removed #[repr(u8)] from many structs across the project, I found out that rust by default makes small structs u8s, it is uneeded to do it manually.

src/core/motor.rs

@@ -0,0 +1,37 @@
+pub enum Direction {
+    CCW,
+    CW
+}
+
+pub trait Driver {
+    ///Spins in the provided direction
+    ///This is best not called manually, use set_speed_and_direction_raw instead
+    fn spin(&mut self, dir: Direction);
+
+    ///Commands the motor to stop
+    fn stop(&mut self);
+
+    ///This method uses a full u16 to set the motor speed. This does not change spin direction, if already spinning
+    ///Uses a number between 0 and 65535
+    ///This is best to not call manually, use set_speed_and_direction_raw instead
+    fn set_speed_raw(&mut self, speed: u16);
+
+    ///Commands the motors to use the speed and spin in the same command.
+    ///Uses a number between 0 and 65535
+    ///This should be used in most cases, unless the motor has the core::logic::motor::controller Trait, then the the methods from that should be used instead.
+    fn set_speed_and_direction_raw(&mut self, speed: u16, dir: Direction) {
+        //Set direction before speed, so it won't start spinning in one direction, then snap to the other.
+        //Most MCUs should execute these two lines of code so fast, that it should be neglible though.
+        self.spin(dir); 
+        self.set_speed_raw(speed);
+    }
+
+}
+
+pub trait Sensor {
+    fn get_speed(&self) -> f32;
+    fn get_current(&self) -> Option<u32>;
+    fn get_voltage(&self) -> Option<u32>;
+    fn get_angle(&self) -> Option<f32>;
+    
+}