Motor logic area has been started.

src/core/logic/mod.rs

@@ -1,4 +1,2 @@
-pub mod structs;
 pub mod kinematics;
-pub mod impls;
+pub mod motor;
-pub mod traits;

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;
+}