diff --git a/index.js b/index.js
index 0c437c8..6039c02 100644
--- a/index.js
+++ b/index.js
@@ -26,6 +26,13 @@ const predict = require('./src/predict/predict_class.js');
 const interpolation = require('./src/predict/interpolation.js');
 const childRegistrationUtils = require('./src/helper/childRegistrationUtils.js');
 const { loadCurve } = require('./datasets/assetData/curves/index.js');
+const Fysics = require('./src/convert/fysics.js');
+
+// Gravity helper (used by rotatingMachine for efficiency calculations)
+const gravity = {
+    getStandardGravity: () => 9.80665,
+    fysics: new Fysics()
+};
 
 // Export everything
 module.exports = {
@@ -44,5 +51,6 @@ module.exports = {
     convert,
     MenuManager,
     childRegistrationUtils,
-    loadCurve
+    loadCurve,
+    gravity
 };
diff --git a/src/convert/definitions/illuminance.js b/src/convert/definitions/illuminance.js
index eefb1f3..05c1b33 100644
--- a/src/convert/definitions/illuminance.js
+++ b/src/convert/definitions/illuminance.js
@@ -30,8 +30,8 @@ module.exports = {
       ratio: 1/10.76391
     },
     imperial: {
-      unit: 'ft-cd',      
-	  ratio: 10.76391
+      unit: 'ft-cd',
+      ratio: 10.76391
     }
   }
 };
diff --git a/src/convert/index.js b/src/convert/index.js
index 0734221..179287c 100644
--- a/src/convert/index.js
+++ b/src/convert/index.js
@@ -127,7 +127,7 @@ Converter.prototype.toBest = function(options) {
   if(!this.origin)
     throw new Error('.toBest must be called after .from');
 
-  var options = Object.assign({
+  options = Object.assign({
     exclude: [],
     cutOffNumber: 1,
   }, options)
@@ -268,22 +268,22 @@ Converter.prototype.throwUnsupportedUnitError = function (what) {
 Converter.prototype.possibilities = function (measure) {
   var possibilities = [];
   if(!this.origin && !measure) {
-	  each(keys(measures), function (measure){
-		  each(measures[measure], function (units, system) {
-		    if(system == '_anchors')
-		      return false;
+    each(keys(measures), function (measure){
+      each(measures[measure], function (units, system) {
+        if(system == '_anchors')
+          return false;
 
-		    possibilities = possibilities.concat(keys(units));
-		  });
-	  });
+        possibilities = possibilities.concat(keys(units));
+      });
+    });
   } else {
-	  measure = measure || this.origin.measure;
-	  each(measures[measure], function (units, system) {
-	    if(system == '_anchors')
-	      return false;
+    measure = measure || this.origin.measure;
+    each(measures[measure], function (units, system) {
+      if(system == '_anchors')
+        return false;
 
-	    possibilities = possibilities.concat(keys(units));
-	  });
+      possibilities = possibilities.concat(keys(units));
+    });
   }
 
   return possibilities;
diff --git a/src/convert/lodash/lodash._basecreate/index.js b/src/convert/lodash/lodash._basecreate/index.js
index c6fc38a..bdea56c 100644
--- a/src/convert/lodash/lodash._basecreate/index.js
+++ b/src/convert/lodash/lodash._basecreate/index.js
@@ -21,12 +21,12 @@ var nativeCreate = reNative.test(nativeCreate = Object.create) && nativeCreate;
  * @param {Object} prototype The object to inherit from.
  * @returns {Object} Returns the new object.
  */
-function baseCreate(prototype, properties) {
+function baseCreate(prototype, properties) { // eslint-disable-line no-func-assign
   return isObject(prototype) ? nativeCreate(prototype) : {};
 }
 // fallback for browsers without `Object.create`
 if (!nativeCreate) {
-  baseCreate = (function() {
+  baseCreate = (function() { // eslint-disable-line no-func-assign
     function Object() {}
     return function(prototype) {
       if (isObject(prototype)) {
diff --git a/src/convert/lodash/lodash._setbinddata/index.js b/src/convert/lodash/lodash._setbinddata/index.js
index 7e86d4c..c3250ad 100644
--- a/src/convert/lodash/lodash._setbinddata/index.js
+++ b/src/convert/lodash/lodash._setbinddata/index.js
@@ -24,7 +24,7 @@ var defineProperty = (function() {
     var o = {},
         func = reNative.test(func = Object.defineProperty) && func,
         result = func(o, o, o) && func;
-  } catch(e) { }
+  } catch(e) { /* intentionally empty */ }
   return result;
 }());
 
diff --git a/src/helper/assertionUtils.js b/src/helper/assertionUtils.js
index 2ec2645..a6dee40 100644
--- a/src/helper/assertionUtils.js
+++ b/src/helper/assertionUtils.js
@@ -16,7 +16,7 @@ class Assertions {
     assertNoNaN(arr, label = "array") {
         if (Array.isArray(arr)) {
             for (const el of arr) {
-                assertNoNaN(el, label);
+                this.assertNoNaN(el, label);
             }
         } else {
             if (Number.isNaN(arr)) {
diff --git a/src/helper/assetUtils.js b/src/helper/assetUtils.js
index 2155549..70cbf1b 100644
--- a/src/helper/assetUtils.js
+++ b/src/helper/assetUtils.js
@@ -1,3 +1,5 @@
-export function getAssetVariables() {
+function getAssetVariables() {
 
-}
\ No newline at end of file
+}
+
+module.exports = { getAssetVariables };
diff --git a/src/helper/childRegistrationUtils.js b/src/helper/childRegistrationUtils.js
index 6433a1e..3a18f27 100644
--- a/src/helper/childRegistrationUtils.js
+++ b/src/helper/childRegistrationUtils.js
@@ -39,7 +39,7 @@ class ChildRegistrationUtils {
 
     // IMPORTANT: Only call parent registration - no automatic handling and if parent has this function then try to register this child
     if (typeof this.mainClass.registerChild === 'function') {
-      this.mainClass.registerChild(child, softwareType);
+      return this.mainClass.registerChild(child, softwareType);
     }
 
     this.logger.info(`✅ Child ${name} registered successfully`);
diff --git a/src/helper/childRegistrationUtils_DEPRECATED.js b/src/helper/childRegistrationUtils_DEPRECATED.js
index c04109c..166376d 100644
--- a/src/helper/childRegistrationUtils_DEPRECATED.js
+++ b/src/helper/childRegistrationUtils_DEPRECATED.js
@@ -93,7 +93,7 @@ class ChildRegistrationUtils {
         break;
 
       default:
-        this.logger.error(`Child registration unrecognized desc: ${desc}`);
+        this.logger.error(`Child registration unrecognized desc: ${softwareType}`);
         this.logger.error(`Unrecognized softwareType: ${softwareType}`);
     }
   }
diff --git a/src/helper/logger.js b/src/helper/logger.js
index 8b4f696..239aff2 100644
--- a/src/helper/logger.js
+++ b/src/helper/logger.js
@@ -44,7 +44,7 @@ class Logger {
       if (this.levels.includes(level)) {
         this.logLevel = level;
       } else {
-        console.error(`[ERROR ${nameModule}]: Invalid log level: ${level}`);
+        console.error(`[ERROR ${this.nameModule}]: Invalid log level: ${level}`);
       }
     }
   
diff --git a/src/helper/menuUtils.js b/src/helper/menuUtils.js
index ebed6b8..35dc33c 100644
--- a/src/helper/menuUtils.js
+++ b/src/helper/menuUtils.js
@@ -158,7 +158,7 @@ async apiCall(node) {
       // OLFIANT when a browser refreshes the tag code is lost!!! fix this later!!!!!
       // FIX UUID ALSO LATER 
 
-      if(node.assetTagCode !== "" || node.assetTagCode !== null){ }
+      if(node.assetTagCode !== "" || node.assetTagCode !== null){ /* intentionally empty */ }
       // API call to register or check asset in central database
         let assetregisterAPI = node.configUrls.cloud.taggcodeAPI + "/asset/create_asset.php";
 
@@ -264,6 +264,7 @@ async fetchProjectData(url) {
     return responsData;
 
   } catch (err) {
+    /* intentionally empty */
   }
 }
 
diff --git a/src/helper/menuUtils_DEPRECATED.js b/src/helper/menuUtils_DEPRECATED.js
index ebed6b8..35dc33c 100644
--- a/src/helper/menuUtils_DEPRECATED.js
+++ b/src/helper/menuUtils_DEPRECATED.js
@@ -158,7 +158,7 @@ async apiCall(node) {
       // OLFIANT when a browser refreshes the tag code is lost!!! fix this later!!!!!
       // FIX UUID ALSO LATER 
 
-      if(node.assetTagCode !== "" || node.assetTagCode !== null){ }
+      if(node.assetTagCode !== "" || node.assetTagCode !== null){ /* intentionally empty */ }
       // API call to register or check asset in central database
         let assetregisterAPI = node.configUrls.cloud.taggcodeAPI + "/asset/create_asset.php";
 
@@ -264,6 +264,7 @@ async fetchProjectData(url) {
     return responsData;
 
   } catch (err) {
+    /* intentionally empty */
   }
 }
 
diff --git a/src/helper/nodeTemplates.js b/src/helper/nodeTemplates.js
index da259e4..9f61b6d 100644
--- a/src/helper/nodeTemplates.js
+++ b/src/helper/nodeTemplates.js
@@ -53,4 +53,4 @@ const nodeTemplates = {
   // …add more node “templates” here…
 };
 
-export default nodeTemplates;
+module.exports = nodeTemplates;
diff --git a/src/helper/outputUtils.js b/src/helper/outputUtils.js
index bd6fb8d..b365019 100644
--- a/src/helper/outputUtils.js
+++ b/src/helper/outputUtils.js
@@ -37,14 +37,15 @@ class OutputUtils {
       if (Object.keys(changedFields).length > 0) {
 
         switch (format) {
-          case 'influxdb':  
+          case 'influxdb': {
             // Extract the relevant config properties.
             const relevantConfig = this.extractRelevantConfig(config);
             // Flatten the tags so that no nested objects are passed on.
             const flatTags = this.flattenTags(relevantConfig);
             msg = this.influxDBFormat(changedFields, config, flatTags);
-            
+
             break;
+          }
 
           case 'process':
 
diff --git a/src/measurements/MeasurementContainer.js b/src/measurements/MeasurementContainer.js
index 68f7ed9..78d96b5 100644
--- a/src/measurements/MeasurementContainer.js
+++ b/src/measurements/MeasurementContainer.js
@@ -95,7 +95,7 @@ class MeasurementContainer {
     }
 
     
-    this._currentPosition = positionValue.toString().toLowerCase();;
+    this._currentPosition = positionValue.toString().toLowerCase();
     
     return this;
   }
@@ -328,7 +328,7 @@ class MeasurementContainer {
   getLaggedSample(lag = 1,requestedUnit = null ){
     const measurement = this.get();
     if (!measurement) return null;
-    
+
     let sample = measurement.getLaggedSample(lag);
     if (sample === null) return null;
 
@@ -340,7 +340,7 @@ class MeasurementContainer {
     // Convert if needed
     if (measurement.unit && requestedUnit !== measurement.unit) {
       try {
-        const convertedValue = convertModule(value).from(measurement.unit).to(requestedUnit);
+        const convertedValue = convertModule(sample.value).from(measurement.unit).to(requestedUnit);
         //replace old value in sample and return obj
         sample.value = convertedValue ;
         sample.unit = requestedUnit;
diff --git a/src/measurements/examples.js b/src/measurements/examples.js
index 5cc2459..877957f 100644
--- a/src/measurements/examples.js
+++ b/src/measurements/examples.js
@@ -1,5 +1,7 @@
 const { MeasurementContainer } = require('./index');
 
+const measurements = new MeasurementContainer();
+
 console.log('=== MEASUREMENT CONTAINER EXAMPLES ===\n');
 console.log('This guide shows how to use the MeasurementContainer for storing,');
 console.log('retrieving, and converting measurement data with automatic unit handling.\n');
diff --git a/src/predict/interpolation.js b/src/predict/interpolation.js
index dcfc37a..2844d09 100644
--- a/src/predict/interpolation.js
+++ b/src/predict/interpolation.js
@@ -101,6 +101,7 @@ class Interpolation {
     } else if (type == "monotone_cubic_spline") {
       this.monotonic_cubic_spline();
     } else if (type == "linear") {
+      /* intentionally empty */
     } else {
       this.error = 1000;
     }
@@ -266,6 +267,7 @@ class Interpolation {
     let k = 0;
 
     if (xpoint < xdata[0] || xpoint > xdata[n - 1]) {
+      /* intentionally empty */
     }
 
     while (k < n - 1 && xpoint > xdata[k + 1] && !(xpoint < xdata[0] || xpoint > xdata[n - 1])) {
diff --git a/src/state/movementManager.js b/src/state/movementManager.js
index 424c628..c210e4b 100644
--- a/src/state/movementManager.js
+++ b/src/state/movementManager.js
@@ -49,15 +49,17 @@ class movementManager {
     try {
       // Execute the movement logic based on the mode
       switch (this.movementMode) {
-        case "staticspeed":
+        case "staticspeed": {
           const movelinFeedback = await this.moveLinear(targetPosition,signal);
           this.logger.info(`Linear move: ${movelinFeedback} `);
           break;
+        }
 
-        case "dynspeed":
+        case "dynspeed": {
           const moveDynFeedback = await this.moveEaseInOut(targetPosition,signal);
           this.logger.info(`Dynamic move : ${moveDynFeedback}`);
           break;
+        }
 
         default:
           throw new Error(`Unsupported movement mode: ${this.movementMode}`);