diff --git a/src/core/logic/motor.rs b/src/core/logic/motor.rs
index 3ddce2a..0bf9839 100644
--- a/src/core/logic/motor.rs
+++ b/src/core/logic/motor.rs
@@ -3,6 +3,7 @@ use crate::core::motor::{Direction, Speed};
 
 use crate::core::logic::pid;
 
+#[derive(Debug, Clone, Copy, PartialEq)]
 pub struct Data {
     pub max_speed: Speed,
     pub pid: pid::PID,
@@ -16,14 +17,14 @@ pub trait Controller: motor::Driver + motor::Sensor {
 
     ///Uses the given set_speed and then will handle the rest of the control logic to accurately* hit the requested speed
     fn control(&mut self, set_speed: Speed) {
-        let data: &mut Data = &mut self.data();
+        let data = &mut self.data();
         let max_speed_rads = data.max_speed.rads();
         let set_speed_rads = set_speed.rads().clamp(-max_speed_rads, max_speed_rads);
 
         data.pid.set_point(set_speed_rads);
         let pid_output = data.pid.pid_step(self.get_speed().rads());
 
-        data.current_direction.dir_from_f32(pid_output);
+        self.data().current_direction.dir_from_f32(pid_output);
 
         let motor_command = (pid_output * 65535.0) as u16;
 
diff --git a/src/core/logic/pid.rs b/src/core/logic/pid.rs
index 510857e..b1f6fba 100644
--- a/src/core/logic/pid.rs
+++ b/src/core/logic/pid.rs
@@ -19,6 +19,7 @@ pub struct Config {
 
 ///A PID, the config field is used to handle all the needed configuration.
 /// This PID using pid_step() then attempts to output a value between -1.0 and 1.0 to attempt to make the "current_value" passed in, match the "set_point"
+#[derive(Debug, PartialEq, Clone, Copy)]
 pub struct PID {
     pub config: Config,