From 35d30bd213fecb8d4e86bd8c7b2634b0e6d48e0a Mon Sep 17 00:00:00 2001
From: melfey <bug362@outlook.com>
Date: Sun, 24 May 2026 12:11:37 -0500
Subject: [PATCH] Motor logic area has been started.

---
 src/core/logic/impls.rs   |  0
 src/core/logic/mod.rs     |  4 +---
 src/core/logic/motor.rs   | 24 ++++++++++++++++++++++++
 src/core/logic/structs.rs |  0
 src/core/logic/traits.rs  |  0
 5 files changed, 25 insertions(+), 3 deletions(-)
 delete mode 100644 src/core/logic/impls.rs
 create mode 100644 src/core/logic/motor.rs
 delete mode 100644 src/core/logic/structs.rs
 delete mode 100644 src/core/logic/traits.rs

diff --git a/src/core/logic/impls.rs b/src/core/logic/impls.rs
deleted file mode 100644
index e69de29..0000000
diff --git a/src/core/logic/mod.rs b/src/core/logic/mod.rs
index 8fc576d..e454905 100644
--- a/src/core/logic/mod.rs
+++ b/src/core/logic/mod.rs
@@ -1,4 +1,2 @@
-pub mod structs;
 pub mod kinematics;
-pub mod impls;
-pub mod traits;
\ No newline at end of file
+pub mod motor;
\ No newline at end of file
diff --git a/src/core/logic/motor.rs b/src/core/logic/motor.rs
new file mode 100644
index 0000000..4583698
--- /dev/null
+++ b/src/core/logic/motor.rs
@@ -0,0 +1,24 @@
+use crate::core::{
+    motor,
+    positional,
+    units,
+};
+
+
+///The Config for the PID system used by the controller
+pub struct PIDConfig {
+    ///The Porportional value for the controller
+    pub kp: f32,
+    ///The Integral value for the controller
+    pub ki: f32,
+    ///The Derivative value for the controller
+    pub kd: f32,
+    ///The Feedforward value for the controller
+    pub ff: f32,
+
+} 
+
+///Controller trait for motors. Motors with this trait, automatically have a PID included.
+pub trait Controller : motor::Driver + motor::Sensor {
+    const CONFIG: PIDConfig;
+}
\ No newline at end of file
diff --git a/src/core/logic/structs.rs b/src/core/logic/structs.rs
deleted file mode 100644
index e69de29..0000000
diff --git a/src/core/logic/traits.rs b/src/core/logic/traits.rs
deleted file mode 100644
index e69de29..0000000