Moved some of the things from the "communicatinon" subsection of core directly into core. This is because some of these structs will be needed for logic as well.

src/core/communication/motor.rs

@@ -1,4 +1,65 @@
-use serde::{Deserialize, Serialize};
-pub struct MotorRPM{
+use core::fmt::Display;
+
+use serde::{Deserialize, Serialize};
+
+///Motor Drivers reported shaft speed. This can be in any of the given unit types by the Unit enum and timescalse given by the TimeScales enum
+#[derive(Copy, Clone, Debug, Serialize, Deserialize, PartialEq)]
+pub struct MotorDriverShaftSpeed {
+    shaft_speed: Option<f32>,
+    unit: Unit,
+    time_scale: TimeScale,
+}
+
+impl MotorDriverShaftSpeed {
+
+}
+
+impl Display for MotorDriverShaftSpeed {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self.shaft_speed {
+            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 = 1,
+    Radians = 2,
+
+}
+
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, PartialEq, Eq)]
+#[repr(u8)]
+pub enum TimeScale {
+    Unknown = 0,
+    PerSecond = 1,
+    PerMinute = 2,
+    
+}
+
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, PartialEq)]
+pub struct MotorDriverDiagData {
+    ///Current draw of the motor if readable, reported in microAmps
+    current: Option<i32>, 
+    ///Voltage of the motor if readable, reported in microVolts
+    voltage: Option<i32>,
+    ///Shaft speed of the motor if readable.
+    shaft_speed: Option<MotorDriverShaftSpeed>,
+    ///Status of the hardware brake if present, none if not present.
+    brake_status: Option<bool>,
+
+}
 
-}