX(), start.getY(), length, 1);
+	setClipping(start.x(), start.y(), length, 1);
 	while (length > BufferSize)
 	{
 		this->writeData(buffer, BufferSize * 2);
@@ -230,7 +230,7 @@ Ili9341<Interface, Reset, Backlight, BufferSize>::drawVerticalLine(
 
 	BatchHandle h(*this);
 
-	setClipping(start.getX(), start.getY(), 1, length);
+	setClipping(start.x(), start.y(), 1, length);
 	while (length > BufferSize)
 	{
 		this->writeData(buffer, BufferSize * 2);
@@ -244,8 +244,8 @@ void
 Ili9341<Interface, Reset, Backlight, BufferSize>::fillRectangle(
 		glcd::Point upperLeft, uint16_t width, uint16_t height)
 {
-	auto const x { upperLeft.getX() };
-	auto const y { upperLeft.getY() };
+	auto const x { upperLeft.x() };
+	auto const y { upperLeft.y() };
 	std::size_t pixelCount { std::size_t(width) * std::size_t(height) };
 
 	uint16_t const pixelValue { modm::toBigEndian(foregroundColor.color) };
@@ -281,7 +281,7 @@ Ili9341<Interface, Reset, Backlight, BufferSize>::fillCircle(
 
 	BatchHandle h(*this);
 
-	setClipping(center.getX() - radius, center.getY(), 2 * radius, 1);
+	setClipping(center.x() - radius, center.y(), 2 * radius, 1);
 	for (std::size_t i = 0; i < 2 * radius; ++i)
 		this->writeData(setColor, 2);
 
@@ -297,16 +297,16 @@ Ili9341<Interface, Reset, Backlight, BufferSize>::fillCircle(
 		ddF_x += 2;
 		f += ddF_x + 1;
 
-		setClipping(center.getX() - x, center.getY() - y, 2 * x, 1);
+		setClipping(center.x() - x, center.y() - y, 2 * x, 1);
 		for (std::size_t i = 0; i < 2 * x; ++i)
 			this->writeData(setColor, 2);
-		setClipping(center.getX() - y, center.getY() - x, 2 * y, 1);
+		setClipping(center.x() - y, center.y() - x, 2 * y, 1);
 		for (std::size_t i = 0; i < 2 * y; ++i)
 			this->writeData(setColor, 2);
-		setClipping(center.getX() - x, center.getY() + y, 2 * x, 1);
+		setClipping(center.x() - x, center.y() + y, 2 * x, 1);
 		for (std::size_t i = 0; i < 2 * x; ++i)
 			this->writeData(setColor, 2);
-		setClipping(center.getX() - y, center.getY() + x, 2 * y, 1);
+		setClipping(center.x() - y, center.y() + x, 2 * y, 1);
 		for (std::size_t i = 0; i < 2 * y; ++i)
 			this->writeData(setColor, 2);
 	}
@@ -324,7 +324,7 @@ Ili9341<Interface, Reset, Backlight, BufferSize>::drawImageRaw(glcd::Point upper
 
 	BatchHandle h(*this);
 
-	setClipping(upperLeft.getX(), upperLeft.getY(), width, height);
+	setClipping(upperLeft.x(), upperLeft.y(), width, height);
 
 	uint8_t bit = 0x01;
 	for (uint16_t r = 0; r < height; ++r)
@@ -356,7 +356,7 @@ Ili9341<Interface, Reset, Backlight, BufferSize>::drawRaw(glcd::Point upperLeft,
 		buffer[i] = modm::fromBigEndian(buffer[i]);
 	}
 
-	setClipping(upperLeft.getX(), upperLeft.getY(), width, height);
+	setClipping(upperLeft.x(), upperLeft.y(), width, height);
 	this->writeData((uint8_t*)buffer, width * height * 2);
 }
 
@@ -428,7 +428,7 @@ Ili9341<Interface, Reset, Backlight, BufferSize>::drawBitmap(glcd::Point upperLe
 {
 	BatchHandle h(*this);
 
-	setClipping(upperLeft.getX(), upperLeft.getY(), width, height);
+	setClipping(upperLeft.x(), upperLeft.y(), width, height);
 	for (int i = 0; i < width * height; ++i) {
 		buffer[0] = data[i*2+1];
 		buffer[1] = data[i*2];
diff --git a/src/modm/driver/inertial/bno055.hpp b/src/modm/driver/inertial/bno055.hpp
index b4abbd387e..6bff7c18f4 100644
--- a/src/modm/driver/inertial/bno055.hpp
+++ b/src/modm/driver/inertial/bno055.hpp
@@ -14,7 +14,7 @@
 #include <modm/architecture/interface/register.hpp>
 #include <modm/architecture/interface/i2c_device.hpp>
 #include <modm/processing/resumable.hpp>
-#include <modm/math/geometry/vector3.hpp>
+#include <modm/math/geometry/vector.hpp>
 #include <modm/math/geometry/quaternion.hpp>
 
 namespace modm
diff --git a/src/modm/driver/inertial/lis3mdl.hpp b/src/modm/driver/inertial/lis3mdl.hpp
index b042f664af..7cbd775b4f 100644
--- a/src/modm/driver/inertial/lis3mdl.hpp
+++ b/src/modm/driver/inertial/lis3mdl.hpp
@@ -15,7 +15,7 @@
 #include <modm/architecture/interface/register.hpp>
 #include <modm/processing/resumable.hpp>
 #include <modm/math/utils/endianness.hpp>
-#include <modm/math/geometry/vector3.hpp>
+#include <modm/math/geometry/vector.hpp>
 #include "lis3_transport.hpp"
 
 namespace modm
diff --git a/src/modm/driver/inertial/lis3mdl_impl.hpp b/src/modm/driver/inertial/lis3mdl_impl.hpp
index 6e038c4e22..5694905147 100644
--- a/src/modm/driver/inertial/lis3mdl_impl.hpp
+++ b/src/modm/driver/inertial/lis3mdl_impl.hpp
@@ -81,9 +81,7 @@ modm::Lis3mdl<I2cMaster>::readMagnetometerRaw(Vector3i& data)
 	success = RF_CALL(this->read(static_cast<uint8_t>(Register::OUT_X_L),reinterpret_cast<uint8_t*>(readBuffer),6));
 	if(success)
 	{
-		data.x = readBuffer[0];
-		data.y = readBuffer[1];
-		data.z = readBuffer[2];
+		data = readBuffer;
 	}
 	RF_END_RETURN(success);
 }
@@ -102,9 +100,8 @@ modm::Lis3mdl<I2cMaster>::readMagnetometer(Vector3f& data)
 		uint8_t scaleIndex = (static_cast<uint8_t>(getScale()))>>5;
 		float conversionValue = convTable[scaleIndex];
 
-		data.x = static_cast<float>(readBuffer[0]) * conversionValue;
-		data.y = static_cast<float>(readBuffer[1]) * conversionValue;
-		data.z = static_cast<float>(readBuffer[2]) * conversionValue;
+		data = readBuffer;
+		data *= conversionValue;
 	}
 
 	RF_END_RETURN(success);
diff --git a/src/modm/driver/inertial/lsm6ds33.hpp b/src/modm/driver/inertial/lsm6ds33.hpp
index 8cff8be54a..6ba6c1c779 100644
--- a/src/modm/driver/inertial/lsm6ds33.hpp
+++ b/src/modm/driver/inertial/lsm6ds33.hpp
@@ -15,7 +15,7 @@
 #include <modm/architecture/interface/register.hpp>
 #include <modm/processing/resumable.hpp>
 #include <modm/math/utils/endianness.hpp>
-#include <modm/math/geometry/vector3.hpp>
+#include <modm/math/geometry/vector.hpp>
 #include "lis3_transport.hpp"
 
 namespace modm
diff --git a/src/modm/driver/inertial/lsm6ds33_impl.hpp b/src/modm/driver/inertial/lsm6ds33_impl.hpp
index 5e6e458202..727d873cbf 100644
--- a/src/modm/driver/inertial/lsm6ds33_impl.hpp
+++ b/src/modm/driver/inertial/lsm6ds33_impl.hpp
@@ -51,11 +51,8 @@ modm::Lsm6ds33<I2cMaster>::readAccelerationRaw(Vector3i& acceleration)
 {
 	RF_BEGIN();
 	success = RF_CALL(this->read(static_cast<uint8_t>(Register::OUT_X_L_XL),reinterpret_cast<uint8_t*>(readBuffer),6));
-	if(success)
-	{
-		acceleration.x = readBuffer[0];
-		acceleration.y = readBuffer[1];
-		acceleration.z = readBuffer[2];
+	if(success) {
+		acceleration = readBuffer;
 	}
 	RF_END_RETURN(success);
 }
@@ -66,11 +63,8 @@ modm::Lsm6ds33<I2cMaster>::readGyroscopeRaw(Vector3i& spinRates)
 {
 	RF_BEGIN();
 	success = RF_CALL(this->read(static_cast<uint8_t>(Register::OUT_X_L_G),reinterpret_cast<uint8_t*>(readBuffer),6));
-	if(success)
-	{
-		spinRates.x = readBuffer[0];
-		spinRates.y = readBuffer[1];
-		spinRates.z = readBuffer[2];
+	if(success) {
+		spinRates = readBuffer;
 	}
 	RF_END_RETURN(success);
 }
@@ -102,9 +96,8 @@ modm::Lsm6ds33<I2cMaster>::readAcceleration(Vector3f& acceleration)
 		uint8_t accScaleIndex = (static_cast<uint8_t>(getAccelerationScale()))>>2;
 		float conversionValue = accConvTable[accScaleIndex];
 
-		acceleration.x = static_cast<float>(readBuffer[0]) * conversionValue;
-		acceleration.y = static_cast<float>(readBuffer[1]) * conversionValue;
-		acceleration.z = static_cast<float>(readBuffer[2]) * conversionValue;
+		acceleration = readBuffer;
+		acceleration *= conversionValue;
 	}
 
 	RF_END_RETURN(success);
@@ -133,9 +126,9 @@ modm::Lsm6ds33<I2cMaster>::readGyroscope(Vector3f& acceleration)
 			conversionValue = gyroConvTable[gyroScaleIndex];
 		}
 
-		acceleration.x = static_cast<float>(readBuffer[0]) * conversionValue;
-		acceleration.y = static_cast<float>(readBuffer[1]) * conversionValue;
-		acceleration.z = static_cast<float>(readBuffer[2]) * conversionValue;
+		acceleration.x() = static_cast<float>(readBuffer[0]) * conversionValue;
+		acceleration.y() = static_cast<float>(readBuffer[1]) * conversionValue;
+		acceleration.z() = static_cast<float>(readBuffer[2]) * conversionValue;
 	}
 
 	RF_END_RETURN(success);
diff --git a/src/modm/driver/motion/pat9125el.hpp b/src/modm/driver/motion/pat9125el.hpp
index 24d2fad6df..ada839f20f 100644
--- a/src/modm/driver/motion/pat9125el.hpp
+++ b/src/modm/driver/motion/pat9125el.hpp
@@ -15,7 +15,7 @@
 #include <array>
 #include <type_traits>
 #include <modm/driver/motion/pat9125el_transport.hpp>
-#include <modm/math/geometry/vector2.hpp>
+#include <modm/math/geometry/vector.hpp>
 
 namespace modm
 {
diff --git a/src/modm/driver/motion/pat9125el_impl.hpp b/src/modm/driver/motion/pat9125el_impl.hpp
index 35766fe3eb..b76e6dae0b 100644
--- a/src/modm/driver/motion/pat9125el_impl.hpp
+++ b/src/modm/driver/motion/pat9125el_impl.hpp
@@ -111,8 +111,8 @@ Pat9125el<Transport, IntPin>::updateData()
 	const int16_t y = (readBuffer[1] | ((readBuffer[2] & 0b00001111) << 8));
 
 	// convert 12-bit 2's complement data to 16-bit signed int
-	data.x = static_cast<int16_t>(x << 4) >> 4;
-	data.y = static_cast<int16_t>(y << 4) >> 4;
+	data.x() = static_cast<int16_t>(x << 4) >> 4;
+	data.y() = static_cast<int16_t>(y << 4) >> 4;
 	moved = true;
 }
 
diff --git a/src/modm/driver/touch/ads7843_impl.hpp b/src/modm/driver/touch/ads7843_impl.hpp
index a8f1ef47fa..dddf5a5c53 100644
--- a/src/modm/driver/touch/ads7843_impl.hpp
+++ b/src/modm/driver/touch/ads7843_impl.hpp
@@ -79,7 +79,7 @@ modm::Ads7843<Spi, Cs, Int>::read(glcd::Point * point)
 
 	if (count == 9) {
 		glcd::Point p;
-		if (getAverage(bufferX, p.x) && getAverage(bufferY, p.y)) {
+		if (getAverage(bufferX, p.x()) && getAverage(bufferY, p.y())) {
 			*point = p;
 			return true;
 		}
diff --git a/src/modm/math/geometry/line_2d.hpp b/src/modm/math/geometry/line_2d.hpp
index 6e8528cf58..05d9e8bcc9 100644
--- a/src/modm/math/geometry/line_2d.hpp
+++ b/src/modm/math/geometry/line_2d.hpp
@@ -38,10 +38,7 @@ namespace modm
 		typedef typename GeometricTraits<T>::FloatType FloatType;
 
 	public:
-		/**
-		 * \brief	Default-Constructor
-		 */
-		Line2D();
+		constexpr Line2D() = default;
 
 		/**
 		 * \brief	Construct a line
@@ -49,7 +46,9 @@ namespace modm
 		 * \param	point			a point on the line
 		 * \param	directionVector	direction vector, the length doesn't matter
 		 */
-		Line2D(const Vector<T, 2>& point, const Vector<T, 2>& directionVector);
+		constexpr Line2D(const Vector<T, 2>& point, const Vector<T, 2>& directionVector)
+			: point(point), directionVector(directionVector)
+		{}
 
 
 		inline void
diff --git a/src/modm/math/geometry/line_2d_impl.hpp b/src/modm/math/geometry/line_2d_impl.hpp
index 96a88549f6..80e9cd55eb 100644
--- a/src/modm/math/geometry/line_2d_impl.hpp
+++ b/src/modm/math/geometry/line_2d_impl.hpp
@@ -15,19 +15,6 @@
 	#error	"Don't include this file directly, use 'line_2d.hpp' instead!"
 #endif
 
-// ----------------------------------------------------------------------------
-template <typename T>
-modm::Line2D<T>::Line2D() :
-	point(), directionVector()
-{
-}
-
-template <typename T>
-modm::Line2D<T>::Line2D(const Vector<T, 2>& point, const Vector<T, 2>& direction) :
-	point(point), directionVector(direction)
-{
-}
-
 // ----------------------------------------------------------------------------
 template <typename T>
 inline void
diff --git a/src/modm/math/geometry/line_segment_2d.hpp b/src/modm/math/geometry/line_segment_2d.hpp
index eb57e020d3..9c22a5bca5 100644
--- a/src/modm/math/geometry/line_segment_2d.hpp
+++ b/src/modm/math/geometry/line_segment_2d.hpp
@@ -42,9 +42,11 @@ namespace modm
 		typedef typename GeometricTraits<T>::FloatType FloatType;
 
 	public:
-		LineSegment2D();
+		constexpr LineSegment2D() = default;
 
-		LineSegment2D(const Vector<T, 2>& start, const Vector<T, 2>& end);
+		constexpr LineSegment2D(const Vector<T, 2>& start, const Vector<T, 2>& end)
+			: startPoint(start), endPoint(end)
+		{}
 
 
 		/// Set the starting point of the line segment
diff --git a/src/modm/math/geometry/line_segment_2d_impl.hpp b/src/modm/math/geometry/line_segment_2d_impl.hpp
index 1470abca25..7f9b6a1233 100644
--- a/src/modm/math/geometry/line_segment_2d_impl.hpp
+++ b/src/modm/math/geometry/line_segment_2d_impl.hpp
@@ -15,19 +15,6 @@
 	#error	"Don't include this file directly, use 'line_segment_2d.hpp' instead!"
 #endif
 
-// ----------------------------------------------------------------------------
-template<typename T>
-modm::LineSegment2D<T>::LineSegment2D() :
-	startPoint(), endPoint()
-{
-}
-
-template<typename T>
-modm::LineSegment2D<T>::LineSegment2D(const Vector<T, 2>& start, const Vector<T, 2>& end) :
-	startPoint(start), endPoint(end)
-{
-}
-
 // ----------------------------------------------------------------------------
 template <typename T>
 inline void
diff --git a/src/modm/math/geometry/quaternion.hpp b/src/modm/math/geometry/quaternion.hpp
index 958262c921..922f40b0dc 100644
--- a/src/modm/math/geometry/quaternion.hpp
+++ b/src/modm/math/geometry/quaternion.hpp
@@ -19,11 +19,11 @@
 namespace modm
 {
 	// forward declaration
-	template<class T, std::size_t N>
+	template<typename T, std::size_t N>
 	requires (N > 0)
 	class Vector;
 
-	template<class T, std::size_t ROWS, std::size_t COLUMNS>
+	template<typename T, std::size_t ROWS, std::size_t COLUMNS>
 	class Matrix;
 
 	/**
@@ -99,10 +99,7 @@ namespace modm
 		void to3x3Matrix(Matrix<T, 3, 3> *outMatrix);
 
 	public:
-		T w;
-		T x;
-		T y;
-		T z;
+		T w, x, y, z;
 	};
 
 	template<class T>
diff --git a/src/modm/math/geometry/ray_2d.hpp b/src/modm/math/geometry/ray_2d.hpp
index b566b1c8ef..6aadf3116e 100644
--- a/src/modm/math/geometry/ray_2d.hpp
+++ b/src/modm/math/geometry/ray_2d.hpp
@@ -47,9 +47,11 @@ namespace modm
 		typedef typename GeometricTraits<T>::FloatType FloatType;
 
 	public:
-		Ray2D();
+		constexpr Ray2D() = default;
 
-		Ray2D(const Vector<T, 2>& start, const Vector<T, 2>& direction);
+		constexpr Ray2D(const Vector<T, 2>& start, const Vector<T, 2>& direction)
+			: basePoint(start), direction(direction)
+		{}
 
 		/// Set the starting point of the ray
 		inline void
diff --git a/src/modm/math/geometry/ray_2d_impl.hpp b/src/modm/math/geometry/ray_2d_impl.hpp
index f148c7eafd..751dc12e26 100644
--- a/src/modm/math/geometry/ray_2d_impl.hpp
+++ b/src/modm/math/geometry/ray_2d_impl.hpp
@@ -13,19 +13,6 @@
 	#error	"Don't include this file directly, use 'ray_2d.hpp' instead!"
 #endif
 
-// ----------------------------------------------------------------------------
-template<typename T>
-modm::Ray2D<T>::Ray2D() :
-	basePoint(), direction()
-{
-}
-
-template<typename T>
-modm::Ray2D<T>::Ray2D(const Vector<T, 2>& start, const Vector<T, 2>& direction) :
-	basePoint(start), direction(direction)
-{
-}
-
 // ----------------------------------------------------------------------------
 template <typename T>
 inline void
diff --git a/src/modm/math/lu_decomposition_impl.hpp b/src/modm/math/lu_decomposition_impl.hpp
index 4154c2fa1e..ecc9874657 100644
--- a/src/modm/math/lu_decomposition_impl.hpp
+++ b/src/modm/math/lu_decomposition_impl.hpp
@@ -40,7 +40,7 @@ modm::LUDecomposition::decompose(
 	*u = matrix;
 	*l = modm::Matrix<T, SIZE, SIZE>::identityMatrix();
 
-	return LUSubDecomposition<T, 0, SIZE, SIZE>::decomposeRecur(u->ptr(), l->ptr(), p->comps);
+	return LUSubDecomposition<T, 0, SIZE, SIZE>::decomposeRecur(u->ptr(), l->ptr(), p->data());
 }
 
 template<typename T, std::size_t SIZE>
diff --git a/src/modm/ui/display/graphic_display.cpp b/src/modm/ui/display/graphic_display.cpp
index 1c5727e66e..e5bd3df168 100644
--- a/src/modm/ui/display/graphic_display.cpp
+++ b/src/modm/ui/display/graphic_display.cpp
@@ -91,31 +91,31 @@ modm::GraphicDisplay::drawLine(int16_t x1, int16_t y1, int16_t x2, int16_t y2)
 void
 modm::GraphicDisplay::drawHorizontalLine(glcd::Point start, uint16_t length)
 {
-	for (int_fast16_t i = start.x; i < static_cast<int16_t>(start.x + length); ++i)
+	for (int_fast16_t i = start.x(); i < static_cast<int16_t>(start.x() + length); ++i)
 	{
-		this->setPixel(i, start.y);
+		this->setPixel(i, start.y());
 	}
 }
 
 void
 modm::GraphicDisplay::drawVerticalLine(glcd::Point start, uint16_t length)
 {
-	for (int_fast16_t i = start.y; i < static_cast<int16_t>(start.y + length); ++i)
+	for (int_fast16_t i = start.y(); i < static_cast<int16_t>(start.y() + length); ++i)
 	{
-		this->setPixel(start.x, i);
+		this->setPixel(start.x(), i);
 	}
 }
 
 void
 modm::GraphicDisplay::drawRectangle(glcd::Point start, uint16_t width, uint16_t height)
 {
-	uint16_t x2 = start.x + width - 1;
-	uint16_t y2 = start.y + height - 1;
+	uint16_t x2 = start.x() + width - 1;
+	uint16_t y2 = start.y() + height - 1;
 
 	this->drawHorizontalLine(start, width);
-	this->drawHorizontalLine(glcd::Point(start.x, y2), width);
+	this->drawHorizontalLine(glcd::Point(start.x(), y2), width);
 	this->drawVerticalLine(start, height);
-	this->drawVerticalLine(glcd::Point(x2, start.y), height);
+	this->drawVerticalLine(glcd::Point(x2, start.y()), height);
 }
 
 void
@@ -124,8 +124,8 @@ modm::GraphicDisplay::drawRoundedRectangle(glcd::Point start, uint16_t width, ui
 {
 	if (radius == 0) { this->drawRectangle(start, width, height); }
 
-	const int16_t x = start.x;
-	const int16_t y = start.y;
+	const int16_t x = start.x();
+	const int16_t y = start.y();
 
 	int16_t x1 = 0;
 	int16_t y1 = radius;
@@ -191,8 +191,8 @@ modm::GraphicDisplay::drawCircle(glcd::Point center, uint16_t radius)
 void
 modm::GraphicDisplay::drawCircle4(glcd::Point center, int16_t x, int16_t y)
 {
-	const int16_t cx = center.x;
-	const int16_t cy = center.y;
+	const int16_t cx = center.x();
+	const int16_t cy = center.y();
 
 	this->setPixel(cx + x, cy + y);
 	this->setPixel(cx - x, cy - y);
@@ -281,9 +281,9 @@ modm::GraphicDisplay::drawImageRaw(glcd::Point start, uint16_t width, uint16_t h
 			for (uint16_t j = 0; j < rowHeight; j++)
 			{
 				if (byte & 0x01)
-					this->setPixel(start.x + i, start.y + k * 8 + j);
+					this->setPixel(start.x() + i, start.y() + k * 8 + j);
 				else
-					this->clearPixel(start.x + i, start.y + k * 8 + j);
+					this->clearPixel(start.x() + i, start.y() + k * 8 + j);
 
 				byte >>= 1;
 			}
diff --git a/src/modm/ui/display/graphic_display.hpp b/src/modm/ui/display/graphic_display.hpp
index a1c708f21c..92e28f9a15 100644
--- a/src/modm/ui/display/graphic_display.hpp
+++ b/src/modm/ui/display/graphic_display.hpp
@@ -117,7 +117,7 @@ class GraphicDisplay : public IOStream
 	inline void
 	setPixel(glcd::Point p)
 	{
-		this->setPixel(p.x, p.y);
+		this->setPixel(p.x(), p.y());
 	}
 
 	/**
@@ -137,7 +137,7 @@ class GraphicDisplay : public IOStream
 	inline void
 	clearPixel(glcd::Point p)
 	{
-		this->setPixel(p.x, p.y);
+		this->setPixel(p.x(), p.y());
 	}
 
 	/**
@@ -174,7 +174,7 @@ class GraphicDisplay : public IOStream
 	inline void
 	drawLine(glcd::Point start, glcd::Point end)
 	{
-		this->drawLine(start.x, start.y, end.x, end.y);
+		this->drawLine(start.x(), start.y(), end.x(), end.y());
 	}
 
 	/**
@@ -349,7 +349,7 @@ class GraphicDisplay : public IOStream
 	inline void
 	setCursorX(int16_t x)
 	{
-		this->cursor.x = x;
+		this->cursor.x() = x;
 	}
 
 	/**
@@ -360,7 +360,7 @@ class GraphicDisplay : public IOStream
 	inline void
 	setCursorY(int16_t y)
 	{
-		this->cursor.y = y;
+		this->cursor.y() = y;
 	}
 
 	inline glcd::Point
diff --git a/src/modm/ui/display/graphic_display_fill.cpp b/src/modm/ui/display/graphic_display_fill.cpp
index 389f8e8564..a7933784ee 100644
--- a/src/modm/ui/display/graphic_display_fill.cpp
+++ b/src/modm/ui/display/graphic_display_fill.cpp
@@ -19,8 +19,8 @@ void
 modm::GraphicDisplay::fillRectangle(glcd::Point start,
 		uint16_t width, uint16_t height)
 {
-	for (uint16_t i = start.x; (i < start.x + width) && (i < getWidth()); ++i)
-		for (uint16_t k = start.y; (k < start.y + height) && (k < getHeight()); ++k)
+	for (uint16_t i = start.x(); (i < start.x() + width) && (i < getWidth()); ++i)
+		for (uint16_t k = start.y(); (k < start.y() + height) && (k < getHeight()); ++k)
 			this->setPixel(i, k);
 }
 
@@ -33,7 +33,7 @@ modm::GraphicDisplay::fillCircle(glcd::Point center, uint16_t radius)
 	uint16_t x = 0;
 	uint16_t y = radius;
 
-	this->drawVerticalLine(glcd::Point(center.x, center.y - radius), 2 * radius);
+	this->drawVerticalLine(glcd::Point(center.x(), center.y() - radius), 2 * radius);
 
 	while(x < y)
 	{
@@ -47,9 +47,9 @@ modm::GraphicDisplay::fillCircle(glcd::Point center, uint16_t radius)
 		ddF_x += 2;
 		f += ddF_x + 1;
 
-		this->drawVerticalLine(glcd::Point(center.x + x, center.y - y), 2 * y);
-		this->drawVerticalLine(glcd::Point(center.x + y, center.y - x), 2 * x);
-		this->drawVerticalLine(glcd::Point(center.x - x, center.y - y), 2 * y);
-		this->drawVerticalLine(glcd::Point(center.x - y, center.y - x), 2 * x);
+		this->drawVerticalLine(glcd::Point(center.x() + x, center.y() - y), 2 * y);
+		this->drawVerticalLine(glcd::Point(center.x() + y, center.y() - x), 2 * x);
+		this->drawVerticalLine(glcd::Point(center.x() - x, center.y() - y), 2 * y);
+		this->drawVerticalLine(glcd::Point(center.x() - y, center.y() - x), 2 * x);
 	}
 }
diff --git a/src/modm/ui/display/graphic_display_text.cpp b/src/modm/ui/display/graphic_display_text.cpp
index f1e6d1d68d..06a3c65a09 100644
--- a/src/modm/ui/display/graphic_display_text.cpp
+++ b/src/modm/ui/display/graphic_display_text.cpp
@@ -71,7 +71,8 @@ modm::GraphicDisplay::write(char c)
 	const uint8_t vspace = font[5];
 
 	if (character == '\n') {
-		this->cursor.set(0, this->cursor.y + height + hspace);
+		this->cursor.x() = 0;
+		this->cursor.y() += height + hspace;
 		return;
 	}
 
@@ -97,7 +98,7 @@ modm::GraphicDisplay::write(char c)
 	this->drawImageRaw(cursor, width, height,
 			accessor::asFlash(font.getPointer() + offset));
 
-	cursor.setX(cursor.x + width);
+	cursor.x() += width;
 
 	// all characters below 128 have whitespace afterwards (number given
 	// by vspace).
@@ -107,7 +108,7 @@ modm::GraphicDisplay::write(char c)
 		//this->setColor(color::html::White);
 		for (uint_fast8_t i = 0; i < vspace; ++i) {
 			//this->drawVerticalLine(cursor, height);
-			cursor.setX(cursor.x + 1);
+			cursor.x()++;
 		}
 
 		// restore color
diff --git a/src/modm/ui/display/monochrome_graphic_display_vertical_impl.hpp b/src/modm/ui/display/monochrome_graphic_display_vertical_impl.hpp
index aefaeaec81..c88e6a4dc4 100644
--- a/src/modm/ui/display/monochrome_graphic_display_vertical_impl.hpp
+++ b/src/modm/ui/display/monochrome_graphic_display_vertical_impl.hpp
@@ -21,12 +21,12 @@ void
 modm::MonochromeGraphicDisplayVertical<Width, Height>::drawHorizontalLine(glcd::Point start,
 																		  uint16_t length)
 {
-	if (start.y >= 0 and start.y < Height)
+	if (start.y() >= 0 and start.y() < Height)
 	{
-		const int16_t y = start.y / 8;
+		const int16_t y = start.y() / 8;
 
-		const uint8_t byte = 1 << (start.y % 8);
-		for (int_fast16_t x = start.x; x < static_cast<int16_t>(start.x + length); ++x)
+		const uint8_t byte = 1 << (start.y() % 8);
+		for (int_fast16_t x = start.x(); x < static_cast<int16_t>(start.x() + length); ++x)
 		{
 			if (x < Width) { this->buffer[y][x] |= byte; }
 		}
@@ -38,19 +38,19 @@ void
 modm::MonochromeGraphicDisplayVertical<Width, Height>::drawVerticalLine(glcd::Point start,
 																		uint16_t length)
 {
-	if (start.x >= 0 and start.x < Width)
+	if (start.x() >= 0 and start.x() < Width)
 	{
-		const int8_t end_y = start.y + length;
+		const int8_t end_y = start.y() + length;
 		const uint8_t y_last = end_y / 8;
 
-		uint_fast8_t y = start.y / 8;
+		uint_fast8_t y = start.y() / 8;
 		// Mask out start
-		uint_fast8_t byte = 0xFF << start.y % 8;
+		uint_fast8_t byte = 0xFF << start.y() % 8;
 		while (y != y_last)
 		{
 			if (y < Height / 8)
 			{
-				this->buffer[y][start.x] |= byte;
+				this->buffer[y][(start.x())] |= byte;
 				byte = 0xFF;
 			}
 			y++;
@@ -59,7 +59,7 @@ modm::MonochromeGraphicDisplayVertical<Width, Height>::drawVerticalLine(glcd::Po
 		if (y < Height / 8)
 		{
 			byte &= 0xFF >> (8 - end_y % 8);
-			this->buffer[y][start.x] |= byte;
+			this->buffer[y][start.x()] |= byte;
 		}
 	}
 }
@@ -69,9 +69,9 @@ void
 modm::MonochromeGraphicDisplayVertical<Width, Height>::drawImageRaw(
 	glcd::Point start, uint16_t width, uint16_t height, modm::accessor::Flash<uint8_t> data)
 {
-	if ((start.y % 8) == 0)
+	if ((start.y() % 8) == 0)
 	{
-		uint16_t row = start.y / 8;
+		uint16_t row = start.y() / 8;
 		uint16_t rowCount = (height + 7) / 8;  // always round up
 
 		if ((height % 8) == 0)
@@ -80,7 +80,7 @@ modm::MonochromeGraphicDisplayVertical<Width, Height>::drawImageRaw(
 			{
 				for (uint_fast16_t k = 0; k < rowCount; k++)
 				{
-					uint16_t x = start.x + i;
+					uint16_t x = start.x() + i;
 					uint16_t y = k + row;
 
 					if (x < Width and y < Height)
diff --git a/src/modm/ui/gui/view.cpp b/src/modm/ui/gui/view.cpp
index 75c5389d8c..7abe67d31a 100644
--- a/src/modm/ui/gui/view.cpp
+++ b/src/modm/ui/gui/view.cpp
@@ -72,10 +72,10 @@ modm::gui::View::update()
 bool
 modm::gui::View::pack(Widget *w, const modm::glcd::Point &coord)
 {
-	if(coord.x >= this->dimension.width ||
-	   coord.y >= this->dimension.height ||
-	   coord.x < 0 ||
-	   coord.y < 0)
+	if(coord.x() >= this->dimension.width ||
+	   coord.y() >= this->dimension.height ||
+	   coord.x() < 0 ||
+	   coord.y() < 0)
 	{
 		return false;
 	}
diff --git a/src/modm/ui/gui/widgets/button.cpp b/src/modm/ui/gui/widgets/button.cpp
index e4c2f2996c..1fa32a10e7 100644
--- a/src/modm/ui/gui/widgets/button.cpp
+++ b/src/modm/ui/gui/widgets/button.cpp
@@ -26,8 +26,8 @@ modm::gui::ButtonWidget::render(View* view)
 	ColorPalette cp = this->color_palette;
 
 	// position and dimensions
-	const uint16_t x = this->getPosition().x;
-	const uint16_t y = this->getPosition().y;
+	const uint16_t x = this->getPosition().x();
+	const uint16_t y = this->getPosition().y();
 	const uint16_t width = this->getWidth();
 	const uint16_t height = this->getHeight();
 
@@ -80,8 +80,8 @@ modm::gui::ArrowButton::render(View* view)
 	ColorPalette cp = this->color_palette;
 
 	// position and dimensions
-	const uint16_t x = this->getPosition().x;
-	const uint16_t y = this->getPosition().y;
+	const uint16_t x = this->getPosition().x();
+	const uint16_t y = this->getPosition().y();
 	const uint16_t width = this->getWidth();
 	const uint16_t height = this->getHeight();
 
@@ -130,8 +130,8 @@ modm::gui::FilledAreaButton::render(View* view)
 	modm::ColorGraphicDisplay* out = &view->display();
 
 	// position and dimensions
-	const uint16_t x = this->getPosition().x;
-	const uint16_t y = this->getPosition().y;
+	const uint16_t x = this->getPosition().x();
+	const uint16_t y = this->getPosition().y();
 	const uint16_t width = this->getWidth();
 	const uint16_t height = this->getHeight();
 
diff --git a/src/modm/ui/gui/widgets/checkbox.cpp b/src/modm/ui/gui/widgets/checkbox.cpp
index 53a182ccb8..3985ef48fd 100644
--- a/src/modm/ui/gui/widgets/checkbox.cpp
+++ b/src/modm/ui/gui/widgets/checkbox.cpp
@@ -30,8 +30,8 @@ modm::gui::CheckboxWidget::render(View* view)
 
 	const uint16_t box_width = this->dimension.width;
 	const uint16_t box_height = this->dimension.height;
-	const uint16_t box_x = this->getPosition().x;
-	const uint16_t box_y = this->getPosition().y;
+	const uint16_t box_x = this->getPosition().x();
+	const uint16_t box_y = this->getPosition().y();
 
 	// clear background
 	out->setColor(cp[Color::BACKGROUND]);
diff --git a/src/modm/ui/gui/widgets/label.cpp b/src/modm/ui/gui/widgets/label.cpp
index 1527f1e965..305a19ac6d 100644
--- a/src/modm/ui/gui/widgets/label.cpp
+++ b/src/modm/ui/gui/widgets/label.cpp
@@ -30,6 +30,6 @@ modm::gui::Label::render(View* view)
 		out->setFont(&(this->font));
 	}
 
-	out->setCursor(this->getPosition().x, this->getPosition().y);
+	out->setCursor(this->getPosition().x(), this->getPosition().y());
 	*out << this->label;
 }
diff --git a/src/modm/ui/gui/widgets/numberfield.cpp b/src/modm/ui/gui/widgets/numberfield.cpp
index d8b12fa972..816f2801f2 100644
--- a/src/modm/ui/gui/widgets/numberfield.cpp
+++ b/src/modm/ui/gui/widgets/numberfield.cpp
@@ -34,8 +34,8 @@ modm::gui::FloatField::render(View* view)
 
 	const uint16_t box_width = this->dimension.width - 4;
 	const uint16_t box_height = this->dimension.height;
-	const uint16_t box_x = this->getPosition().x + 2;
-	const uint16_t box_y = this->getPosition().y;
+	const uint16_t box_x = this->getPosition().x() + 2;
+	const uint16_t box_y = this->getPosition().y();
 
 	// clear background
 	out->setColor(cp[Color::BACKGROUND]);
diff --git a/src/modm/ui/gui/widgets/numberfield_impl.hpp b/src/modm/ui/gui/widgets/numberfield_impl.hpp
index d6d02177a2..79f8e5a085 100644
--- a/src/modm/ui/gui/widgets/numberfield_impl.hpp
+++ b/src/modm/ui/gui/widgets/numberfield_impl.hpp
@@ -30,8 +30,8 @@ modm::gui::NumberField<T>::render(View* view)
 
 	const uint16_t box_width = this->dimension.width - 4;
 	const uint16_t box_height = this->dimension.height;
-	const uint16_t box_x = this->getPosition().x + 2;
-	const uint16_t box_y = this->getPosition().y;
+	const uint16_t box_x = this->getPosition().x() + 2;
+	const uint16_t box_y = this->getPosition().y();
 
 	// clear background
 	out->setColor(cp[Color::BACKGROUND]);
diff --git a/src/modm/ui/gui/widgets/stringfield.cpp b/src/modm/ui/gui/widgets/stringfield.cpp
index d3928862a7..14dcb22400 100644
--- a/src/modm/ui/gui/widgets/stringfield.cpp
+++ b/src/modm/ui/gui/widgets/stringfield.cpp
@@ -29,8 +29,8 @@ modm::gui::StringField::render(View* view)
 
 	const uint16_t box_width = this->dimension.width - 4;
 	const uint16_t box_height = this->dimension.height;
-	const uint16_t box_x = this->getPosition().x + 2;
-	const uint16_t box_y = this->getPosition().y;
+	const uint16_t box_x = this->getPosition().x() + 2;
+	const uint16_t box_y = this->getPosition().y();
 
 	// clear background
 	out->setColor(cp[Color::BACKGROUND]);
diff --git a/src/modm/ui/gui/widgets/widget.cpp b/src/modm/ui/gui/widgets/widget.cpp
index 66a0e33b55..674be9ad10 100644
--- a/src/modm/ui/gui/widgets/widget.cpp
+++ b/src/modm/ui/gui/widgets/widget.cpp
@@ -17,7 +17,7 @@
 bool
 modm::gui::WidgetGroup::pack(Widget* w, const modm::glcd::Point& coord)
 {
-	if(coord.x > (this->dimension.width - w->dimension.width ) || coord.y > (this->dimension.height - w->dimension.height) || coord.x < 0 || coord.y < 0)
+	if(coord.x() > (this->dimension.width - w->dimension.width ) || coord.y() > (this->dimension.height - w->dimension.height) || coord.x() < 0 || coord.y() < 0)
 		return false;
 
 	/* Widget needs to know its parent to calculate its real, absolute
@@ -107,19 +107,19 @@ modm::gui::Widget::checkIntersection(Widget* w)
 
 	/* coordinates of upper left and lower right corner of this widget */
 	auto upper_left = this->getPosition();
-	auto lower_right = modm::glcd::Point(upper_left.x + this->getWidth(), upper_left.y + this->getHeight());
+	auto lower_right = modm::glcd::Point(upper_left.x() + this->getWidth(), upper_left.y() + this->getHeight());
 
 	/* coordinates of upper left and lower right corner of the argument Widget* w */
 	auto upper_left2 = w->getPosition();
-	auto lower_right2 = modm::glcd::Point(upper_left2.x + w->getWidth(), upper_left2.y + w->getHeight());
+	auto lower_right2 = modm::glcd::Point(upper_left2.x() + w->getWidth(), upper_left2.y() + w->getHeight());
 
 	/* check if rectangles contituted by precedingly defined
 	 * coordinates DON'T overlap
 	 * */
-	if(upper_left.x > lower_right2.x ||
-	   upper_left2.x > lower_right.x ||
-	   upper_left.y > lower_right2.y ||
-	   upper_left2.y > lower_right.y
+	if(upper_left.x() > lower_right2.x() ||
+	   upper_left2.x() > lower_right.x() ||
+	   upper_left.y() > lower_right2.y() ||
+	   upper_left2.y() > lower_right.y()
 	  )
 	{
 		return false;
@@ -135,10 +135,10 @@ modm::gui::Widget::handleInputEvent(const InputEvent* ev)
 	auto position = this->getPosition();
 
 	/* check if event is within area */
-	if((position.x < ev->coord.x) &&
-	   (position.y < ev->coord.y) &&
-	   ((position.x + this->getWidth()) > ev->coord.x) &&
-	   ((position.y + this->getHeight()) > ev->coord.y))
+	if((position.x() < ev->coord.x()) &&
+	   (position.y() < ev->coord.y()) &&
+	   ((position.x() + this->getWidth()) > ev->coord.x()) &&
+	   ((position.y() + this->getHeight()) > ev->coord.y()))
 	{
 		/* check if widget has interaction */
 		if(this->isInteractive())
diff --git a/test/modm/math/geometry/quaternion_test.cpp b/test/modm/math/geometry/quaternion_test.cpp
index 3f3b3edc99..083308c225 100644
--- a/test/modm/math/geometry/quaternion_test.cpp
+++ b/test/modm/math/geometry/quaternion_test.cpp
@@ -12,9 +12,10 @@
 
 #include <modm/math/geometry/vector.hpp>
 #include <modm/math/geometry/quaternion.hpp>
-#include "quaternion_test.hpp"
 #include <modm/math/geometry/angle.hpp>
 
+#include "quaternion_test.hpp"
+
 void
 QuaternionTest::testConstructor()
 {
diff --git a/test/modm/math/geometry/vector1_test.cpp b/test/modm/math/geometry/vector1_test.cpp
index ea042914fe..1a9a4186b0 100644
--- a/test/modm/math/geometry/vector1_test.cpp
+++ b/test/modm/math/geometry/vector1_test.cpp
@@ -28,27 +28,27 @@ Vector1Test::testConstructor()
 	modm::Vector1i c(a);
 	TEST_ASSERT_EQUALS(c.x(), 100);
 
-	int16_t array[1] = {-4};
+	/* int16_t array[1] = {-4};
 	modm::Matrix<int16_t, 1, 1> m(array);
 
 	modm::Vector1i d(m);
-	TEST_ASSERT_EQUALS(d.x(), -4);
+	TEST_ASSERT_EQUALS(d.x(), -4); */
 }
 
 void
 Vector1Test::testAssign()
 {
 	modm::Vector1i a(42);
-	int16_t array[1] = {-42};
-	modm::Matrix<int16_t, 1, 1> m(array);
+	/* int16_t array[1] = {-42};
+	modm::Matrix<int16_t, 1, 1> m(array); */
 
 	modm::Vector1i b;
 
 	b = a;
 	TEST_ASSERT_EQUALS(b.x(), 42);
 
-	b = m;
-	TEST_ASSERT_EQUALS(b.x(), -42);
+	/* b = m;
+	TEST_ASSERT_EQUALS(b.x(), -42); */
 }
 
 void
@@ -85,7 +85,7 @@ void
 Vector1Test::testRawDataAccess()
 {
 	modm::Vector1i a(2);
-	int16_t *pointer = a.ptr();
+	int16_t *pointer = a.data();
 
 	TEST_ASSERT_EQUALS(a[0], 2);
 	TEST_ASSERT_EQUALS(pointer[0], 2);
diff --git a/test/modm/math/geometry/vector2_test.cpp b/test/modm/math/geometry/vector2_test.cpp
index 47d7094b81..9e94020513 100644
--- a/test/modm/math/geometry/vector2_test.cpp
+++ b/test/modm/math/geometry/vector2_test.cpp
@@ -32,11 +32,11 @@ Vector2Test::testConstructor()
 	TEST_ASSERT_EQUALS(c.x(), 20);
 	TEST_ASSERT_EQUALS(c.y(), 30);
 
-	int16_t array[2] = {-4,5};
+	/* int16_t array[2] = {-4,5};
 	modm::Matrix<int16_t, 2, 1> m(array);
 	modm::Vector2i d(m);
 	TEST_ASSERT_EQUALS(d.x(), -4);
-	TEST_ASSERT_EQUALS(d.y(), 5);
+	TEST_ASSERT_EQUALS(d.y(), 5); */
 
 	modm::Vector2i e(a);
 	TEST_ASSERT_EQUALS(e.x(), 100);
@@ -61,8 +61,8 @@ Vector2Test::testAssign()
 {
 	modm::Vector2i a(42,-4);
 
-	int16_t array[2] = {-26,9};
-	modm::Matrix<int16_t, 2, 1> m(array);
+	/* int16_t array[2] = {-26,9};
+	modm::Matrix<int16_t, 2, 1> m(array); */
 
 	modm::Vector2i b;
 
@@ -70,9 +70,9 @@ Vector2Test::testAssign()
 	TEST_ASSERT_EQUALS(b.x(), 42);
 	TEST_ASSERT_EQUALS(b.y(), -4);
 
-	b = m;
+	/* b = m;
 	TEST_ASSERT_EQUALS(b.x(), -26);
-	TEST_ASSERT_EQUALS(b.y(), 9);
+	TEST_ASSERT_EQUALS(b.y(), 9); */
 }
 
 void
@@ -109,7 +109,7 @@ void
 Vector2Test::testRawDataAccess()
 {
 	modm::Vector2i a(2,5);
-	int16_t *pointer = a.ptr();
+	int16_t *pointer = a.data();
 
 	TEST_ASSERT_EQUALS(a[0], 2);
 	TEST_ASSERT_EQUALS(a[1], 5);
@@ -172,7 +172,7 @@ Vector2Test::testOperators()
 	b /= 2;
 	TEST_ASSERT_EQUALS(b.x(), 18/2);
 	TEST_ASSERT_EQUALS(b.y(), -7/2);
-	~b;
+	b = ~b;
 	TEST_ASSERT_EQUALS(b.x(), -7/2);
 	TEST_ASSERT_EQUALS(b.y(), -18/2);
 
@@ -217,7 +217,7 @@ Vector2Test::testLength()
 
 	TEST_ASSERT_EQUALS_FLOAT(a.scaled(2.5f).x(), 1.5f);
 	TEST_ASSERT_EQUALS_FLOAT(a.scaled(2.5f).y(), 2.f);
-	
+
 	a.scale(2.f);
 	TEST_ASSERT_EQUALS_FLOAT(a.x(), 1.2f);
 	TEST_ASSERT_EQUALS_FLOAT(a.y(), 1.6f);
diff --git a/test/modm/math/geometry/vector3_test.cpp b/test/modm/math/geometry/vector3_test.cpp
index 411d334a56..deb68bff3e 100644
--- a/test/modm/math/geometry/vector3_test.cpp
+++ b/test/modm/math/geometry/vector3_test.cpp
@@ -21,7 +21,7 @@ Vector3Test::testConstructor()
 	modm::Vector2i p2(1, 2);
 
 	int16_t array[3] = {-4, 5, 7};
-	modm::Matrix<int16_t, 3, 1> m(array);
+	/* modm::Matrix<int16_t, 3, 1> m(array); */
 
 	modm::Vector3i a;
 	TEST_ASSERT_EQUALS(a.x(), 0);
@@ -48,71 +48,70 @@ Vector3Test::testConstructor()
 	TEST_ASSERT_EQUALS(d.y(), 4);
 	TEST_ASSERT_EQUALS(d.z(), 4);
 
-	// TODO implement variadic constructor
-	// modm::Vector3i e(1,2,p1);
-	// TEST_ASSERT_EQUALS(e.x(), 1);
-	// TEST_ASSERT_EQUALS(e.y(), 2);
-	// TEST_ASSERT_EQUALS(e.z(), 3);
-
-	// modm::Vector3i f(1,p1,2);
-	// TEST_ASSERT_EQUALS(f.x(), 1);
-	// TEST_ASSERT_EQUALS(f.y(), 3);
-	// TEST_ASSERT_EQUALS(f.z(), 2);
-
-	// modm::Vector3i g(p1,2,1);
-	// TEST_ASSERT_EQUALS(g.x(), 3);
-	// TEST_ASSERT_EQUALS(g.y(), 2);
-	// TEST_ASSERT_EQUALS(g.z(), 1);
-
-	// modm::Vector3i h(1,p1,p1);
-	// TEST_ASSERT_EQUALS(h.x(), 1);
-	// TEST_ASSERT_EQUALS(h.y(), 3);
-	// TEST_ASSERT_EQUALS(h.z(), 3);
-
-	// modm::Vector3i i(p1,1,p1);
-	// TEST_ASSERT_EQUALS(i.x(), 3);
-	// TEST_ASSERT_EQUALS(i.y(), 1);
-	// TEST_ASSERT_EQUALS(i.z(), 3);
-
-	// modm::Vector3i j(p1,p1,1);
-	// TEST_ASSERT_EQUALS(j.x(), 3);
-	// TEST_ASSERT_EQUALS(j.y(), 3);
-	// TEST_ASSERT_EQUALS(j.z(), 1);
-
-	// modm::Vector3i k(p1,p1,p1);
-	// TEST_ASSERT_EQUALS(k.x(), 3);
-	// TEST_ASSERT_EQUALS(k.y(), 3);
-	// TEST_ASSERT_EQUALS(k.z(), 3);
-
-	// modm::Vector3i l(2,p2);
-	// TEST_ASSERT_EQUALS(l.x(), 2);
-	// TEST_ASSERT_EQUALS(l.y(), 1);
-	// TEST_ASSERT_EQUALS(l.z(), 2);
-
-	// modm::Vector3i r(p2,6);
-	// TEST_ASSERT_EQUALS(r.x(), 1);
-	// TEST_ASSERT_EQUALS(r.y(), 2);
-	// TEST_ASSERT_EQUALS(r.z(), 6);
-
-	// modm::Vector3i n(p1,p2);
-	// TEST_ASSERT_EQUALS(n.x(), 3);
-	// TEST_ASSERT_EQUALS(n.y(), 1);
-	// TEST_ASSERT_EQUALS(n.z(), 2);
-
-	// modm::Vector3i o(p2,p1);
-	// TEST_ASSERT_EQUALS(o.x(), 1);
-	// TEST_ASSERT_EQUALS(o.y(), 2);
-	// TEST_ASSERT_EQUALS(o.z(), 3);
-
-	// modm::Vector3i p(a);
-	// TEST_ASSERT_EQUALS(p.x(), 100);
-	// TEST_ASSERT_EQUALS(p.y(), 9);
-	// TEST_ASSERT_EQUALS(p.z(), 4);
-
-	// modm::Vector3i q(m);
-	// TEST_ASSERT_EQUALS(q.x(), -4);
-	// TEST_ASSERT_EQUALS(q.y(), 5);
-	// TEST_ASSERT_EQUALS(q.z(), 7);
+	modm::Vector3i e(1,2,p1);
+	TEST_ASSERT_EQUALS(e.x(), 1);
+	TEST_ASSERT_EQUALS(e.y(), 2);
+	TEST_ASSERT_EQUALS(e.z(), 3);
+
+	modm::Vector3i f(1,p1,2);
+	TEST_ASSERT_EQUALS(f.x(), 1);
+	TEST_ASSERT_EQUALS(f.y(), 3);
+	TEST_ASSERT_EQUALS(f.z(), 2);
+
+	modm::Vector3i g(p1,2,1);
+	TEST_ASSERT_EQUALS(g.x(), 3);
+	TEST_ASSERT_EQUALS(g.y(), 2);
+	TEST_ASSERT_EQUALS(g.z(), 1);
+
+	modm::Vector3i h(1,p1,p1);
+	TEST_ASSERT_EQUALS(h.x(), 1);
+	TEST_ASSERT_EQUALS(h.y(), 3);
+	TEST_ASSERT_EQUALS(h.z(), 3);
+
+	modm::Vector3i i(p1,1,p1);
+	TEST_ASSERT_EQUALS(i.x(), 3);
+	TEST_ASSERT_EQUALS(i.y(), 1);
+	TEST_ASSERT_EQUALS(i.z(), 3);
+
+	modm::Vector3i j(p1,p1,1);
+	TEST_ASSERT_EQUALS(j.x(), 3);
+	TEST_ASSERT_EQUALS(j.y(), 3);
+	TEST_ASSERT_EQUALS(j.z(), 1);
+
+	modm::Vector3i k(p1,p1,p1);
+	TEST_ASSERT_EQUALS(k.x(), 3);
+	TEST_ASSERT_EQUALS(k.y(), 3);
+	TEST_ASSERT_EQUALS(k.z(), 3);
+
+	modm::Vector3i l(2,p2);
+	TEST_ASSERT_EQUALS(l.x(), 2);
+	TEST_ASSERT_EQUALS(l.y(), 1);
+	TEST_ASSERT_EQUALS(l.z(), 2);
+
+	modm::Vector3i r(p2,6);
+	TEST_ASSERT_EQUALS(r.x(), 1);
+	TEST_ASSERT_EQUALS(r.y(), 2);
+	TEST_ASSERT_EQUALS(r.z(), 6);
+
+	modm::Vector3i n(p1,p2);
+	TEST_ASSERT_EQUALS(n.x(), 3);
+	TEST_ASSERT_EQUALS(n.y(), 1);
+	TEST_ASSERT_EQUALS(n.z(), 2);
+
+	modm::Vector3i o(p2,p1);
+	TEST_ASSERT_EQUALS(o.x(), 1);
+	TEST_ASSERT_EQUALS(o.y(), 2);
+	TEST_ASSERT_EQUALS(o.z(), 3);
+
+	modm::Vector3i p(a);
+	TEST_ASSERT_EQUALS(p.x(), 100);
+	TEST_ASSERT_EQUALS(p.y(), 9);
+	TEST_ASSERT_EQUALS(p.z(), 4);
+
+/* 	modm::Vector3i q(m);
+	TEST_ASSERT_EQUALS(q.x(), -4);
+	TEST_ASSERT_EQUALS(q.y(), 5);
+	TEST_ASSERT_EQUALS(q.z(), 7); */
 }
 
 void
@@ -121,7 +120,7 @@ Vector3Test::testAssign()
 	modm::Vector3i a(42,-4,3);
 
 	int16_t array[3] = {-26,9,2};
-	modm::Matrix<int16_t, 3, 1> m(array);
+	/* modm::Matrix<int16_t, 3, 1> m(array); */
 
 	modm::Vector3i b;
 
@@ -130,10 +129,10 @@ Vector3Test::testAssign()
 	TEST_ASSERT_EQUALS(b.y(), -4);
 	TEST_ASSERT_EQUALS(b.z(), 3);
 
-	b = m;
+	/* b = m;
 	TEST_ASSERT_EQUALS(b.x(), -26);
 	TEST_ASSERT_EQUALS(b.y(), 9);
-	TEST_ASSERT_EQUALS(b.z(), 2);
+	TEST_ASSERT_EQUALS(b.z(), 2); */
 }
 
 void
@@ -170,7 +169,7 @@ void
 Vector3Test::testRawDataAccess()
 {
 	modm::Vector3i a(0, 1, 2);
-	int16_t *pointer = a.ptr();
+	int16_t *pointer = a.data();
 
 	TEST_ASSERT_EQUALS(a[0], 0);
 	TEST_ASSERT_EQUALS(a[1], 1);
diff --git a/test/modm/math/geometry/vector4_test.cpp b/test/modm/math/geometry/vector4_test.cpp
index bdecbc06d4..8d1c3e283e 100644
--- a/test/modm/math/geometry/vector4_test.cpp
+++ b/test/modm/math/geometry/vector4_test.cpp
@@ -21,7 +21,7 @@ Vector4Test::testConstructor()
 	modm::Vector3i p3(3, 3, 3);
 
 	int16_t array[4] = {1, 2, 3, 4};
-	modm::Matrix<int16_t, 4, 1> m(array);
+	/* modm::Matrix<int16_t, 4, 1> m(array); */
 
 	modm::Vector4i a;
 	TEST_ASSERT_EQUALS(a.x(), 0);
@@ -54,185 +54,185 @@ Vector4Test::testConstructor()
 	TEST_ASSERT_EQUALS(d.w(), 4);
 
 	// TODO implement variadic constructor
-	// modm::Vector4i e(p1,1,2,3);
-	// TEST_ASSERT_EQUALS(e.x(), 1);
-	// TEST_ASSERT_EQUALS(e.y(), 1);
-	// TEST_ASSERT_EQUALS(e.z(), 2);
-	// TEST_ASSERT_EQUALS(e.w(), 3);
-
-	// modm::Vector4i f(1,p1,2,3);
-	// TEST_ASSERT_EQUALS(f.x(), 1);
-	// TEST_ASSERT_EQUALS(f.y(), 1);
-	// TEST_ASSERT_EQUALS(f.z(), 2);
-	// TEST_ASSERT_EQUALS(f.w(), 3);
-
-	// //	modm::Vector4i g(1,2,p1,3);
-	// //	TEST_ASSERT_EQUALS(g.x(), 1);
-	// //	TEST_ASSERT_EQUALS(g.y(), 2);
-	// //	TEST_ASSERT_EQUALS(g.z(), 1);
-	// //	TEST_ASSERT_EQUALS(g.w(), 3);
-
-	// modm::Vector4i h(1,2,3,p1);
-	// TEST_ASSERT_EQUALS(h.x(), 1);
-	// TEST_ASSERT_EQUALS(h.y(), 2);
-	// TEST_ASSERT_EQUALS(h.z(), 3);
-	// TEST_ASSERT_EQUALS(h.w(), 1);
-
-	// modm::Vector4i i(p1,p1,1,2);
-	// TEST_ASSERT_EQUALS(i.x(), 1);
-	// TEST_ASSERT_EQUALS(i.y(), 1);
-	// TEST_ASSERT_EQUALS(i.z(), 1);
-	// TEST_ASSERT_EQUALS(i.w(), 2);
-
-	// modm::Vector4i j(p1,1,p1,2);
-	// TEST_ASSERT_EQUALS(j.x(), 1);
-	// TEST_ASSERT_EQUALS(j.y(), 1);
-	// TEST_ASSERT_EQUALS(j.z(), 1);
-	// TEST_ASSERT_EQUALS(j.w(), 2);
-
-	// modm::Vector4i k(p1,1,2,p1);
-	// TEST_ASSERT_EQUALS(k.x(), 1);
-	// TEST_ASSERT_EQUALS(k.y(), 1);
-	// TEST_ASSERT_EQUALS(k.z(), 2);
-	// TEST_ASSERT_EQUALS(k.w(), 1);
-
-	// modm::Vector4i l(1,p1,2,p1);
-	// TEST_ASSERT_EQUALS(l.x(), 1);
-	// TEST_ASSERT_EQUALS(l.y(), 1);
-	// TEST_ASSERT_EQUALS(l.z(), 2);
-	// TEST_ASSERT_EQUALS(l.w(), 1);
-
-	// modm::Vector4i r(1,2,p1,p1);
-	// TEST_ASSERT_EQUALS(r.x(), 1);
-	// TEST_ASSERT_EQUALS(r.y(), 2);
-	// TEST_ASSERT_EQUALS(r.z(), 1);
-	// TEST_ASSERT_EQUALS(r.w(), 1);
-
-	// modm::Vector4i n(1,p1,p1,2);
-	// TEST_ASSERT_EQUALS(n.x(), 1);
-	// TEST_ASSERT_EQUALS(n.y(), 1);
-	// TEST_ASSERT_EQUALS(n.z(), 1);
-	// TEST_ASSERT_EQUALS(n.w(), 2);
-
-
-	// modm::Vector4i o(p2,p1,p1);
-	// TEST_ASSERT_EQUALS(o.x(), 2);
-	// TEST_ASSERT_EQUALS(o.y(), 2);
-	// TEST_ASSERT_EQUALS(o.z(), 1);
-	// TEST_ASSERT_EQUALS(o.w(), 1);
-
-	// modm::Vector4i s(p2,p1,1);
-	// TEST_ASSERT_EQUALS(s.x(), 2);
-	// TEST_ASSERT_EQUALS(s.y(), 2);
-	// TEST_ASSERT_EQUALS(s.z(), 1);
-	// TEST_ASSERT_EQUALS(s.w(), 1);
-
-	// modm::Vector4i t(p2,1,p1);
-	// TEST_ASSERT_EQUALS(t.x(), 2);
-	// TEST_ASSERT_EQUALS(t.y(), 2);
-	// TEST_ASSERT_EQUALS(t.z(), 1);
-	// TEST_ASSERT_EQUALS(t.w(), 1);
-
-	// modm::Vector4i u(p2,1,1);
-	// TEST_ASSERT_EQUALS(u.x(), 2);
-	// TEST_ASSERT_EQUALS(u.y(), 2);
-	// TEST_ASSERT_EQUALS(u.z(), 1);
-	// TEST_ASSERT_EQUALS(u.w(), 1);
-
-
-	// modm::Vector4i o2(p1,p2,p1);
-	// TEST_ASSERT_EQUALS(o2.x(), 1);
-	// TEST_ASSERT_EQUALS(o2.y(), 2);
-	// TEST_ASSERT_EQUALS(o2.z(), 2);
-	// TEST_ASSERT_EQUALS(o2.w(), 1);
-
-	// modm::Vector4i s2(p1,p2,1);
-	// TEST_ASSERT_EQUALS(s2.x(), 1);
-	// TEST_ASSERT_EQUALS(s2.y(), 2);
-	// TEST_ASSERT_EQUALS(s2.z(), 2);
-	// TEST_ASSERT_EQUALS(s2.w(), 1);
-
-	// modm::Vector4i t2(1,p2,p1);
-	// TEST_ASSERT_EQUALS(t2.x(), 1);
-	// TEST_ASSERT_EQUALS(t2.y(), 2);
-	// TEST_ASSERT_EQUALS(t2.z(), 2);
-	// TEST_ASSERT_EQUALS(t2.w(), 1);
-
-	// modm::Vector4i u2(1,p2,1);
-	// TEST_ASSERT_EQUALS(u2.x(), 1);
-	// TEST_ASSERT_EQUALS(u2.y(), 2);
-	// TEST_ASSERT_EQUALS(u2.z(), 2);
-	// TEST_ASSERT_EQUALS(u2.w(), 1);
-
-
-	// modm::Vector4i o3(p1,p1,p2);
-	// TEST_ASSERT_EQUALS(o3.x(), 1);
-	// TEST_ASSERT_EQUALS(o3.y(), 1);
-	// TEST_ASSERT_EQUALS(o3.z(), 2);
-	// TEST_ASSERT_EQUALS(o3.w(), 2);
-
-	// modm::Vector4i s3(p1,1,p2);
-	// TEST_ASSERT_EQUALS(s3.x(), 1);
-	// TEST_ASSERT_EQUALS(s3.y(), 1);
-	// TEST_ASSERT_EQUALS(s3.z(), 2);
-	// TEST_ASSERT_EQUALS(s3.w(), 2);
-
-	// modm::Vector4i t3(1,p1,p2);
-	// TEST_ASSERT_EQUALS(t3.x(), 1);
-	// TEST_ASSERT_EQUALS(t3.y(), 1);
-	// TEST_ASSERT_EQUALS(t3.z(), 2);
-	// TEST_ASSERT_EQUALS(t3.w(), 2);
-
-	// modm::Vector4i u3(1,1,p2);
-	// TEST_ASSERT_EQUALS(u3.x(), 1);
-	// TEST_ASSERT_EQUALS(u3.y(), 1);
-	// TEST_ASSERT_EQUALS(u3.z(), 2);
-	// TEST_ASSERT_EQUALS(u3.w(), 2);
-
-
-	// modm::Vector4i u4(p2,p2);
-	// TEST_ASSERT_EQUALS(u4.x(), 2);
-	// TEST_ASSERT_EQUALS(u4.y(), 2);
-	// TEST_ASSERT_EQUALS(u4.z(), 2);
-	// TEST_ASSERT_EQUALS(u4.w(), 2);
-
-
-	// modm::Vector4i u5(p3,p1);
-	// TEST_ASSERT_EQUALS(u5.x(), 3);
-	// TEST_ASSERT_EQUALS(u5.y(), 3);
-	// TEST_ASSERT_EQUALS(u5.z(), 3);
-	// TEST_ASSERT_EQUALS(u5.w(), 1);
-
-	// modm::Vector4i u6(p1,p3);
-	// TEST_ASSERT_EQUALS(u6.x(), 1);
-	// TEST_ASSERT_EQUALS(u6.y(), 3);
-	// TEST_ASSERT_EQUALS(u6.z(), 3);
-	// TEST_ASSERT_EQUALS(u6.w(), 3);
-
-	// modm::Vector4i u7(p3,1);
-	// TEST_ASSERT_EQUALS(u7.x(), 3);
-	// TEST_ASSERT_EQUALS(u7.y(), 3);
-	// TEST_ASSERT_EQUALS(u7.z(), 3);
-	// TEST_ASSERT_EQUALS(u7.w(), 1);
-
-	// modm::Vector4i u8(1,p3);
-	// TEST_ASSERT_EQUALS(u8.x(), 1);
-	// TEST_ASSERT_EQUALS(u8.y(), 3);
-	// TEST_ASSERT_EQUALS(u8.z(), 3);
-	// TEST_ASSERT_EQUALS(u8.w(), 3);
-
-
-	// modm::Vector4i p(a);
-	// TEST_ASSERT_EQUALS(p.x(), 1);
-	// TEST_ASSERT_EQUALS(p.y(), 2);
-	// TEST_ASSERT_EQUALS(p.z(), 3);
-	// TEST_ASSERT_EQUALS(p.w(), 4);
-
-	// modm::Vector4i q(m);
-	// TEST_ASSERT_EQUALS(q.x(), 1);
-	// TEST_ASSERT_EQUALS(q.y(), 2);
-	// TEST_ASSERT_EQUALS(q.z(), 3);
-	// TEST_ASSERT_EQUALS(q.w(), 4);
+	modm::Vector4i e(p1,1,2,3);
+	TEST_ASSERT_EQUALS(e.x(), 1);
+	TEST_ASSERT_EQUALS(e.y(), 1);
+	TEST_ASSERT_EQUALS(e.z(), 2);
+	TEST_ASSERT_EQUALS(e.w(), 3);
+
+	modm::Vector4i f(1,p1,2,3);
+	TEST_ASSERT_EQUALS(f.x(), 1);
+	TEST_ASSERT_EQUALS(f.y(), 1);
+	TEST_ASSERT_EQUALS(f.z(), 2);
+	TEST_ASSERT_EQUALS(f.w(), 3);
+
+	modm::Vector4i g(1,2,p1,3);
+	TEST_ASSERT_EQUALS(g.x(), 1);
+	TEST_ASSERT_EQUALS(g.y(), 2);
+	TEST_ASSERT_EQUALS(g.z(), 1);
+	TEST_ASSERT_EQUALS(g.w(), 3);
+
+	modm::Vector4i h(1,2,3,p1);
+	TEST_ASSERT_EQUALS(h.x(), 1);
+	TEST_ASSERT_EQUALS(h.y(), 2);
+	TEST_ASSERT_EQUALS(h.z(), 3);
+	TEST_ASSERT_EQUALS(h.w(), 1);
+
+	modm::Vector4i i(p1,p1,1,2);
+	TEST_ASSERT_EQUALS(i.x(), 1);
+	TEST_ASSERT_EQUALS(i.y(), 1);
+	TEST_ASSERT_EQUALS(i.z(), 1);
+	TEST_ASSERT_EQUALS(i.w(), 2);
+
+	modm::Vector4i j(p1,1,p1,2);
+	TEST_ASSERT_EQUALS(j.x(), 1);
+	TEST_ASSERT_EQUALS(j.y(), 1);
+	TEST_ASSERT_EQUALS(j.z(), 1);
+	TEST_ASSERT_EQUALS(j.w(), 2);
+
+	modm::Vector4i k(p1,1,2,p1);
+	TEST_ASSERT_EQUALS(k.x(), 1);
+	TEST_ASSERT_EQUALS(k.y(), 1);
+	TEST_ASSERT_EQUALS(k.z(), 2);
+	TEST_ASSERT_EQUALS(k.w(), 1);
+
+	modm::Vector4i l(1,p1,2,p1);
+	TEST_ASSERT_EQUALS(l.x(), 1);
+	TEST_ASSERT_EQUALS(l.y(), 1);
+	TEST_ASSERT_EQUALS(l.z(), 2);
+	TEST_ASSERT_EQUALS(l.w(), 1);
+
+	modm::Vector4i r(1,2,p1,p1);
+	TEST_ASSERT_EQUALS(r.x(), 1);
+	TEST_ASSERT_EQUALS(r.y(), 2);
+	TEST_ASSERT_EQUALS(r.z(), 1);
+	TEST_ASSERT_EQUALS(r.w(), 1);
+
+	modm::Vector4i n(1,p1,p1,2);
+	TEST_ASSERT_EQUALS(n.x(), 1);
+	TEST_ASSERT_EQUALS(n.y(), 1);
+	TEST_ASSERT_EQUALS(n.z(), 1);
+	TEST_ASSERT_EQUALS(n.w(), 2);
+
+
+	modm::Vector4i o(p2,p1,p1);
+	TEST_ASSERT_EQUALS(o.x(), 2);
+	TEST_ASSERT_EQUALS(o.y(), 2);
+	TEST_ASSERT_EQUALS(o.z(), 1);
+	TEST_ASSERT_EQUALS(o.w(), 1);
+
+	modm::Vector4i s(p2,p1,1);
+	TEST_ASSERT_EQUALS(s.x(), 2);
+	TEST_ASSERT_EQUALS(s.y(), 2);
+	TEST_ASSERT_EQUALS(s.z(), 1);
+	TEST_ASSERT_EQUALS(s.w(), 1);
+
+	modm::Vector4i t(p2,1,p1);
+	TEST_ASSERT_EQUALS(t.x(), 2);
+	TEST_ASSERT_EQUALS(t.y(), 2);
+	TEST_ASSERT_EQUALS(t.z(), 1);
+	TEST_ASSERT_EQUALS(t.w(), 1);
+
+	modm::Vector4i u(p2,1,1);
+	TEST_ASSERT_EQUALS(u.x(), 2);
+	TEST_ASSERT_EQUALS(u.y(), 2);
+	TEST_ASSERT_EQUALS(u.z(), 1);
+	TEST_ASSERT_EQUALS(u.w(), 1);
+
+
+	modm::Vector4i o2(p1,p2,p1);
+	TEST_ASSERT_EQUALS(o2.x(), 1);
+	TEST_ASSERT_EQUALS(o2.y(), 2);
+	TEST_ASSERT_EQUALS(o2.z(), 2);
+	TEST_ASSERT_EQUALS(o2.w(), 1);
+
+	modm::Vector4i s2(p1,p2,1);
+	TEST_ASSERT_EQUALS(s2.x(), 1);
+	TEST_ASSERT_EQUALS(s2.y(), 2);
+	TEST_ASSERT_EQUALS(s2.z(), 2);
+	TEST_ASSERT_EQUALS(s2.w(), 1);
+
+	modm::Vector4i t2(1,p2,p1);
+	TEST_ASSERT_EQUALS(t2.x(), 1);
+	TEST_ASSERT_EQUALS(t2.y(), 2);
+	TEST_ASSERT_EQUALS(t2.z(), 2);
+	TEST_ASSERT_EQUALS(t2.w(), 1);
+
+	modm::Vector4i u2(1,p2,1);
+	TEST_ASSERT_EQUALS(u2.x(), 1);
+	TEST_ASSERT_EQUALS(u2.y(), 2);
+	TEST_ASSERT_EQUALS(u2.z(), 2);
+	TEST_ASSERT_EQUALS(u2.w(), 1);
+
+
+	modm::Vector4i o3(p1,p1,p2);
+	TEST_ASSERT_EQUALS(o3.x(), 1);
+	TEST_ASSERT_EQUALS(o3.y(), 1);
+	TEST_ASSERT_EQUALS(o3.z(), 2);
+	TEST_ASSERT_EQUALS(o3.w(), 2);
+
+	modm::Vector4i s3(p1,1,p2);
+	TEST_ASSERT_EQUALS(s3.x(), 1);
+	TEST_ASSERT_EQUALS(s3.y(), 1);
+	TEST_ASSERT_EQUALS(s3.z(), 2);
+	TEST_ASSERT_EQUALS(s3.w(), 2);
+
+	modm::Vector4i t3(1,p1,p2);
+	TEST_ASSERT_EQUALS(t3.x(), 1);
+	TEST_ASSERT_EQUALS(t3.y(), 1);
+	TEST_ASSERT_EQUALS(t3.z(), 2);
+	TEST_ASSERT_EQUALS(t3.w(), 2);
+
+	modm::Vector4i u3(1,1,p2);
+	TEST_ASSERT_EQUALS(u3.x(), 1);
+	TEST_ASSERT_EQUALS(u3.y(), 1);
+	TEST_ASSERT_EQUALS(u3.z(), 2);
+	TEST_ASSERT_EQUALS(u3.w(), 2);
+
+
+	modm::Vector4i u4(p2,p2);
+	TEST_ASSERT_EQUALS(u4.x(), 2);
+	TEST_ASSERT_EQUALS(u4.y(), 2);
+	TEST_ASSERT_EQUALS(u4.z(), 2);
+	TEST_ASSERT_EQUALS(u4.w(), 2);
+
+
+	modm::Vector4i u5(p3,p1);
+	TEST_ASSERT_EQUALS(u5.x(), 3);
+	TEST_ASSERT_EQUALS(u5.y(), 3);
+	TEST_ASSERT_EQUALS(u5.z(), 3);
+	TEST_ASSERT_EQUALS(u5.w(), 1);
+
+	modm::Vector4i u6(p1,p3);
+	TEST_ASSERT_EQUALS(u6.x(), 1);
+	TEST_ASSERT_EQUALS(u6.y(), 3);
+	TEST_ASSERT_EQUALS(u6.z(), 3);
+	TEST_ASSERT_EQUALS(u6.w(), 3);
+
+	modm::Vector4i u7(p3,1);
+	TEST_ASSERT_EQUALS(u7.x(), 3);
+	TEST_ASSERT_EQUALS(u7.y(), 3);
+	TEST_ASSERT_EQUALS(u7.z(), 3);
+	TEST_ASSERT_EQUALS(u7.w(), 1);
+
+	modm::Vector4i u8(1,p3);
+	TEST_ASSERT_EQUALS(u8.x(), 1);
+	TEST_ASSERT_EQUALS(u8.y(), 3);
+	TEST_ASSERT_EQUALS(u8.z(), 3);
+	TEST_ASSERT_EQUALS(u8.w(), 3);
+
+
+	modm::Vector4i p(a);
+	TEST_ASSERT_EQUALS(p.x(), 1);
+	TEST_ASSERT_EQUALS(p.y(), 2);
+	TEST_ASSERT_EQUALS(p.z(), 3);
+	TEST_ASSERT_EQUALS(p.w(), 4);
+
+	/* modm::Vector4i q(m);
+	TEST_ASSERT_EQUALS(q.x(), 1);
+	TEST_ASSERT_EQUALS(q.y(), 2);
+	TEST_ASSERT_EQUALS(q.z(), 3);
+	TEST_ASSERT_EQUALS(q.w(), 4); */
 
 	// did I forget anything...
 }
@@ -243,7 +243,7 @@ Vector4Test::testAssign()
 	modm::Vector4i a(1,2,3,4);
 
 	int16_t array[4] = {5,6,7,8};
-	modm::Matrix<int16_t, 4, 1> m(array);
+	/* modm::Matrix<int16_t, 4, 1> m(array); */
 
 	modm::Vector4i b;
 
@@ -253,11 +253,11 @@ Vector4Test::testAssign()
 	TEST_ASSERT_EQUALS(b.z(), 3);
 	TEST_ASSERT_EQUALS(b.w(), 4);
 
-	b = m;
+	/* b = m;
 	TEST_ASSERT_EQUALS(b.x(), 5);
 	TEST_ASSERT_EQUALS(b.y(), 6);
 	TEST_ASSERT_EQUALS(b.z(), 7);
-	TEST_ASSERT_EQUALS(b.w(), 8);
+	TEST_ASSERT_EQUALS(b.w(), 8); */
 }
 
 void
@@ -294,7 +294,7 @@ void
 Vector4Test::testRawDataAccess()
 {
 	modm::Vector4i a(0,1,2,3);
-	int16_t *pointer = a.comps;
+	int16_t *pointer = a.data();
 
 	TEST_ASSERT_EQUALS(a[0], 0);
 	TEST_ASSERT_EQUALS(a[1], 1);
diff --git a/test/modm/math/geometry/vector_test.cpp b/test/modm/math/geometry/vector_test.cpp
index 758f555d64..0dab630ae2 100644
--- a/test/modm/math/geometry/vector_test.cpp
+++ b/test/modm/math/geometry/vector_test.cpp
@@ -17,7 +17,7 @@ void
 VectorTest::testConstructor()
 {
 	int16_t array[2] = {1, 2};
-	modm::Matrix<int16_t, 2, 1> m(array);
+/* 	modm::Matrix<int16_t, 2, 1> m(array); */
 
 	modm::Vector<int16_t, 2> a;
 	TEST_ASSERT_EQUALS(a[0], 0);
@@ -36,19 +36,18 @@ VectorTest::testConstructor()
 	TEST_ASSERT_EQUALS(p[0], 1);
 	TEST_ASSERT_EQUALS(p[1], 2);
 
-	modm::Vector<int16_t, 2> q(m);
+/* 	modm::Vector<int16_t, 2> q(m);
 	TEST_ASSERT_EQUALS(q[0], 1);
-	TEST_ASSERT_EQUALS(q[1], 2);
+	TEST_ASSERT_EQUALS(q[1], 2); */
 }
 
 void
 VectorTest::testAssign()
-{
-	int16_t array1[4] = {1, 2, 3, 4};
-	modm::Vector<int16_t, 4> a(array1);
+{;
+	modm::Vector<int16_t, 4> a = {1, 2, 3, 4};
 
-	int16_t array2[4] = {5, 6, 7, 8};
-	modm::Matrix<int16_t, 4, 1> m(array2);
+	/* int16_t array2[4] = {5, 6, 7, 8};
+	modm::Matrix<int16_t, 4, 1> m(array2); */
 
 	modm::Vector<int16_t, 4> b;
 
@@ -58,11 +57,11 @@ VectorTest::testAssign()
 	TEST_ASSERT_EQUALS(b[2], 3);
 	TEST_ASSERT_EQUALS(b[3], 4);
 
-	b = m;
+	/* b = m;
 	TEST_ASSERT_EQUALS(b[0], 5);
 	TEST_ASSERT_EQUALS(b[1], 6);
 	TEST_ASSERT_EQUALS(b[2], 7);
-	TEST_ASSERT_EQUALS(b[3], 8);
+	TEST_ASSERT_EQUALS(b[3], 8); */
 }
 
 void
@@ -105,7 +104,7 @@ VectorTest::testRawDataAccess()
 {
 	int16_t array[4] = {0, 1, 2, 3};
 	modm::Vector<int16_t,4> a(array);
-	int16_t *pointer = a.comps;
+	int16_t *pointer = a.data();
 
 	TEST_ASSERT_EQUALS(a[0], 0);
 	TEST_ASSERT_EQUALS(a[1], 1);
@@ -120,11 +119,9 @@ VectorTest::testRawDataAccess()
 void
 VectorTest::testOperators()
 {
-	int16_t array1[4] = {1, 2, 3, 4};
-	modm::Vector<int16_t,4> a(array1);
+	modm::Vector<int16_t,4> a({1, 2, 3, 4});
 
-	int16_t array2[4] = {4, 5, 6, 7};
-	modm::Vector<int16_t,4> b(array2);
+	modm::Vector<int16_t,4> b({4, 5, 6, 7});
 
 	TEST_ASSERT_EQUALS((a + b)[0], 1+4);
 	TEST_ASSERT_EQUALS((a + b)[1], 2+5);
@@ -136,7 +133,7 @@ VectorTest::testOperators()
 	TEST_ASSERT_EQUALS((a - b)[2], 3-6);
 	TEST_ASSERT_EQUALS((a - b)[3], 4-7);
 
-	TEST_ASSERT_EQUALS((a * b), 1*4 + 2*5 + 3*6 + 4*7);
+	TEST_ASSERT_EQUALS((a.dot(b)), 1*4 + 2*5 + 3*6 + 4*7);
 
 	TEST_ASSERT_EQUALS((a * 3)[0], 1*3);
 	TEST_ASSERT_EQUALS((a * 3)[1], 2*3);