Added derive fields to the Data and PID struct

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;