diff --git a/bricks/cityhub/mphalport.h b/bricks/cityhub/mphalport.h
index ae6a7d8ad..fafc4c18c 100644
--- a/bricks/cityhub/mphalport.h
+++ b/bricks/cityhub/mphalport.h
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2018 David Lechner
 
-#include "sys/clock.h"
+#include <contiki.h>
 
 void mp_hal_set_interrupt_char(int c);
 #define mp_hal_ticks_ms clock_time
diff --git a/bricks/cplushub/mphalport.h b/bricks/cplushub/mphalport.h
index ae6a7d8ad..fafc4c18c 100644
--- a/bricks/cplushub/mphalport.h
+++ b/bricks/cplushub/mphalport.h
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2018 David Lechner
 
-#include "sys/clock.h"
+#include <contiki.h>
 
 void mp_hal_set_interrupt_char(int c);
 #define mp_hal_ticks_ms clock_time
diff --git a/bricks/debug/mphalport.h b/bricks/debug/mphalport.h
index ae6a7d8ad..fafc4c18c 100644
--- a/bricks/debug/mphalport.h
+++ b/bricks/debug/mphalport.h
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2018 David Lechner
 
-#include "sys/clock.h"
+#include <contiki.h>
 
 void mp_hal_set_interrupt_char(int c);
 #define mp_hal_ticks_ms clock_time
diff --git a/bricks/movehub/mphalport.h b/bricks/movehub/mphalport.h
index ae6a7d8ad..fafc4c18c 100644
--- a/bricks/movehub/mphalport.h
+++ b/bricks/movehub/mphalport.h
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2018 David Lechner
 
-#include "sys/clock.h"
+#include <contiki.h>
 
 void mp_hal_set_interrupt_char(int c);
 #define mp_hal_ticks_ms clock_time
diff --git a/bricks/nxt/mphalport.h b/bricks/nxt/mphalport.h
index ae6a7d8ad..fafc4c18c 100644
--- a/bricks/nxt/mphalport.h
+++ b/bricks/nxt/mphalport.h
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2018 David Lechner
 
-#include "sys/clock.h"
+#include <contiki.h>
 
 void mp_hal_set_interrupt_char(int c);
 #define mp_hal_ticks_ms clock_time
diff --git a/lib/contiki-core/contiki.h b/lib/contiki-core/contiki.h
index 804c3dab0..a39a5ed68 100644
--- a/lib/contiki-core/contiki.h
+++ b/lib/contiki-core/contiki.h
@@ -36,7 +36,7 @@
 
 #include "contiki-version.h"
 #include "contiki-conf.h"
-#include "contiki-default-conf.h"
+// #include "contiki-default-conf.h"
 
 #include "sys/process.h"
 #include "sys/autostart.h"
@@ -44,15 +44,15 @@
 #include "sys/timer.h"
 #include "sys/ctimer.h"
 #include "sys/etimer.h"
-#include "sys/rtimer.h"
+// #include "sys/rtimer.h"
 
 #include "sys/pt.h"
 
 #include "sys/procinit.h"
 
-#include "sys/loader.h"
+// #include "sys/loader.h"
 #include "sys/clock.h"
 
-#include "sys/energest.h"
+// #include "sys/energest.h"
 
 #endif /* CONTIKI_H_ */
diff --git a/lib/pbio/drv/adc/adc_stm32_hal.c b/lib/pbio/drv/adc/adc_stm32_hal.c
index 17e548d82..fe5632608 100644
--- a/lib/pbio/drv/adc/adc_stm32_hal.c
+++ b/lib/pbio/drv/adc/adc_stm32_hal.c
@@ -26,9 +26,10 @@
 #include <stdbool.h>
 #include <stdint.h>
 
+#include <contiki.h>
+
 #include <pbio/error.h>
 #include <pbio/util.h>
-#include "sys/process.h"
 
 #include STM32_HAL_H
 
diff --git a/lib/pbio/drv/adc/adc_stm32f0.c b/lib/pbio/drv/adc/adc_stm32f0.c
index d358d5deb..0150f32df 100644
--- a/lib/pbio/drv/adc/adc_stm32f0.c
+++ b/lib/pbio/drv/adc/adc_stm32f0.c
@@ -8,9 +8,10 @@
 #include <stdbool.h>
 #include <stdint.h>
 
+#include <contiki.h>
+
 #include <pbio/config.h>
 #include <pbio/error.h>
-#include "sys/process.h"
 
 #include "stm32f0xx.h"
 
diff --git a/lib/pbio/drv/battery/battery_adc.c b/lib/pbio/drv/battery/battery_adc.c
index 72c4fafae..73e3563c3 100644
--- a/lib/pbio/drv/battery/battery_adc.c
+++ b/lib/pbio/drv/battery/battery_adc.c
@@ -9,10 +9,10 @@
 
 #include <stdbool.h>
 
-#include <pbdrv/adc.h>
+#include <contiki.h>
 
+#include <pbdrv/adc.h>
 #include <pbio/error.h>
-#include <sys/process.h>
 
 PROCESS(pbdrv_battery_process, "battery");
 
diff --git a/lib/pbio/drv/battery/battery_linux_ev3.c b/lib/pbio/drv/battery/battery_linux_ev3.c
index c64c62ed7..f287eee0b 100644
--- a/lib/pbio/drv/battery/battery_linux_ev3.c
+++ b/lib/pbio/drv/battery/battery_linux_ev3.c
@@ -11,8 +11,9 @@
 #include <stdbool.h>
 #include <stdio.h>
 
+#include <contiki.h>
+
 #include <pbio/error.h>
-#include <sys/process.h>
 
 PROCESS(pbdrv_battery_process, "battery");
 
diff --git a/lib/pbio/drv/battery/battery_nxt.c b/lib/pbio/drv/battery/battery_nxt.c
index 0cde35d35..08c5918ad 100644
--- a/lib/pbio/drv/battery/battery_nxt.c
+++ b/lib/pbio/drv/battery/battery_nxt.c
@@ -10,10 +10,11 @@
 #include <stdbool.h>
 #include <stdio.h>
 
+#include <contiki.h>
+#include <nxt/nxt_avr.h>
+
 #include <pbio/error.h>
-#include <sys/process.h>
 
-#include <nxt/nxt_avr.h>
 
 PROCESS(pbdrv_battery_process, "battery");
 
diff --git a/lib/pbio/drv/counter/counter_core.c b/lib/pbio/drv/counter/counter_core.c
index 942328aba..b62269c7b 100644
--- a/lib/pbio/drv/counter/counter_core.c
+++ b/lib/pbio/drv/counter/counter_core.c
@@ -8,9 +8,10 @@
 #include <stdbool.h>
 #include <stdio.h>
 
+#include <contiki.h>
+
 #include <pbdrv/counter.h>
 #include <pbio/error.h>
-#include "sys/process.h"
 #include "counter.h"
 #include "counter_nxt.h"
 #include "counter_ev3dev_stretch_iio.h"
diff --git a/lib/pbio/drv/ev3dev_stretch/nxtcolor.c b/lib/pbio/drv/ev3dev_stretch/nxtcolor.c
index 2c01d9065..ff14477ce 100644
--- a/lib/pbio/drv/ev3dev_stretch/nxtcolor.c
+++ b/lib/pbio/drv/ev3dev_stretch/nxtcolor.c
@@ -6,6 +6,8 @@
 #include <stdio.h>
 #include <string.h>
 
+#include <contiki.h>
+
 #include <pbdrv/ev3sensor.h>
 #include <pbdrv/ev3devsysfs.h>
 #include <pbio/ev3device.h>
@@ -14,8 +16,6 @@
 #include <pbio/iodev.h>
 #include <pbio/light.h>
 
-#include "sys/clock.h"
-
 #define IN (0)
 #define OUT (1)
 
diff --git a/lib/pbio/drv/ioport/ioport_ev3dev_stretch.c b/lib/pbio/drv/ioport/ioport_ev3dev_stretch.c
index 298f14784..17ff17629 100644
--- a/lib/pbio/drv/ioport/ioport_ev3dev_stretch.c
+++ b/lib/pbio/drv/ioport/ioport_ev3dev_stretch.c
@@ -12,6 +12,7 @@
 #include <stdbool.h>
 #include <stdio.h>
 
+#include <contiki.h>
 #include <libudev.h>
 #include <uthash.h>
 
@@ -19,9 +20,6 @@
 #include <pbio/iodev.h>
 #include <pbio/port.h>
 
-#include "sys/etimer.h"
-#include "sys/process.h"
-
 typedef struct {
     const char *name;
     struct udev_device *device;
diff --git a/lib/pbio/drv/ioport/ioport_lpf2.c b/lib/pbio/drv/ioport/ioport_lpf2.c
index 3711af950..98375f15f 100644
--- a/lib/pbio/drv/ioport/ioport_lpf2.c
+++ b/lib/pbio/drv/ioport/ioport_lpf2.c
@@ -10,14 +10,14 @@
 #include <stdbool.h>
 #include <stdio.h>
 
+#include <contiki.h>
+
 #include <pbdrv/gpio.h>
 #include <pbio/error.h>
 #include <pbio/iodev.h>
 #include <pbio/uartdev.h>
 
 #include "ioport_lpf2.h"
-#include "sys/etimer.h"
-#include "sys/process.h"
 
 typedef enum _dev_id1_group_t {
     DEV_ID1_GROUP_GND,
diff --git a/lib/pbio/drv/move_hub/bluetooth.c b/lib/pbio/drv/move_hub/bluetooth.c
index 80659fbd9..acde8f53a 100644
--- a/lib/pbio/drv/move_hub/bluetooth.c
+++ b/lib/pbio/drv/move_hub/bluetooth.c
@@ -6,14 +6,12 @@
 #include <stdio.h>
 #include <string.h>
 
+#include <contiki.h>
+
 #include "pbio/config.h"
 #include "pbio/error.h"
 #include "pbio/event.h"
 #include "pbsys/sys.h"
-#include "sys/autostart.h"
-#include "sys/etimer.h"
-#include "sys/process.h"
-#include "sys/pt.h"
 #include "../../src/processes.h"
 
 #include "bluenrg_aci.h"
diff --git a/lib/pbio/drv/uart/uart_stm32_hal.c b/lib/pbio/drv/uart/uart_stm32_hal.c
index 81303fe7c..0f0bb8232 100644
--- a/lib/pbio/drv/uart/uart_stm32_hal.c
+++ b/lib/pbio/drv/uart/uart_stm32_hal.c
@@ -9,12 +9,12 @@
 #include <stdint.h>
 #include <stdio.h>
 
+#include <contiki.h>
+
 #include <pbdrv/uart.h>
 #include <pbio/error.h>
 #include <pbio/util.h>
 
-#include "sys/etimer.h"
-#include "sys/process.h"
 #include "../../src/processes.h"
 
 #include STM32_HAL_H
diff --git a/lib/pbio/drv/uart/uart_stm32f0.c b/lib/pbio/drv/uart/uart_stm32f0.c
index c2ba12f33..c65f2ca2d 100644
--- a/lib/pbio/drv/uart/uart_stm32f0.c
+++ b/lib/pbio/drv/uart/uart_stm32f0.c
@@ -15,12 +15,12 @@
 #include <stdint.h>
 #include <stdio.h>
 
+#include <contiki.h>
+
 #include <pbdrv/uart.h>
 #include <pbio/error.h>
 #include <pbio/util.h>
 
-#include "sys/etimer.h"
-#include "sys/process.h"
 #include "../../src/processes.h"
 
 #include "stm32f0xx.h"
diff --git a/lib/pbio/platform/city_hub/clock.c b/lib/pbio/platform/city_hub/clock.c
index 6d4380f30..41818843a 100644
--- a/lib/pbio/platform/city_hub/clock.c
+++ b/lib/pbio/platform/city_hub/clock.c
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2013, 2014 Damien P. George
 
-#include <pbdrv/config.h>
+#include <contiki.h>
 
-#include "sys/clock.h"
-#include "sys/etimer.h"
+#include <pbdrv/config.h>
 
 #include "stm32f030xc.h"
 
diff --git a/lib/pbio/platform/city_hub/sys.c b/lib/pbio/platform/city_hub/sys.c
index b571e0a5b..a9f07485c 100644
--- a/lib/pbio/platform/city_hub/sys.c
+++ b/lib/pbio/platform/city_hub/sys.c
@@ -1,6 +1,8 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2018 David Lechner
 
+#include <contiki.h>
+
 #include "pbdrv/battery.h"
 #include "pbdrv/bluetooth.h"
 #include "pbdrv/config.h"
@@ -13,10 +15,6 @@
 
 #include "pbsys/sys.h"
 
-#include "sys/clock.h"
-#include "sys/etimer.h"
-#include "sys/process.h"
-
 #include "stm32f030xc.h"
 
 // workaround upstream NVIC_SystemReset() not decorated with noreturn
diff --git a/lib/pbio/platform/cplus_hub/clock.c b/lib/pbio/platform/cplus_hub/clock.c
index cfb3900b5..4e2973c0c 100644
--- a/lib/pbio/platform/cplus_hub/clock.c
+++ b/lib/pbio/platform/cplus_hub/clock.c
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2013, 2014 Damien P. George
 
-#include <pbdrv/config.h>
+#include <contiki.h>
 
-#include "sys/clock.h"
-#include "sys/etimer.h"
+#include <pbdrv/config.h>
 
 #include "stm32l431xx.h"
 
diff --git a/lib/pbio/platform/cplus_hub/sys.c b/lib/pbio/platform/cplus_hub/sys.c
index 21e68c65b..cf14cfbf1 100644
--- a/lib/pbio/platform/cplus_hub/sys.c
+++ b/lib/pbio/platform/cplus_hub/sys.c
@@ -1,8 +1,9 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2019 David Lechner
 
-#include <string.h>
+#include <contiki.h>
 
+#include "pbdrv/bluetooth.h"
 #include "pbdrv/config.h"
 #include "pbdrv/light.h"
 
@@ -13,10 +14,6 @@
 
 #include "pbsys/sys.h"
 
-#include "sys/clock.h"
-#include "sys/etimer.h"
-#include "sys/process.h"
-
 #include "stm32l4xx.h"
 
 // workaround upstream NVIC_SystemReset() not decorated with noreturn
diff --git a/lib/pbio/platform/debug/clock.c b/lib/pbio/platform/debug/clock.c
index 6fdd481a8..8419a4384 100644
--- a/lib/pbio/platform/debug/clock.c
+++ b/lib/pbio/platform/debug/clock.c
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2013, 2014 Damien P. George
 
-#include <pbdrv/config.h>
+#include <contiki.h>
 
-#include "sys/clock.h"
-#include "sys/etimer.h"
+#include <pbdrv/config.h>
 
 #include "stm32f446xx.h"
 
diff --git a/lib/pbio/platform/debug/sys.c b/lib/pbio/platform/debug/sys.c
index 868c187c5..5fcec877f 100644
--- a/lib/pbio/platform/debug/sys.c
+++ b/lib/pbio/platform/debug/sys.c
@@ -3,6 +3,8 @@
 
 #include <string.h>
 
+#include <contiki.h>
+
 #include "pbdrv/config.h"
 #include "pbdrv/light.h"
 
@@ -12,10 +14,6 @@
 
 #include "pbsys/sys.h"
 
-#include "sys/clock.h"
-#include "sys/etimer.h"
-#include "sys/process.h"
-
 #include "stm32f4xx.h"
 
 // workaround upstream NVIC_SystemReset() not decorated with noreturn
diff --git a/lib/pbio/platform/ev3dev_stretch/clock.c b/lib/pbio/platform/ev3dev_stretch/clock.c
index 3e0e38620..7f2621e5e 100644
--- a/lib/pbio/platform/ev3dev_stretch/clock.c
+++ b/lib/pbio/platform/ev3dev_stretch/clock.c
@@ -5,7 +5,7 @@
 #include <stdint.h>
 #include <unistd.h>
 
-#include "sys/clock.h"
+#include <contiki.h>
 
 void clock_init(void) {
 }
diff --git a/lib/pbio/platform/move_hub/clock.c b/lib/pbio/platform/move_hub/clock.c
index 8490ba579..712fa1556 100644
--- a/lib/pbio/platform/move_hub/clock.c
+++ b/lib/pbio/platform/move_hub/clock.c
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2013, 2014 Damien P. George
 
-#include <pbdrv/config.h>
+#include <contiki.h>
 
-#include "sys/clock.h"
-#include "sys/etimer.h"
+#include <pbdrv/config.h>
 
 #include "stm32f070xb.h"
 
diff --git a/lib/pbio/platform/move_hub/sys.c b/lib/pbio/platform/move_hub/sys.c
index a2605c4fc..439988f89 100644
--- a/lib/pbio/platform/move_hub/sys.c
+++ b/lib/pbio/platform/move_hub/sys.c
@@ -1,6 +1,8 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2018 David Lechner
 
+#include <contiki.h>
+
 #include "pbdrv/battery.h"
 #include "pbdrv/bluetooth.h"
 #include "pbdrv/config.h"
@@ -13,10 +15,6 @@
 
 #include "pbsys/sys.h"
 
-#include "sys/clock.h"
-#include "sys/etimer.h"
-#include "sys/process.h"
-
 #include "stm32f070xb.h"
 
 // workaround upstream NVIC_SystemReset() not decorated with noreturn
diff --git a/lib/pbio/platform/nxt/clock.c b/lib/pbio/platform/nxt/clock.c
index 39c7ee4e6..60f34d4a0 100644
--- a/lib/pbio/platform/nxt/clock.c
+++ b/lib/pbio/platform/nxt/clock.c
@@ -1,14 +1,13 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2013, 2014 Damien P. George
 
-#include <pbdrv/config.h>
-
-#include "sys/clock.h"
-#include "sys/etimer.h"
+#include <contiki.h>
 
 #include <nxt/at91sam7.h>
 #include <nxt/systick.h>
 
+#include <pbdrv/config.h>
+
 #if CLOCK_CONF_SECOND != 1000
 #error Clock must be set to 1 msec ticks
 #endif
diff --git a/lib/pbio/platform/nxt/sys.c b/lib/pbio/platform/nxt/sys.c
index a7b1f5e6f..f41e0b8d4 100644
--- a/lib/pbio/platform/nxt/sys.c
+++ b/lib/pbio/platform/nxt/sys.c
@@ -1,6 +1,8 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2018 David Lechner
 
+#include <contiki.h>
+
 #include "pbdrv/battery.h"
 #include "pbdrv/bluetooth.h"
 #include "pbdrv/config.h"
@@ -12,10 +14,6 @@
 
 #include "pbsys/sys.h"
 
-#include "sys/clock.h"
-#include "sys/etimer.h"
-#include "sys/process.h"
-
 // workaround upstream NVIC_SystemReset() not decorated with noreturn
 void NVIC_SystemReset(void) __attribute__((noreturn));
 void NVIC_SystemReset(void) {
diff --git a/lib/pbio/src/ioport/ioport_lpf2.c b/lib/pbio/src/ioport/ioport_lpf2.c
index bc5352e43..bf8f7c693 100644
--- a/lib/pbio/src/ioport/ioport_lpf2.c
+++ b/lib/pbio/src/ioport/ioport_lpf2.c
@@ -10,12 +10,12 @@
 #include <stdbool.h>
 #include <stdio.h>
 
+#include <contiki.h>
+
 #include "pbdrv/config.h"
 #include "pbdrv/gpio.h"
 #include "pbio/error.h"
 #include "pbio/iodev.h"
-#include "sys/etimer.h"
-#include "sys/process.h"
 
 typedef enum _dev_id1_group_t {
     DEV_ID1_GROUP_GND,
diff --git a/lib/pbio/src/logger.c b/lib/pbio/src/logger.c
index 495a4c509..4db8b883c 100644
--- a/lib/pbio/src/logger.c
+++ b/lib/pbio/src/logger.c
@@ -6,11 +6,11 @@
 #include <stdbool.h>
 #include <inttypes.h>
 
+#include <contiki.h>
+
 #include <pbio/error.h>
 #include <pbio/logger.h>
 
-#include "sys/clock.h"
-
 static void pbio_logger_delete(pbio_log_t *log) {
     // Free log if any
     if (log->len > 0) {
@@ -68,7 +68,7 @@ pbio_error_t pbio_logger_update(pbio_log_t *log, int32_t *buf) {
     if (log->sampled > log->len) {
         log->active = false;
         return PBIO_ERROR_FAILED;
-    }    
+    }
 
     // Stop successfully when done
     if (log->sampled == log->len) {
diff --git a/lib/pbio/src/main.c b/lib/pbio/src/main.c
index 44f064c41..4974fb1bb 100644
--- a/lib/pbio/src/main.c
+++ b/lib/pbio/src/main.c
@@ -8,6 +8,8 @@
 
 #include <stdbool.h>
 
+#include <contiki.h>
+
 #include "pbdrv/button.h"
 #include "pbdrv/config.h"
 #include "pbdrv/light.h"
@@ -17,10 +19,6 @@
 #include "pbio/servo.h"
 #include "pbio/uartdev.h"
 
-#include "sys/autostart.h"
-#include "sys/clock.h"
-#include "sys/etimer.h"
-#include "sys/process.h"
 #include "processes.h"
 
 static uint32_t prev_fast_poll_time;
diff --git a/lib/pbio/src/processes.h b/lib/pbio/src/processes.h
index 071c4066c..c3cab893b 100644
--- a/lib/pbio/src/processes.h
+++ b/lib/pbio/src/processes.h
@@ -4,9 +4,9 @@
 #ifndef _PBIO_PROCESSES_H_
 #define _PBIO_PROCESSES_H_
 
-#include <pbdrv/config.h>
+#include <contiki.h>
 
-#include "sys/process.h"
+#include <pbdrv/config.h>
 
 // All of the contiki processes
 
diff --git a/lib/pbio/src/serial.c b/lib/pbio/src/serial.c
index 6c331e096..cc2e15f0f 100644
--- a/lib/pbio/src/serial.c
+++ b/lib/pbio/src/serial.c
@@ -12,13 +12,13 @@
 #include <termios.h>
 #include <unistd.h>
 
+#include <contiki.h>
+
 #include <pbdrv/serial.h>
 #include <pbio/port.h>
 #include <pbio/error.h>
 #include <pbio/serial.h>
 
-#include "sys/clock.h"
-
 struct _pbio_serial_t {
     pbdrv_serial_t *dev;
     int timeout;
diff --git a/lib/pbio/src/servo.c b/lib/pbio/src/servo.c
index 4545813e9..8ad09799f 100644
--- a/lib/pbio/src/servo.c
+++ b/lib/pbio/src/servo.c
@@ -5,13 +5,13 @@
 #include <stdlib.h>
 #include <inttypes.h>
 
+#include <contiki.h>
+
 #include <pbio/fixmath.h>
 #include <pbdrv/counter.h>
 #include <pbdrv/motor.h>
 #include <pbio/servo.h>
 
-#include "sys/clock.h"
-
 #if PBDRV_CONFIG_NUM_MOTOR_CONTROLLER != 0
 
 // TODO: Generalize and move to config:
@@ -27,7 +27,7 @@ pbio_error_t pbio_config_get_defaults_servo(pbio_iodev_type_id_t id,
                                     int32_t *tight_loop_time,
                                     int32_t *position_tolerance,
                                     int32_t *speed_tolerance,
-                                    int32_t *stall_speed_limit, 
+                                    int32_t *stall_speed_limit,
                                     int32_t *stall_time) {
     // Default counts per degree
     *counts_per_degree = F16C(PBDRV_CONFIG_COUNTER_COUNTS_PER_DEGREE, 0);
@@ -160,7 +160,7 @@ static pbio_error_t pbio_servo_setup(pbio_servo_t *srv, pbio_direction_t directi
         return err;
     }
 
-    // Configure the logs for a servo 
+    // Configure the logs for a servo
     srv->log.num_values = SERVO_LOG_NUM_VALUES;
 
     return PBIO_SUCCESS;
@@ -312,7 +312,7 @@ static pbio_error_t control_update_actuate(pbio_servo_t *srv, pbio_actuation_t a
         err = pbio_hbridge_set_duty_cycle_sys(srv->hbridge, control);
         break;
     }
-    
+
     // Handle errors during actuation
     if (err != PBIO_SUCCESS) {
         // Attempt lowest level coast: turn off power
@@ -337,7 +337,7 @@ static pbio_error_t pbio_servo_log_update(pbio_servo_t *srv, ustime_t time_now,
         // Not applicable for passive motors
         buf[0] = 0;
     }
-    
+
     // Log the physical state of the motor
     buf[1] = count_now;
     buf[2] = rate_now;
@@ -387,11 +387,11 @@ pbio_error_t pbio_servo_control_update(pbio_servo_t *srv) {
         err = control_update_time_target(&srv->control, time_now, count_now, rate_now, &actuation, &control);
     }
     else {
-        return PBIO_ERROR_INVALID_OP;       
+        return PBIO_ERROR_INVALID_OP;
     }
     if (err != PBIO_SUCCESS) {
         return err;
-    } 
+    }
     // Apply the control type and signal
     err = control_update_actuate(srv, actuation, control);
     if (err != PBIO_SUCCESS) {
diff --git a/lib/pbio/src/sound.c b/lib/pbio/src/sound.c
index 326e160d6..359023a5c 100644
--- a/lib/pbio/src/sound.c
+++ b/lib/pbio/src/sound.c
@@ -10,13 +10,13 @@
 #include <stdbool.h>
 #include <stdio.h>
 
-#include <pbio/error.h>
-#include <pbio/sound.h>
+#include <contiki.h>
 
 #include <pbdrv/beep.h>
 #include <pbdrv/pcm.h>
+#include <pbio/error.h>
+#include <pbio/sound.h>
 
-#include "sys/clock.h"
 
 struct _pbio_sound_t {
     pbdrv_beep_dev_t *beep_dev;
diff --git a/lib/pbio/src/trajectory.c b/lib/pbio/src/trajectory.c
index ac4b1dac9..d6650e03c 100644
--- a/lib/pbio/src/trajectory.c
+++ b/lib/pbio/src/trajectory.c
@@ -6,12 +6,11 @@
 #include <stdint.h>
 #include <stdlib.h>
 
-#include <pbio/fixmath.h>
+#include <contiki.h>
 
+#include <pbio/fixmath.h>
 #include <pbio/trajectory.h>
 
-#include "sys/clock.h"
-
 void reverse_trajectory(pbio_control_trajectory_t *ref) {
     // Mirror angles about initial angle th0
     ref->th1 = 2*ref->th0 - ref->th1;
diff --git a/lib/pbio/src/uartdev.c b/lib/pbio/src/uartdev.c
index a878eaeff..8ed230597 100644
--- a/lib/pbio/src/uartdev.c
+++ b/lib/pbio/src/uartdev.c
@@ -36,6 +36,8 @@
 #include <stdio.h>
 #include <string.h>
 
+#include <contiki.h>
+
 #include "pbdrv/config.h"
 #include "pbdrv/ioport.h"
 #include "pbdrv/uart.h"
@@ -46,8 +48,6 @@
 #include "pbio/uartdev.h"
 #include "pbio/util.h"
 #include "../drv/counter/counter.h"
-#include "sys/etimer.h"
-#include "sys/process.h"
 
 #define EV3_UART_MAX_MESSAGE_SIZE   (PBIO_IODEV_MAX_DATA_SIZE + 2)