diff --git a/modules/catkin_ws/src/NetworkingLib/include/NetworkingLib/TimedValue.h b/modules/catkin_ws/src/NetworkingLib/include/NetworkingLib/TimedValue.h
index 10cbe19b50a0c94b744cd435b17cd7507436c95b..2107a0b2d9968290f78e86f8d7b3c2e4566102b5 100644
--- a/modules/catkin_ws/src/NetworkingLib/include/NetworkingLib/TimedValue.h
+++ b/modules/catkin_ws/src/NetworkingLib/include/NetworkingLib/TimedValue.h
@@ -23,29 +23,34 @@ public:
         : timestamp(Timestamp::min())
     {}
 
-    TimedValue(const T & val)
+    explicit TimedValue(const T & val)
     { set(val); }
 
     TimedValue(const T & val, const Timestamp & timestamp)
-        : val(val), timestamp(timestamp)
-    {}
-
-    T get() const
-    { return val; }
+    { set(val, timestamp); }
 
-    void set(const T & val)
+    void set(const T & val, Timestamp timestamp)
     {
         this->val = val;
-        timestamp = networking::time::now();
+        timestamp = timestamp;
     }
 
-    Timestamp getTimestamp() const
-    { return timestamp; }
+    void set(const T & val)
+    { set(val, networking::time::now()); }
+
+    void set(const TimedValue & val)
+    { set(val.get(), val.getTimestamp()); }
 
     TimedValue & operator=(const T & val)
     { set(val); }
 
-    explicit operator T() const
+    T get() const noexcept
+    { return val; }
+
+    Timestamp getTimestamp() const noexcept
+    { return timestamp; }
+
+    explicit operator T() const noexcept
     { return get(); }
 
 private:
@@ -63,20 +68,38 @@ public:
         : timestamp(Timestamp::min())
     {}
 
-    TimedAtomicValue(const T & val)
+    explicit TimedAtomicValue(const T & val)
     { set(val); }
 
-    T get()
+    TimedAtomicValue(const T & val, Timestamp timestamp)
+    { set(val, timestamp); }
+
+    explicit TimedAtomicValue(const TimedValue<T> val)
+    { set(val); }
+
+    void set(const T & val, Timestamp timestamp)
     {
         std::lock_guard <std::mutex> lock{mutex};
-        return val;
+        this->val = val;
+        timestamp = timestamp;
     }
 
     void set(const T & val)
+    { set(val, networking::time::now()); }
+
+    void set(const TimedValue<T> & val)
+    { set(val.get(), val.getTimestamp()); }
+
+    TimedAtomicValue & operator=(const T & val)
+    { set(val); }
+
+    TimedAtomicValue & operator=(const TimedValue<T> & val)
+    { set(val); }
+
+    T get()
     {
         std::lock_guard <std::mutex> lock{mutex};
-        this->val = val;
-        timestamp = networking::time::now();
+        return val;
     }
 
     Timestamp getTimestamp()
@@ -85,9 +108,6 @@ public:
         return timestamp;
     }
 
-    TimedAtomicValue & operator=(const T & val)
-    { set(val); }
-
     explicit operator T()
     { return get(); }
 
diff --git a/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt b/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt
index 9afaefb45060f2d3351f73f709b0758a75b6a768..f2b610864228e4bb2d07b7615ca153e7ae985faf 100644
--- a/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt
+++ b/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt
@@ -50,11 +50,6 @@ find_package(NetworkingLib REQUIRED)
 target_include_directories(PC2CarLib PUBLIC ${NetworkingLib_INCLUDE_DIRS})
 target_link_libraries(PC2CarLib NetworkingLib)
 
-# PlatoonProtocolLib
-find_package(PlatoonProtocolLib REQUIRED)
-target_include_directories(PC2CarLib PUBLIC ${PlatoonProtocolLib_INCLUDE_DIRS})
-target_link_libraries(PC2CarLib PlatoonProtocolLib)
-
 find_package(Boost REQUIRED COMPONENTS system regex)
 link_libraries(${Boost_LIBRARIES})
 
@@ -126,9 +121,5 @@ add_executable(PC2CarTest ${TEST_SOURCE_FILES})
 target_include_directories(PC2CarTest PUBLIC ${NetworkingLib_INCLUDE_DIRS})
 target_link_libraries(PC2CarTest NetworkingLib)
 
-# PlatoonProtocolLib
-target_include_directories(PC2CarTest PUBLIC ${PlatoonProtocolLib_INCLUDE_DIRS})
-target_link_libraries(PC2CarTest PlatoonProtocolLib)
-
 # For debugging
 target_compile_options(PC2CarTest PUBLIC -fopenmp -fPIC -O0 -g3 -ggdb)
\ No newline at end of file
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h
index 6008663a41564198133a8d7b8e46a286c497ded2..247fa3993545102284d0ff7e8e7234021fd8b529 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h
@@ -37,7 +37,7 @@ public:
 
     void stop() override;
 
-    PlatoonConfig getPlatoonConfig() const noexcept;
+    networking::time::TimedValue<PlatoonConfig> getPlatoonConfig();
 
     void setOnPlatoonConfigUpdatedCallback(const Callback & callback)
     { onPlatoonConfigUpdatedCallback = callback; }
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/Vehicle.h b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/Vehicle.h
index 6da9b3a89a2a7b3bf057be77571d3333be8d2667..ce5d6a1ad9357c325ae5d23afdb988e9dc9fa034 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/Vehicle.h
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/Vehicle.h
@@ -12,6 +12,7 @@
 #include "NetworkingLib/ServiceServer.h"
 #include "NetworkingLib/ServiceClient.h"
 #include "NetworkingLib/Resolver.h"
+#include "NetworkingLib/TimedValue.h"
 #include "NetworkInfo.h"
 #include "PlatoonMessage.h"
 
@@ -76,7 +77,7 @@ protected:
 
     const NetworkInfo myInfo;
     PlatoonId platoonId;
-    std::atomic<PlatoonConfig> platoonConfig{DEFAULT_PLATOON_CONFIG};
+    networking::time::TimedAtomicValue<PlatoonConfig> platoonConfig{DEFAULT_PLATOON_CONFIG};
     State state{State::IDLE};
     std::mutex stateMutex;
     networking::Networking & net;
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/VehicleFacade.h b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/VehicleFacade.h
index 816c297a413c54ebed574b4bac9af14be095161f..a3396c1ec108bc71f8e915c3e5f1b52ea8cdacb2 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/VehicleFacade.h
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/VehicleFacade.h
@@ -50,7 +50,7 @@ public:
 
     // FollowerVehicle methods
 
-    PlatoonConfig getPlatoonConfig();
+    networking::time::TimedValue<PlatoonConfig> getPlatoonConfig();
     
 private:
     Vehicle::Ptr vehicle;
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp b/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp
index e30ac786fa63d53429d888b366b0d3e47078e949..74adffec4971a8b31646d82f36f9e57b80189687 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp
@@ -35,9 +35,9 @@ void FollowerVehicle::stop()
     stopBroadcastTimer();
 }
 
-PlatoonConfig FollowerVehicle::getPlatoonConfig() const noexcept
+networking::time::TimedValue<PlatoonConfig> FollowerVehicle::getPlatoonConfig()
 {
-    return platoonConfig.load();
+    return platoonConfig.getNonAtomicCopy();
 }
 
 void FollowerVehicle::doCreatePlatoon()
@@ -165,7 +165,7 @@ void FollowerVehicle::receiveBroadcast(const PlatoonMessage & broadcast)
     startBroadcastTimer();
 
     PlatoonConfig newConfig{broadcast.platoonSpeed, broadcast.innerPlatoonDistance};
-    if (platoonConfig.load() != newConfig)
+    if (platoonConfig.get() != newConfig)
     {
         platoonConfig = newConfig;
         onPlatoonConfigUpdatedCallback();
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/src/LeaderVehicle.cpp b/modules/catkin_ws/src/PlatoonProtocolLib/src/LeaderVehicle.cpp
index a908df36624545a834fa07b938efbd1cf556e45a..e485fb4bd1551ec0786cc88438f4e7f4343b2760 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/src/LeaderVehicle.cpp
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/src/LeaderVehicle.cpp
@@ -40,12 +40,12 @@ void LeaderVehicle::setPlatoonConfig(const PlatoonConfig & platoonConfig)
 
 void LeaderVehicle::setPlatoonSpeed(PlatoonSpeed platoonSpeed)
 {
-    platoonConfig = PlatoonConfig{platoonSpeed, platoonConfig.load().innerPlatoonDistance};
+    platoonConfig = PlatoonConfig{platoonSpeed, platoonConfig.get().innerPlatoonDistance};
 }
 
 void LeaderVehicle::setInnerPlatoonDistance(InnerPlatoonDistance innerPlatoonDistance)
 {
-    platoonConfig = PlatoonConfig{platoonConfig.load().platoonSpeed, innerPlatoonDistance};
+    platoonConfig = PlatoonConfig{platoonConfig.get().platoonSpeed, innerPlatoonDistance};
 }
 
 std::size_t LeaderVehicle::getNumFollowers()
@@ -215,7 +215,7 @@ void LeaderVehicle::stopBroadcasting()
 
 void LeaderVehicle::sendBroadcastMessage()
 {
-    PlatoonConfig configCopy = platoonConfig.load();
+    PlatoonConfig configCopy = platoonConfig.get();
     // Send the broadcast message and forget about it.
     sendMessage(PlatoonMessage::broadcastMessage(
         myInfo.vehicleId,
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/src/VehicleFacade.cpp b/modules/catkin_ws/src/PlatoonProtocolLib/src/VehicleFacade.cpp
index db4ea64ec269ec7f5181514153d740aefa12f498..f04d83c7751bc519f6fc3256796f8f4604f6c4fb 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/src/VehicleFacade.cpp
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/src/VehicleFacade.cpp
@@ -111,7 +111,7 @@ void VehicleFacade::setInnerPlatoonDistance(InnerPlatoonDistance innerPlatoonDis
     std::dynamic_pointer_cast<LeaderVehicle>(vehicle)->setInnerPlatoonDistance(innerPlatoonDistance);
 }
 
-PlatoonConfig VehicleFacade::getPlatoonConfig()
+networking::time::TimedValue<PlatoonConfig> VehicleFacade::getPlatoonConfig()
 {
     std::lock_guard<std::mutex> lock(mutex);
     return std::dynamic_pointer_cast<FollowerVehicle>(vehicle)->getPlatoonConfig();
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/test/FollowerTest.cpp b/modules/catkin_ws/src/PlatoonProtocolLib/test/FollowerTest.cpp
index 06c38c0f690ff31ecdfeb60ad563532cad391db7..d3b73d395cf604c9951c65bf4f20e66ff66c3a66 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/test/FollowerTest.cpp
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/test/FollowerTest.cpp
@@ -30,8 +30,8 @@ int main(int argc, char ** argv)
         [follower]
         {
             auto config = follower->getPlatoonConfig();
-            std::cout << "Config Update:\nIPD=" << config.innerPlatoonDistance
-                      << "\nPS=" << config.platoonSpeed << "\n";
+            std::cout << "Config Update:\nIPD=" << config.get().innerPlatoonDistance
+                      << "\nPS=" << config.get().platoonSpeed << "\n";
         });
 
     follower->createPlatoon();
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/test/TestScenarios.cpp b/modules/catkin_ws/src/PlatoonProtocolLib/test/TestScenarios.cpp
index 9fe2c35c785161d2cf85ed60ed09578d31e5cfc9..763b2b1539876b53edfbb4951f6c247bcb510367 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/test/TestScenarios.cpp
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/test/TestScenarios.cpp
@@ -78,7 +78,7 @@ bool test2Follower1()
     return waitUntil(DEFAULT_WAIT_TOLERANCE, [&]
     {
         return follower1->isPlatoonRunning() &&
-               follower1->getPlatoonConfig() == TEST_CONFIG;
+               follower1->getPlatoonConfig().get() == TEST_CONFIG;
     });
 }
 
@@ -126,7 +126,7 @@ bool test3Follower1()
             auto deltaTime = now - lastConfigTime;
             lastConfigTime = now;
 
-            if (follower1->getPlatoonConfig() != expectedConfig)
+            if (follower1->getPlatoonConfig().get() != expectedConfig)
             {
                 success = false;
                 running = false;
@@ -293,8 +293,8 @@ bool test8Followers(FollowerVehicle::Ptr follower)
         {
             auto delta = networking::time::now() - last;
             std::cout << "time passed [ms]: " << std::chrono::duration_cast<std::chrono::milliseconds>(delta).count() << "\n";
-            std::cout << "ps: " << follower->getPlatoonConfig().platoonSpeed << "\n";
-            if (follower->getPlatoonConfig() != expectedConfig)
+            std::cout << "ps: " << follower->getPlatoonConfig().get().platoonSpeed << "\n";
+            if (follower->getPlatoonConfig().get() != expectedConfig)
             {
                 success = false;
                 return;
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/Connection.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/Connection.h
index b176cfc1aa260cd0128550a457f88f0c875c5ab6..62889e79f72eb52712217f67ab5ad8c39898fff2 100644
--- a/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/Connection.h
+++ b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/Connection.h
@@ -75,8 +75,6 @@ private:
 
         networking::BusyLock busyLock;
         Connection::Ptr self;
-
-        void closeOnce();
     };
 
     networking::Networking & net;
diff --git a/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h b/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h
index 14beb787d5abfae1fb9cbddc1b4736015f605605..412105186db157694ba275c02bfb785e2f670845 100644
--- a/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h
+++ b/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h
@@ -33,17 +33,18 @@ public:
     
     Callback cruiseControllerNotify;
 
-    // TODO make values ATOMIC !
-    // these value need to be stored and atomic, since they will be pulled from other modules
-    PlatoonState curState = PlatoonState::ACC;
+    PlatoonState getCurrState() const
+    { return currState; }
 
-    platoonProtocol::PlatoonConfig platoonConfig; // TODO needs to be removed, once C2C returns TimedValues
+    networking::time::TimedValue<platoonProtocol::PlatoonConfig> getPlatoonConfig()
+    { return platoonConfig.getNonAtomicCopy(); }
 
 private:
     platoonProtocol::VehicleFacade & c2c;
     pc2car::CommandReceiver::Ptr pc;
     EgoMotion & egoMotion;
-
+    std::atomic<PlatoonState> currState{PlatoonState::ACC};
+    networking::time::TimedAtomicValue<platoonProtocol::PlatoonConfig> platoonConfig;
     bool c2cAlive = false;
     // void updateC2cConfig(); // once C2C returns TimedValues
 
diff --git a/modules/catkin_ws/src/car/src/mainNode/CruiseController.cpp b/modules/catkin_ws/src/car/src/mainNode/CruiseController.cpp
index 24c3ec17dcc66c2e6cf7f77f24b422c43c1c76d6..49dfdb02ca60427d46a9ded875067993b2c17a4a 100644
--- a/modules/catkin_ws/src/car/src/mainNode/CruiseController.cpp
+++ b/modules/catkin_ws/src/car/src/mainNode/CruiseController.cpp
@@ -22,13 +22,13 @@ CruiseController::CruiseController(platoonProtocol::VehicleFacade& c2c,
     }
 
 void CruiseController::run() {
-    switch (platoonController.curState) {
+    switch (platoonController.getCurrState()) {
         case PlatoonState::ACC: {
             run_ACC(platoonController.getDesSpeed());
             break;
         }
         case PlatoonState::CACC_LV: {
-            platoonProtocol::PlatoonConfig config = platoonController.platoonConfig;
+            auto config = platoonController.getPlatoonConfig().get();
             run_ACC(config.platoonSpeed);
             c2c.setPlatoonSpeed(speed);
             break;
@@ -57,15 +57,13 @@ void CruiseController::run_ACC(float target_speed) {
     ccDataMsg outMsg;
     outMsg.speed = speed;
     ccData.publish(outMsg);
-
-    return;
 }
 
 void CruiseController::run_CACC() {
     
     std::cout << "CruiseController::run_CACC" << std::endl;
 
-    platoonProtocol::PlatoonConfig config = platoonController.platoonConfig;
+    auto config = platoonController.getPlatoonConfig().get();
     float PS  = config.platoonSpeed;
     float IPD = config.innerPlatoonDistance;
     float vp  = egoMotion.getPrvSpeed();
@@ -84,8 +82,6 @@ void CruiseController::run_CACC() {
     ccDataMsg outMsg;
     outMsg.speed = speed;
     ccData.publish(outMsg);
-
-    return;
 }
 
 
diff --git a/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp b/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp
index 5e48ea50f4822850bd695e51b5d95557f7cc2730..b2d853d7852d7945449894b1d93e198d75f25c00 100644
--- a/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp
+++ b/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp
@@ -68,7 +68,7 @@ void PlatoonController::setupC2C()
 void PlatoonController::run()
 {
     std::cout << "PlatoonController was run." << std::endl;
-    switch (curState) {
+    switch (currState.load()) {
         case PlatoonState::ACC:     { run_ACC();     break; }
         case PlatoonState::CACC_FV: { run_CACC_FV(); break; }
         case PlatoonState::CACC_LV: { run_CACC_LV(); break; }
@@ -96,9 +96,9 @@ void PlatoonController::run_ACC()
     if (c2c.isPlatoonRunning()) {
         if (c2c.getRole() == platoonProtocol::Vehicle::Role::LEADER) {
             updatePcConfig();
-            curState =  PlatoonState::CACC_LV;
+            currState =  PlatoonState::CACC_LV;
         }
-        else {curState =  PlatoonState::CACC_FV;}
+        else {currState =  PlatoonState::CACC_FV;}
         return;
     }
 
@@ -116,7 +116,6 @@ void PlatoonController::run_ACC()
     // role fits + !inPlatoon + c2cAlive + wantsPlatoon
     if (c2c.getRole() == platoonProtocol::Vehicle::Role::LEADER) {updatePcConfig();}
     updateDesSpeed();
-    return;
 }
 
 void PlatoonController::run_CACC_FV()
@@ -136,10 +135,9 @@ void PlatoonController::run_CACC_FV()
     if (inPlatoon && !wantsPlatoon) { c2c.leavePlatoon(); }
     
     c2cAlive = false;
-    curState = PlatoonState::ACC;
+    currState = PlatoonState::ACC;
     cruiseControllerNotify();
     run_ACC();
-    return;
 }
 
 void PlatoonController::run_CACC_LV()
@@ -161,10 +159,9 @@ void PlatoonController::run_CACC_LV()
     }
 
     c2cAlive = false;
-    curState = PlatoonState::ACC;
+    currState = PlatoonState::ACC;
     cruiseControllerNotify();
     run_ACC();
-    return;
 }
 
 }