created a generic "units" module, which should be helpful in keeping certain units Correct.

src/core/mod.rs

@@ -6,4 +6,5 @@ pub mod communication;
 pub mod logic;
 
 pub mod positional;
-pub mod motor;
+pub mod motor;
+pub mod units;

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 {
+impl Display for Speed {
-    MilliAmps(u32),
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
-    MicroAmps(u32),
+        write!(f, "")
-}
+    }
-
-pub enum Voltage {
-    MilliVolts(u32),
-    MicroVolts(u32),
-}
-
-pub enum Angle {
-    Degrees(f32),
-    Radians(f32),
 }
 
 ///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>;

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,
+    Meters,
-    Radians = 2,
+    Radians,
-    Custom = 3,
+    Custom,
 }

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),
+}