diff --git a/src/core/communication/motor.rs b/src/core/communication/motor.rs
index d72e5fd..d1236a1 100644
--- a/src/core/communication/motor.rs
+++ b/src/core/communication/motor.rs
@@ -11,7 +11,25 @@ pub struct MotorDriverShaftSpeed {
 }
 
 impl MotorDriverShaftSpeed {
+    pub fn speed_as_rpm(&self) -> f32 {
+        match self.shaft_speed {
+            Some(mut speed) => {
+                match self.unit {
+                    Unit::Radians => {speed /= core::f32::consts::PI * 2.0;}
+                    _ => {}
+                }
 
+                match self.time_scale {
+                    TimeScale::PerSecond => {speed *= 60.0;}
+                    _ => {}
+                }
+                speed
+            }
+            None => {
+                0.0
+            }
+        }
+    }
 }
 
 impl Display for MotorDriverShaftSpeed {
diff --git a/src/core/positional.rs b/src/core/positional.rs
index 03c7b20..bb414c5 100644
--- a/src/core/positional.rs
+++ b/src/core/positional.rs
@@ -147,24 +147,24 @@ impl Display for XYZAccel {
 }
 
 ///Structs that impl this trait, mean they are positions. Determine what type of position by reading the unit.
-trait Position : XYZData {
+pub trait Position : XYZData {
     
 }
 
 ///Structs that impl this trait mean they are Velocities. Determine what type of velocity by reading the unit.
-trait Velocity : XYZData{
+pub trait Velocity : XYZData{
     
 }
 
 ///Structs that impl this trait mean they are Accelerations. Determine what type of Acceleration by reading the unit.
-trait Acceleration : XYZData{
+pub trait Acceleration : XYZData{
     
 }
 
 ///This is the data backbone for the XYZ Position, Velocity, and Acceleration Data structs. 
 ///They MUST implmenent this so it possible to easily and quickly get the data from the struct.
 ///Provides methods to check what type this is
-trait XYZData {
+pub trait XYZData {
     fn x(&self) -> Option<f32>;
     fn y(&self) -> Option<f32>;
     fn z(&self) -> Option<f32>;