From 1e5f8c15e4f41558747c4aa25a31b5bd5dd4e74b Mon Sep 17 00:00:00 2001
From: melfey <bug362@outlook.com>
Date: Sun, 24 May 2026 10:34:40 -0500
Subject: [PATCH] created a generic "units" module, which should be helpful in
 keeping certain units Correct.

---
 src/core/mod.rs        |  3 ++-
 src/core/motor.rs      | 39 +++++++++++++++++++++++++--------------
 src/core/positional.rs |  6 +++---
 src/core/units.rs      | 14 ++++++++++++++
 4 files changed, 44 insertions(+), 18 deletions(-)
 create mode 100644 src/core/units.rs

diff --git a/src/core/mod.rs b/src/core/mod.rs
index 2a97f19..1ac48bf 100644
--- a/src/core/mod.rs
+++ b/src/core/mod.rs
@@ -6,4 +6,5 @@ pub mod communication;
 pub mod logic;
 
 pub mod positional;
-pub mod motor;
\ No newline at end of file
+pub mod motor;
+pub mod units;
\ No newline at end of file
diff --git a/src/core/motor.rs b/src/core/motor.rs
index 77d9da4..5ddfb06 100644
--- a/src/core/motor.rs
+++ b/src/core/motor.rs
@@ -1,5 +1,13 @@
+use core::fmt::Display;
+
 use serde::{Deserialize, Serialize};
 
+use crate::core::units::{
+    Current,
+    Voltage,
+    Angle,
+};
+
 ///A simple enum for Counterclockwise or Clockwise direction semantics. Makes it easier much clear than a true/false bool
 #[derive(Clone, Copy, PartialEq, Eq, Debug, Serialize, Deserialize)]
 pub enum Direction {
@@ -10,6 +18,19 @@ pub enum Direction {
 
 }
 
+impl Direction {
+    ///Inverts the direction currently stored in this. 
+    /// Helps with a simple direction change without knowing the current direction. 
+    pub fn inv_dir(&mut self) {
+        match *self {
+            Self::CCW => {*self = Self::CW;}
+            Self::CW => {*self = Self::CCW;} 
+        }
+    }
+
+    
+}
+
 ///A enum for containerizing speeds easily
 /// Lets the backend take in a Rotations per minute value from a user Sensor implementation and convert it to a Radians per second value
 ///Pay attention to the units of each term
@@ -47,19 +68,10 @@ impl Speed {
     }
 }
 
-pub enum Current {
-    MilliAmps(u32),
-    MicroAmps(u32),
-}
-
-pub enum Voltage {
-    MilliVolts(u32),
-    MicroVolts(u32),
-}
-
-pub enum Angle {
-    Degrees(f32),
-    Radians(f32),
+impl Display for Speed {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "")
+    }
 }
 
 ///This trait is implemented on a motor struct to implement the motor DRIVER (like an ESC) capabalities in how it should control the motor. 
@@ -109,7 +121,6 @@ pub trait Sensor {
     /// IF properly returned in the correct Enum Data field, all other systems will use the value propely
     fn get_speed(&self) -> Speed;
 
-    
     fn get_current(&self) -> Option<Current>;
     fn get_voltage(&self) -> Option<Voltage>;
     fn get_angle(&self) -> Option<Angle>;
diff --git a/src/core/positional.rs b/src/core/positional.rs
index 5edc6c3..83e4a43 100644
--- a/src/core/positional.rs
+++ b/src/core/positional.rs
@@ -242,7 +242,7 @@ impl XYZData for XYZDataBucket {
 /// If you need to send a unit not listed here please use Unit::Custom
 #[derive(Serialize, Deserialize, Clone, Copy, PartialEq, Eq, Debug, )]
 pub enum Unit {
-    Meters = 1,
-    Radians = 2,
-    Custom = 3,
+    Meters,
+    Radians,
+    Custom,
 }
diff --git a/src/core/units.rs b/src/core/units.rs
new file mode 100644
index 0000000..7de34d2
--- /dev/null
+++ b/src/core/units.rs
@@ -0,0 +1,14 @@
+pub enum Current {
+    MilliAmps(u32),
+    MicroAmps(u32),
+}
+
+pub enum Voltage {
+    MilliVolts(u32),
+    MicroVolts(u32),
+}
+
+pub enum Angle {
+    Degrees(f32),
+    Radians(f32),
+}
\ No newline at end of file