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/communication/motor.rs

@@ -11,6 +11,8 @@ pub struct MotorDriverShaftSpeed {
 }
 
 impl MotorDriverShaftSpeed {
+    ///This returns the current shaft speed as an RPM Value, which is the default for display.
+    /// It will be 0.0 if the data is none
     pub fn speed_as_rpm(&self) -> f32 {
         match self.shaft_speed {
             Some(mut speed) => {
@@ -34,37 +36,21 @@ impl MotorDriverShaftSpeed {
 
 impl Display for MotorDriverShaftSpeed {
     fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
-        match self.shaft_speed {
+        write!(f, "Motor Shaft Speed: {}", self.speed_as_rpm())
-            Some(speed) => {
-                let unit = match self.unit {
-                    Unit::Radians => "rad",
-                    Unit::Rotations => "R",
-                    _ => "",
-                };
-
-
-                write!(f, "")
-            }
-            None => {write!(f, "No Given Speeds")}
-        }
     }
 }
 
 #[derive(Copy, Clone, Debug, Serialize, Deserialize, PartialEq, Eq)]
-#[repr(u8)]
 pub enum Unit {
-    Unknown = 0,
+    Rotations,
-    Rotations = 1,
+    Radians,
-    Radians = 2,
 
 }
 
 #[derive(Debug, Clone, Copy, Serialize, Deserialize, PartialEq, Eq)]
-#[repr(u8)]
 pub enum TimeScale {
-    Unknown = 0,
+    PerSecond,
-    PerSecond = 1,
+    PerMinute,
-    PerMinute = 2,
     
 }
 

src/core/mod.rs

@@ -5,4 +5,5 @@ pub mod communication;
 #[cfg(feature = "core_logic")]
 pub mod logic;
 
-pub mod positional;
+pub mod positional;
+pub mod motor;

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>;
+    
+}

src/core/positional.rs

@@ -113,7 +113,6 @@ impl Display for XYZPos {
             Unit::Meters => {"m"}
             Unit::Radians => {"rad"}
             Unit::Custom => {"custom"}
-            _ => {return  write!(f, "Unknown Data");}
         };
 
         write!(f, "[X: {:?}{unit_str} | Y: {:?}{unit_str} | Z: {:?}{unit_str}]", self.x, self.y, self.z)
@@ -126,7 +125,6 @@ impl Display for XYZVel {
             Unit::Meters => {"m"}
             Unit::Radians => {"rad"}
             Unit::Custom => {"custom"}
-            _ => {return  write!(f, "Unknown Data");}
         };
 
         write!(f, "[X: {:?}{unit_str}/s | Y: {:?}{unit_str}/s | Z: {:?}{unit_str}/s]", self.x, self.y, self.z)
@@ -139,7 +137,6 @@ impl Display for XYZAccel {
             Unit::Meters => {"m"}
             Unit::Radians => {"rad"}
             Unit::Custom => {"custom"}
-            _ => {return  write!(f, "Unknown Data");}
         };
 
         write!(f, "[X: {:?}{unit_str}/s^2 | Y: {:?}{unit_str}/s^2 | Z: {:?}{unit_str}/s^2]", self.x, self.y, self.z)
@@ -241,25 +238,11 @@ impl XYZData for XYZDataBucket {
 }
 
 
-///Represents the unit this position struct is carrying. Combining the Unit + Trait it impls lets you determine what this message contatains
+///Represents the unit this position struct is carrying. Combining the Unit + Trait it impls lets you determine what this message contains
-/// A value of 0 or Unknown means the data is malformed or something is was wrong on the sending side, it should be treated a failure case.
+/// If you need to send a unit not listed here please use Unit::Custom
-/// If you need to send a unit not listed here please use Unit::Custom instead of Unit::Unknown
 #[derive(Serialize, Deserialize, Clone, Copy, PartialEq, Eq, Debug, )]
-#[repr(u8)]
 pub enum Unit {
-    Unknown = 0,
     Meters = 1,
     Radians = 2,
     Custom = 3,
 }
-
-impl From<u8> for Unit {
-    fn from(value: u8) -> Self {
-        match value {
-            1 => {Self::Meters}
-            2 => {Self::Radians}
-            3 => {Self::Custom}
-            _ => {Self::Unknown}
-        }
-    }
-}

src/embassy/mod.rs

@@ -5,4 +5,3 @@ compile_error!(
      Please use '--no-default-features --features embassy' to build for MCU\n\
      or verify that you have not included a different feature that requires'std'"
 );
-