Added new method for the controller struct.

src/core/logic/motor.rs

@@ -11,11 +11,12 @@ use crate::core::logic::pid;
 /// ## Usage
 ///
 /// Creating this allows for the controller a motor via a simple PID f32 signed Speed command, rather than u16 speed commands
+/// Notice that this also TAKES the motor from your manual controller, you loose access to the manual hand control you had before.
 pub struct Controller<T>
 where
     T: motor::Driver + motor::Sensor,
 {
-    pub motor: T,
+    motor: T,
     max_speed: Speed,
     pid: pid::PID,
     current_direction: Direction,
@@ -38,4 +39,13 @@ impl<T: motor::Driver + motor::Sensor> Controller<T> {
         self.motor
             .set_speed_and_direction(motor_command, self.current_direction);
     }
+
+    pub fn new(motor: T, max_speed: Speed, pid: pid::PID) -> Self {
+        Controller {
+            motor: motor,
+            max_speed: max_speed,
+            pid: pid,
+            current_direction: Direction::CCW,
+        }
+    }
 }