diff --git a/src/core/motor.rs b/src/core/motor.rs
index 5ddfb06..d43b2c0 100644
--- a/src/core/motor.rs
+++ b/src/core/motor.rs
@@ -116,13 +116,22 @@ pub trait Driver {
 /// Some sensors may also provide current and voltage feedback, if implemented the communication system can sync them to the host you for. 
 /// Can also be used for other custom logic. They are unused by RNavP, entirely optional.
 pub trait Sensor {
-    ///Gets a speed struct value from the motors sensor
+    ///Returns the speed struct value from the motors sensor
     /// This should be non-blocking, there should be some form of cached value ready to go as soon as the method is called
-    /// IF properly returned in the correct Enum Data field, all other systems will use the value propely
+    /// 
+    /// IF properly returned in the correct Enum Data field, all other systems will use the value propely, being unit agnostic later.
     fn get_speed(&self) -> Speed;
 
+    ///Returns the current from the sensor, if it capable.
+    /// This should be non-blocking. Keep a cached value ready.
     fn get_current(&self) -> Option<Current>;
+
+    ///Returns the current voltage from the sensro, if it is capable.
+    /// This should be non-blocking. Keep a cached value ready.
     fn get_voltage(&self) -> Option<Voltage>;
+
+    ///Returns the current angle from the sensor if it is capable.
+    /// This should be non-blocking. Keep a cached value ready.
     fn get_angle(&self) -> Option<Angle>;
     
 }