diff --git a/src/core/logic/motor.rs b/src/core/logic/motor.rs
index 52124a1..e39a507 100644
--- a/src/core/logic/motor.rs
+++ b/src/core/logic/motor.rs
@@ -40,6 +40,8 @@ impl<T: motor::Driver + motor::Sensor> Controller<T> {
             .set_speed_and_direction(motor_command, self.current_direction);
     }
 
+    ///Creates a new Controller with a motor (of type T), a max speed and a pid::Config
+    /// This then allows for you to use the controller with the provided types
     pub fn new(motor: T, max_speed: Speed, config: pid::Config) -> Self {
         Controller {
             motor: motor,