Update Readme.md

changed over all the classes in these files to use async based methods
rather than non. This SHOULD make the system more reliable with embassy
in the future, and hopefully prevent issues with blocking code and the
way embassy works.

Cargo.lock

@@ -22,7 +22,7 @@ dependencies = [
 
 [[package]]
 name = "rnavp"
-version = "0.2.0"
+version = "0.3.0"
 dependencies = [
  "serde",
 ]

Cargo.toml

@@ -1,8 +1,9 @@
 [package]
 name = "rnavp"
-version = "0.2.0"
+version = "0.3.0"
 edition = "2024"
 publish = ["gitea"]
+license = "MIT OR Apache-2.0"
 
 [features]
 default= ["embassy"]

LICENSE-APACHE

@@ -0,0 +1,201 @@
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LICENSE-MIT

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) [2026] [Zander Allen Johnson]
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
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+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

NOTICE

@@ -0,0 +1 @@
+Copyright 2026 Zander Allen Johnson

README.md

@@ -6,23 +6,22 @@ This is a crate designed to assit in development for the entire stack from the M
 Designed for intergration with ROS2 but is *NOT* required and will work for any STD enviroment for the control system
 
 
-## Highlights
 
-Able to drive just about anything, 2 wheel differential drive, simple we got that. 4 Wheeled OmniDirectional? We got that to. 9 Wheeled Abomination? Why? But, *We gotcha bro!*
+## Project Goals
 
-Simulation system, Define the upper level logic, and the placement of the wheels and the motor specs and we can give you a low fidilety simulation output on the Computer no MCU needed.
+Be Able to drive just about anything, 2 wheel differential drive, simple we got that. 4 Wheeled OmniDirectional? We got that to. 9 Wheeled Abomination? Why? But, *We gotcha bro!*
+
+Simulation system, Define the upper level logic, and the placement of the wheels and the motor specs and we can give you a low fidilety simulation output on the Host Computer no MCU needed.
 Want to see it ON something? Well use the outputs and hook into the SIM of your choice! Verify your robot design and logic systems, before even ordering the MCU, or having to design how the ESC works.
  
 Entirely Rust, this uses a full RUST eco system from the ground up, keeping the Your code safe, and your robots doing exactly what you intended for them to do.
 
 Uses Embassy. Since this is designed to have a single function init, you WILL have to pass in your embassy executor spawning item so you can't spawn anything new once this is started.
-BUT, you can easily just throw this entire system on core 1 (Second core) of your MCU, and not care about it anymore. Handle the rest of your logic, read some data, run a HMI using the wonderful SLINT crate.
+BUT, you can easily just throw this entire system on core 1 (The Second core) of your MCU, and not care about it anymore. Handle the rest of your logic, read some data, run a HMI using the wonderful SLINT crate.
 Who knows? What we do know is that, your entire drivetrain and sensor system you asked us to handle. We handled.   
 
 
 
 ## Licensing
 
-Dual Licensed Under
-
-MIT and Apache-2.0
+Licensed under either Apache License, Version 2.0 (LICENSE-APACHE) or MIT license (LICENSE-MIT).

src/core/logic/motor.rs

@@ -25,26 +25,35 @@ where
 ///Controller Impl for the adding the PID logic for handling the motor compiston
 impl<T: motor::Driver + motor::Sensor> Controller<T> {
     ///Uses the given set_speed and then will handle the rest of the control logic to accurately* hit the requested speed
-    pub fn control(&mut self, set_speed: Speed) {
+    pub async fn control(&mut self, set_speed: Speed) {
         let max_speed_rads = self.max_speed.rads();
         let set_speed_rads = set_speed.rads().clamp(-max_speed_rads, max_speed_rads);
 
-        self.pid.set_point(set_speed_rads);
-        let pid_output = self.pid.pid_step(self.motor.get_speed().rads());
+        self.pid.set_point(set_speed_rads).await;
+        let pid_output = self.pid.pid_step(self.motor.get_speed().await.rads()).await;
 
         self.current_direction.dir_from_f32(pid_output);
 
         let motor_command = (pid_output * 65535.0) as u16;
 
         self.motor
-            .set_speed_and_direction(motor_command, self.current_direction);
+            .set_speed_and_direction(motor_command, self.current_direction)
+            .await;
     }
 
-    pub fn new(motor: T, max_speed: Speed, pid: pid::PID) -> Self {
+    ///Retrieve the speed from the motor inside the controller.
+    /// This allows you to get a speed value from behind the move.
+    pub async fn retrieve(&self) -> motor::Speed {
+        self.motor.get_speed().await
+    }
+
+    ///Creates a new Controller with a motor (of type T), a max speed and a pid::Config
+    /// This then allows for you to use the controller with the provided types
+    pub fn new(motor: T, max_speed: Speed, config: pid::Config) -> Self {
         Controller {
             motor: motor,
             max_speed: max_speed,
-            pid: pid,
+            pid: pid::PID::new(config),
             current_direction: Direction::CCW,
         }
     }

src/core/logic/pid.rs

@@ -38,14 +38,14 @@ impl PID {
             integral: 0.0,
             prev_error: 0.0,
             set_point: 0.0,
-            output: 0.0
+            output: 0.0,
         }
     }
 }
 
 impl Default for PID {
     fn default() -> Self {
-        PID::new(Config{
+        PID::new(Config {
             kp: 0.0,
             ki: 0.0,
             kd: 0.0,
@@ -61,7 +61,7 @@ impl PID {
     ///Will output a float between -1.0 and 1.0
     ///Current value is the current "position" of the system NOT the goal
     /// Use set_point() method to change the "goal position" for the system
-    pub fn pid_step(&mut self, current_value: f32) -> f32 {
+    pub async fn pid_step(&mut self, current_value: f32) -> f32 {
         //If the values
         let error = self.set_point - current_value;
 
@@ -93,9 +93,9 @@ impl PID {
 
         //Calculate and store the output
         let output = match self.config.accel {
-            0.0 => f + p + i + d,
+            0.0 => (f + p + i + d) * 0.0001,
             _ => {
-                let pre_output = f + p + i + d;
+                let pre_output = (f + p + i + d) * 0.0001;
                 let change = pre_output - self.output;
                 let change = change.clamp(-self.config.accel, self.config.accel);
 
@@ -117,7 +117,7 @@ impl PID {
         return self.output;
     }
 
-    pub fn set_point(&mut self, set_point: f32) {
+    pub async fn set_point(&mut self, set_point: f32) {
         if set_point != self.set_point {
             //Update all internal fields
             self.integral = 0.0;

src/core/mod.rs

@@ -4,6 +4,7 @@ pub mod communication;
 #[cfg(feature = "core_logic")]
 pub mod logic;
 
+pub mod error;
 pub mod motor;
 pub mod positional;
 pub mod units;

src/core/motor.rs

@@ -111,62 +111,66 @@ impl Display for Speed {
     }
 }
 
-///This trait is implemented on a motor struct to implement the motor DRIVER (like an ESC) capabalities in how it should control the motor.
-/// This will then let other systems use this generic trait and system to control your motor without needing to understand the hardware as much.
+/// # Motor Driver
+///
+/// This trait is implemented on a motor struct to implement the motor DRIVER (like an ESC) capabalities in how it should control the motor.
+/// This will then let other systems use this trait and system to control your motor without needing to understand the hardware as much.
+#[allow(async_fn_in_trait)]
 pub trait Driver {
     ///Spins in the provided direction
     /// Properly map each direction to CounterClockWise and Clockwise when LOOKING AT THE MOTOR SHAFT. This is VITAL for the way the systems within core::logic will work.
     ///This is best not called manually, use set_speed_and_direction_raw instead
-    fn spin(&mut self, dir: Direction);
+    async fn spin(&mut self, dir: Direction);
 
     ///Commands the motor to stop
     /// This should stop the motor in what ever way you see fit.
     /// Some hardware may have a proper "Stop" or "Off" Signal, some will not.
     /// If there is no proper hardware stop, verify that 0 speed is actually a stopping command and you can easily just set speed to 0 via set_speed_raw in this method.
     /// No default implementation (though this is easily something I could have done) because it SHOULD be something you notice and implement PROPERLY if applicable
-    fn stop(&mut self);
+    async fn stop(&mut self);
 
     ///This method uses a full u16 to set the motor speed. This does not change spin direction.
     /// You need to map 0 to 65535 properly to your specific hardware range, just because PWM is commonly 0 to 65535 do not assume that ALL ways of controlling a motor cleanly takes a value of 0 to 65535,
     /// you need to verify and map properly.
     /// 65535 should be the max possible speed, while 0 should be stopped.
     ///This is best to not call manually, use set_speed_and_direction_raw instead
-    fn set_speed(&mut self, speed: u16);
+    async fn set_speed(&mut self, speed: u16);
 
     ///Commands the motors to use the speed and spin in the same command.
     ///Uses a number between 0 and 65535
     ///This should be used in most cases, unless the motor has the core::logic::motor::controller Trait, then the the methods from that should be used instead.
-    fn set_speed_and_direction(&mut self, speed: u16, dir: Direction) {
+    async fn set_speed_and_direction(&mut self, speed: u16, dir: Direction) {
         //Set direction before speed, so it won't start spinning in one direction, then snap to the other.
         //Most MCUs should execute these two lines of code so fast, that it should be neglible regardless.
-        self.spin(dir);
-        self.set_speed(speed);
+        self.spin(dir).await;
+        self.set_speed(speed).await;
     }
 }
 
-///This trait is implemented on motors that have some form of sensory feedback. Note that this does not require the motor ITSELF provide feedback, just that the setup the motor is in supports it. IE, a Current draw based ESC
+/// # Motor Sensor
+/// This trait is implemented on motors that have some form of sensory feedback. Note that this does not require the motor ITSELF provide feedback, just that the setup the motor is in supports it. IE, a Current draw based ESC
 /// Speed Feedback is REQUIRED, if your device does not provide speed feedback directly,
 /// Implement the other conditions and use them to then implement the speed method.
-///  
+///
 /// Some motors/sensors might have a direct "Current Angle" being reported, the option is there in case yours can, so the communication system can sync it to the host for you.
 /// 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.
+#[allow(async_fn_in_trait)]
 pub trait 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, being unit agnostic later.
-    fn get_speed(&self) -> Speed;
+    async 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>;
+    async 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>;
+    async 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>;
+    async fn get_angle(&self) -> Option<Angle>;
 }