changed queue to hashmap instead

2025-05-22 16:25:22 +02:00
746 changed files with 18380 additions and 133740 deletions
@@ -1,3 +0,0 @@
-.png filter=lfs diff=lfs merge=lfs -text
-.jpg filter=lfs diff=lfs merge=lfs -text
-.jpeg filter=lfs diff=lfs merge=lfs -text
@@ -1,29 +0,0 @@
-This is a machine control software project.
-
-## Repository structure
-
-### Frontend
-
-`/electron`: Frontend code for the control software built with React and Electron.
-
-### Backend
-
-`/server`: Implements machine setup & loop. Exposes a REST & Socket.io API for the electron frontend.
-`/ethercat-hal`: Hardware abstraction layer for Beckhoff (and possibly other EtherCat) devices and protocols.
-`/ethercat-hal-derive`: Macros for ethercat-hal
-`/control-core`: Generic logic for the server.
-
-### HMI Panel Operating System
-
-`/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
-
-### Other
-
-/docs: Documentation for the project.
-
-## Key Guidelines
-
-1. Follow Rust & Typescript best practices and idiomatic patterns
-2. Maintain existing code structure and organization
-3. Write unit tests for new functionality where applicable.
-4. Document public APIs and complex logic in code. Suggest changes to the `docs/` folder when appropriate
@@ -1,19 +1,16 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for all configuration options:
+# https://docs.github.com/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file
+
 version: 2
 updates:
-  - package-ecosystem: "npm"
-    directory: "/electron"
+  - package-ecosystem: "npm" # See documentation for possible values
+    directory: "/electron" # Location of package manifests
    schedule:
-      interval: "monthly"
-    ignore:
-    - dependency-name: "*"
-      update-types:
-        - "version-update:semver-minor"
+      interval: "weekly"

-  - package-ecosystem: "cargo"
-    directory: "/"
+  - package-ecosystem: "cargo" # See documentation for possible values
+    directory: "/" # Location of package manifests
    schedule:
-      interval: "monthly"
-    ignore:
-      - dependency-name: "*"
-        update-types:
-          - "version-update:semver-minor"
+      interval: "weekly"
@@ -1,75 +0,0 @@
-name: Electron
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-
-defaults:
-  run:
-    working-directory: electron
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-
-    steps:
-      - &checkout
-        name: Checkout
-        uses: actions/checkout@v4
-
-      - &setup-node
-        name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: "npm"
-          cache-dependency-path: |
-            electron/package-lock.json
-
-      - &install
-        name: Install dependencies
-        run: npm ci
-
-      - name: Compile
-        run: tsc
-
-      - name: Build
-        run: npm run build
-
-  test:
-    runs-on: ubuntu-latest
-    needs: build
-
-    steps:
-      - *checkout
-      - *setup-node
-      - *install
-
-      - name: Test
-        run: npm run test
-
-  format:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *setup-node
-      - *install
-
-      - name: Format
-        run: npm run format
-
-  lint:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *setup-node
-      - *install
-
-      - name: Lint
-        run: npm run lint
@@ -1,96 +0,0 @@
-name: Nix CI
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-
-env:
-  NIX_PATH: nixpkgs=channel:nixos-25.05
-
-jobs:
-  electron:
-    runs-on: ubuntu-latest
-
-    steps:
-      - &checkout
-        name: Check out repository
-        uses: actions/checkout@v4
-
-      - &nix-install
-        uses: nixbuild/nix-quick-install-action@v34
-        with:
-          nix_conf: |
-            keep-env-derivations = true
-            keep-outputs = true
-
-      - uses: nix-community/cache-nix-action@v6
-        with:
-          primary-key: nix-electron-${{ runner.os }}-${{ hashFiles('**/*.nix', '**/flake.lock', './electron/package-lock.json') }}
-          restore-prefixes-first-match: nix-${{ runner.os }}-
-          purge: true
-          purge-prefixes: nix-electron-${{ runner.os }}-
-
-      - name: Build Electron in Nix
-        run: nix build ".#packages.x86_64-linux.electron"
-
-  rust:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *nix-install
-
-      - uses: nix-community/cache-nix-action@v6
-        with:
-          primary-key: nix-server-${{ runner.os }}-${{ hashFiles('**/*.nix', '**/flake.lock', './Cargo.lock') }}
-          restore-prefixes-first-match: nix-${{ runner.os }}-
-          purge: true
-          purge-prefixes: nix-server-${{ runner.os }}-
-
-      - name: Build Server in Nix
-        run: nix build ".#packages.x86_64-linux.server"
-
-  build:
-    runs-on: ubuntu-latest
-    needs: [electron, rust]
-
-    steps:
-      - *checkout
-      - *nix-install
-
-      - name: Use both Electron and Server Nix Store
-        uses: nix-community/cache-nix-action@v6
-        with:
-          primary-key: nix-${{ runner.os }}-${{ hashFiles('**/*.nix', '**/flake.lock', './Cargo.lock', './electron/package-lock.json') }}
-
-          # if no hit on the primary key, merge individual caches
-          restore-prefixes-all-matches: |
-            nix-electron-${{ runner.os }}-
-            nix-server-${{ runner.os }}-
-
-      - name: Build Flake and System Configuration
-        run: nix build ".#nixosConfigurations.nixos.config.system.build.toplevel" --impure
-
-  format:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *nix-install
-
-      - name: Format
-        run: nix run 'nixpkgs#nixfmt-classic' $(find . nixos -name '*.nix')
-
-  check:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *nix-install
-
-      - name: Build Flake and Configuration.nix
-        run: nix flake check "." --impure
@@ -3,10 +3,9 @@ name: Rust
 on:
  push:
    branches:
-      - master
+      - "**"
  pull_request:
-    branches:
-      - master
+    branches: "*"

 env:
  CARGO_TERM_COLOR: always
@@ -17,24 +16,10 @@ jobs:
    runs-on: ubuntu-latest

    steps:
-      - &udev-install
-        name: Install libudev development package
-        run: sudo apt-get update && sudo apt-get install -y libudev-dev
-
-      - &checkout
-        uses: actions/checkout@v4
-
-      - &setup-rust
-        name: Install Rust toolchain
-        uses: actions-rs/toolchain@v1
-        with:
-          toolchain: ${{ env.RUST_VERSION }}
-          profile: minimal
-          override: true
-          components: rustfmt
-
-      - &cargo-cache
-        name: Cache Rust dependencies
+      - uses: actions/checkout@v4
+      - name: Set Rust version
+        run: rustup override set ${{ env.RUST_VERSION }}
+      - name: Cache Rust dependencies
        uses: actions/cache@v3
        with:
          path: |
@@ -48,40 +33,7 @@ jobs:
            ${{ runner.os }}-${{ env.RUST_VERSION }}-cargo-

      - name: Build
-        env:
-          RUSTFLAGS: "-D warnings"
        run: cargo build --verbose

-  format:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *checkout
-      - *setup-rust
-
-      - name: Format
-        run: cargo fmt --check --verbose
-
-  test:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *udev-install
-      - *checkout
-      - *setup-rust
-      - *cargo-cache
-
      - name: Run tests
        run: cargo test --verbose
-
-  mock:
-    runs-on: ubuntu-latest
-
-    steps:
-      - *udev-install
-      - *checkout
-      - *setup-rust
-      - *cargo-cache
-
-      - name: Mock Machine
-        run: cargo build --features "development-build,mock-machine"
@@ -2,9 +2,4 @@ target/
 dist/
 .DS_Store
 Cargo.lock
-dhat-heap.json
-build.sh
-shell.nix
-node_modules/
-runtime_metrics.csv
-compile_metrics.csv
+dhat-heap.json
@@ -1,49 +0,0 @@
-# Canonical identities on the left, aliases on the right.
-# Format options:
-#   Canon Name <canon@example.com> <alias@example.com>
-#   Canon Name <canon@example.com> Alias Name <alias@example.com>
-
-# Icedsoda -> Philipp
-Philipp <29167146+1cedsoda@users.noreply.github.com> <29167146+1cedsoda@users.noreply.github.com>
-
-# kraemr / Robin Krämer -> Robin
-Robin <93094049+kraemr@users.noreply.github.com> <93094049+kraemr@users.noreply.github.com>
-Robin <93094049+kraemr@users.noreply.github.com> Robin Krämer <93094049+kraemr@users.noreply.github.com>
-
-# Oshgnacknak -> Josh
-Josh <osh@oshgnacknak.de> <osh@oshgnacknak.de>
-
-# Milan
-Milan <61654753+MilanVDB@users.noreply.github.com>
-
-# dependabot stays as bot
-Dependabot <49699333+dependabot[bot]@users.noreply.github.com> <49699333+dependabot[bot]@users.noreply.github.com>
-
-# Medformatik / Florian -> Florian
-Florian <dev@fwcr.de> <dev@fwcr.de>
-Florian <dev@fwcr.de> Medformatik <dev@fwcr.de>
-
-# Anatomik5 -> Alisher (merge noreply + gmail under Alisher)
-Alisher <115714693+Anatomik5@users.noreply.github.com> <115714693+Anatomik5@users.noreply.github.com>
-Alisher <115714693+Anatomik5@users.noreply.github.com> Anatomik5 <darmenovalisher@gmail.com>
-Alisher <115714693+Anatomik5@users.noreply.github.com> Darmenov Alisher <115714693+Anatomik5@users.noreply.github.com>
-
-# snacj -> Melvin
-Melvin <0xsnacj@proton.me> <0xsnacj@proton.me>
-Melvin <0xsnacj@proton.me> snacj <bbmelvin@gmx.de>
-Melvin <0xsnacj@proton.me> Melvin Spieß <0xsnacj@proton.me>
-
-# Janhegerq -> Jan
-Jan <219994445+Janhegerq@users.noreply.github.com> <219994445+Janhegerq@users.noreply.github.com>
-Jan <219994445+Janhegerq@users.noreply.github.com> <19994445+Janhegerq@users.noreply.github.com>
-
-# Christian / TheBest6337 -> christian
-Christian <christian.zschoegner@outlook.de> <christian.zschoegner@outlook.de>
-Christian <christian.zschoegner@outlook.de> TheBest6337 <christian.zschoegner@outlook.de>
-Christian <christian.zschoegner@outlook.de> Christian <80114847+TheBest6337@users.noreply.github.com>
-
-# nixos-install.sh
-nixos-install.sh <nixos-install.sh@localhost> <nixos-install.sh@localhost>
-
-# copilot-swe-agent bot
-Copilot <198982749+Copilot@users.noreply.github.com> <198982749+Copilot@users.noreply.github.com>
@@ -1,6 +1,5 @@
 {
    "typescript.inlayHints.enumMemberValues.enabled": false,
-    "git.detectSubmodules": true,
-    "git.detectSubmodulesLimit": 10,
-    "rust-analyzer.check.command": "clippy",
+     "git.detectSubmodules": true,
+     "git.detectSubmodulesLimit": 10,
 }
@@ -1,266 +1 @@
-# `2.13.0`
-_07.01.2026_
-
-## General
- [#925](https://github.com/qitechgmbh/control/pull/925) Switch to Setup when selected machine is disconnected
- [#937](https://github.com/qitechgmbh/control/pull/937) Added minimal Support for WAGO 
- [#945](https://github.com/qitechgmbh/control/pull/945) Improvements for On-Screen Keyboard usage in Ethercat Setup Page
- []
-
-## Extruder V3
- [#930](https://github.com/qitechgmbh/control/pull/930) Added Extruder V3
-
-## Laser
- [#924](https://github.com/qitechgmbh/control/pull/924) Roundness is now displayed as a percentage
- [#885](https://github.com/qitechgmbh/control/pull/885) Added Min and Max Diameter
- [#849](https://github.com/qitechgmbh/control/pull/849) Added a Warning if Filament is out of Spec
-
-## Aquapath
- [#976](https://github.com/qitechgmbh/control/pull/976) Improved Stability
-
-
-# `2.12.0`
-_17.11.2025_
-
-## General
- [#847](https://github.com/qitechgmbh/control/pull/847) Improved discovery and initialization 
- [#859](https://github.com/qitechgmbh/control/pull/859) Improved update speed
- [#897](https://github.com/qitechgmbh/control/pull/897), [#899](https://github.com/qitechgmbh/control/pull/899), [#852](https://github.com/qitechgmbh/control/pull/852)  Improved system stability
- [#817](https://github.com/qitechgmbh/control/pull/817) Added an update bar
-
-## Laser
- [#857](https://github.com/qitechgmbh/control/pull/857) Fixed potential issues with 2 Axis Laser
-
-## Extruder V2
- [#881](https://github.com/qitechgmbh/control/pull/881) Extended Temperature PID Configuration
-
-
-# `2.11.0`
-_21.10.2025_
-
-## General 
- [#829](https://github.com/qitechgmbh/control/pull/829), [#834](https://github.com/qitechgmbh/control/pull/834), Improved overall system stability
-
-## Winder V2 
- [#840](https://github.com/qitechgmbh/control/pull/840) Added XL Winder option
- [#827](https://github.com/qitechgmbh/control/pull/827) Spool can now be run in reverse
-
-## Extruder V2
- [#826](https://github.com/qitechgmbh/control/pull/826) Fine grained Temperature-PID configuration now possible
-
-
-# `2.10.0`
-_16.10.2025_
-
-## Winder V2
- [#776](https://github.com/qitechgmbh/control/pull/776) Added explanation for padding in winder manual
- [#804](https://github.com/qitechgmbh/control/pull/804) Added gearbox conversion
-
-## General 
- [#717](https://github.com/qitechgmbh/control/pull/717) Show from option for graphs added
- [#805](https://github.com/qitechgmbh/control/pull/805) Graphs run better now
-
-
-
-# `2.9.1`
-_10.10.2025_
-
-## Winder V2
- [#796](https://github.com/qitechgmbh/control/pull/796) Winding in adaptive mode, while puller is in reverse mode is now possible
-
-## General
- [#780](https://github.com/qitechgmbh/control/pull/780) Updates are faster now
- [#746](https://github.com/qitechgmbh/control/pull/746) Improved scrollbar styling for manuals
-
-# `2.9.0`
-_06.10.2025_
-
-## Winder V2
- [#778](https://github.com/qitechgmbh/control/pull/778) Increased Winder Traverse Step size limit
-
-## General
- [#725](https://github.com/qitechgmbh/control/pull/725) Improved troubleshooting and update page
- [#625](https://github.com/qitechgmbh/control/pull/625) Improved stability of Machine-Connections
-
-
-# `2.8.0`
-_30.09.2025_
-
-
-## Laser V1
- [#741](https://github.com/qitechgmbh/control/pull/741) Added roundness measurement to two-axis Laser
-
-
-## Winder V2
- [#745](https://github.com/qitechgmbh/control/pull/745), [#756](https://github.com/qitechgmbh/control/pull/756) improved Winder Frontend
-
-## General
- [#447](https://github.com/qitechgmbh/control/pull/447) added AquaPath Machine
-
-
-
-
-# `2.7.0`
-
-_17.09.2025_
-
-## Extruder V2
-
- [#695](https://github.com/qitechgmbh/control/pull/695) Pressure and Rpm Regulation properly switch again
-
-## Winder V2
-
- [#727](https://github.com/qitechgmbh/control/pull/727) Removed estimated diameter
-
-## Laser V1
-
- [#731](https://github.com/qitechgmbh/control/pull/731) Added Laser with two-axis measurements
-
-## General
-
- [#679](https://github.com/qitechgmbh/control/pull/679),[#677](https://github.com/qitechgmbh/control/pull/677),[#698](https://github.com/qitechgmbh/control/pull/698), [#684](https://github.com/qitechgmbh/control/pull/684),[#706](https://github.com/qitechgmbh/control/pull/706) Greatly improved overall system latency and stability
-
- [#720](https://github.com/qitechgmbh/control/pull/720), [#686](https://github.com/qitechgmbh/control/pull/686) Improved User Interface
-
-# `2.6.0`
-
-_03.09.2025_
-
-## Extruder V2
-
- [#658](https://github.com/qitechgmbh/control/pull/658) Added manual
- [#639](https://github.com/qitechgmbh/control/pull/639) Swapped order of screw speed regulation buttons
-
-## Laser V1
-
- [#642](https://github.com/qitechgmbh/control/pull/642) Improved stability of laser connection
-
-## General
-
- [#657](https://github.com/qitechgmbh/control/pull/657) Time frame for graphs is now remembered
- [#641](https://github.com/qitechgmbh/control/pull/641) Removed duplicate scrollbar from manuals
-
-# `2.5.0`
-
-_27.08.2025_
-
-## Extruder V2
-
- [#595](https://github.com/qitechgmbh/control/pull/600) Simplified power graphs
- [#593](https://github.com/qitechgmbh/control/pull/599) Added identifiers for temperature sensors in temperature graph
-
-## Winder V2
-
- [#598](https://github.com/qitechgmbh/control/pull/601) Images now load properly in the manual
-
-## General
-
- [#540](https://github.com/qitechgmbh/control/pull/592) Improved readability of the presets
- [#591](https://github.com/qitechgmbh/control/pull/626) Significantly improved user interface performance and stability
-
-# `2.4.0`
-
-_14.08.2025_
-
-## Winder V2
-
- [#550](https://github.com/qitechgmbh/control/pull/551) Can now reset wound distance while winding
-
-## General
-
- [#568](https://github.com/qitechgmbh/control/pull/569),[#572](https://github.com/qitechgmbh/control/pull/572), [#574](https://github.com/qitechgmbh/control/pull/587) Improved EtherCAT performance
- [#588](https://github.com/qitechgmbh/control/pull/589) Improved frontend performance
-
-# `2.3.0`
-
-_06.08.2025_
-
-## Extruder V2
-
- [#520](https://github.com/qitechgmbh/control/pull/523) added warning message incase inverter is overloaded
- [#501](https://github.com/qitechgmbh/control/pull/508) raised pressure limit of pressured PID mode for extruder
- [#519](https://github.com/qitechgmbh/control/pull/549) added total power consumption monitor and graphs for voltage,current and wattage of the motor
-
-## Winder V2
-
- [#64](https://github.com/qitechgmbh/control/pull/504) added winder handbook
-
-## Laser V1
-
- [#497](https://github.com/qitechgmbh/control/pull/498) improved diameter visualisation
-
-## General
-
- [#62](https://github.com/qitechgmbh/control/pull/514),[#524](https://github.com/qitechgmbh/control/pull/528) added machine presets to load configurations
- [#526](https://github.com/qitechgmbh/control/pull/541) added import and export of presets
-
-# `2.2.0`
-
-_15.07.2025_
-
-## Extruder V2
-
- [#455](https://github.com/qitechgmbh/control/pull/458), Greatly improved stability and precision of pressure-based regulation for the motor
- [#467](https://github.com/qitechgmbh/control/pull/468), [#448](https://github.com/qitechgmbh/control/pull/449), [#485](https://github.com/qitechgmbh/control/pull/486) Improved the Responsiveness for motor control and monitoring
- [#138](https://github.com/qitechgmbh/control/pull/495), Added a Warning in case the Pressure sensor is disconnected or incorrectly wired
- [#169](https://github.com/qitechgmbh/control/pull/492), Added a Confirmation Dialog when extruder has not reached 90% of target temperature
-
-## Winder V2
-
- [#471](https://github.com/qitechgmbh/control/pull/480), Added a live value to track the pulled distance and the option of switching to a different Mode after a given distance.
-
-## General
-
- [#121](https://github.com/qitechgmbh/control/pull/121), Use Linux realtime threads for EtherCAT and control loop (PREEMPT_RT)
- [#138](https://github.com/qitechgmbh/control/pull/495), Updated Quick Start Guide
-
-# `2.1.0`
-
-_30.06.2025_
-
-## Extruder V2
-
- Intial Stable Release of **Extruder V2**
-
-## Winder V2
-
- [#420](https://github.com/qitechgmbh/control/pull/429), [#401](https://github.com/qitechgmbh/control/pull/401) Add _Adaptive_ spool speed algorithm, the old algorithm is now called _Minmax_ ans tillavailable.
- [#427](https://github.com/qitechgmbh/control/pull/427) Add _Estimated Spool Diameter_ graph
- [#419](https://github.com/qitechgmbh/control/pull/419) Fix Issue where traverse won't work at low spool speed
-
-## Laser V1
-
- Initial Stable Release of **Laser V1**
-
-## HMI Panel
-
- [#339](https://github.com/qitechgmbh/control/pull/338) Don't go into sleep Mmde
- [#410](https://github.com/qitechgmbh/control/pull/410) Ship with Wireshark
- [#424](https://github.com/qitechgmbh/control/pull/424) Updates can be canceled
-
-## General
-
- [#269](https://github.com/qitechgmbh/control/pull/269), [#370](https://github.com/qitechgmbh/control/pull/370) Improved performace of live values
- [#358](https://github.com/qitechgmbh/control/pull/358), [#343](https://github.com/qitechgmbh/control/pull/343), [#324](https://github.com/qitechgmbh/control/pull/324), [#390](https://github.com/qitechgmbh/control/pull/390), [#299](https://github.com/qitechgmbh/control/pull/299) Improved functionality for graphs
- [#405](https://github.com/qitechgmbh/control/pull/405) Remove weird color behaviour on tocuhscreens
- [#369](https://github.com/qitechgmbh/control/pull/369) More failsafe EtherCAT loop
-
-# `2.0.1`
-
-_10.06.2025_
-
-# `2.0.0`
-
-_10.06.2025_
-
-## General
-
- Initial stable release of QiTech Control.
-
-## Winder V2
-
- Initial stable release of **Winder V2**
-
-## Features
-
- Stabilized **Winder V2**
+# Unreleased
@@ -4,27 +4,7 @@ members = [
    "ethercat-hal",
    "ethercat-hal-derive",
    "control-core",
-    "machines",
-    #"ethercat-eeprom-dump",
-    "control-core-derive",
-    "units",
-    "utils",
+    "ethercat-eeprom-dump",
 ]
 exclude = []
 resolver = "2"
-
-[workspace.lints.clippy]
-# Individual lints (priority 0)
-
-# don't lint poissbilities for let chains because they were introduces after Rust 1.86
-collapsible_if = "allow"
-
-# Lint groups (priority -1)
-correctness = { level = "warn", priority = -1 }
-suspicious = { level = "warn", priority = -1 }
-complexity = { level = "warn", priority = -1 }
-perf = { level = "warn", priority = -1 }
-style = { level = "warn", priority = -1 }
-pendantic = { level = "warn", priority = -1 }
-cargo = { level = "warn", priority = -1 }
-nursery = { level = "warn", priority = -1 }
@@ -2,18 +2,7 @@

 # QiTech Control

-QiTech Control is an open-source framework designed to bring modern software paradigms to certified industrial hardware.
-
-It frees developers from proprietary, license-heavy PLC ecosystems and rigid "point-and-click" workflows that are no longer adequate for today's complex automation challenges.
-
-QiTech Control combines the modularity and reliability of standard EtherCAT terminals (e.g., WAGO, Beckhoff) with the power of a modern Rust & React stack.
-
-
-[![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)
-*Click here to watch a video demo of our software.*
-
-[![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM) 
-*Click here to watch a full explainer Video of our Software.*
+QiTech Control is an industrial control panel software for the next generation of QiTech recycling machines built on top of Beckhoff Automation hardware.

 # Repo Structure

@@ -40,7 +29,7 @@ Other

 ## Backend

-To interface with Beckhoff and other EtherCAT devices we need an EtherCAT master software. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
+To interface with Beckhoff and other EtherCAT devices we need an EtherCAY master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.

 [SocketIO](https://socket.io/) was chosen for performant event driven communication from the backend to the server. But we still use REST with [axum](https://docs.rs/axum/latest/axum/) for the communication thet benefits from the request/response model.

@@ -52,8 +41,6 @@ We could combine the code of the frontend and backend using [Doxius](https://dio

 # Dev Setup

-[Developer Documentation](./docs/developer-docs/)
-
 ## Backend

 - Rust stable 1.86^ toolchain (install via [rustup](https://rustup.rs/))
@@ -72,21 +59,10 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
 | Machine Type | Version | Release Date | Description                 | Change to Previous Version                             | Vendor ID                  | Machine ID | Implemented | Docs                            |
 | ------------ | ------- | ------------ | --------------------------- | ------------------------------------------------------ | -------------------------- | ---------- | ----------- | ------------------------------- |
 | Winder       | V1      | ???          | Winding Filaments & Similar | -                                                      | 1 (Qitech Industries GmbH) | 1          | Reserved    | -                               |
-| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | Yes         | [](./docs/machines/winder-1.md) |
+| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | In Progress | [](./docs/machines/winder-1.md) |
 | Extruder     | V1      | ???          | Single Screw Extruder       | -                                                      | 1 (Qitech Industries GmbH) | 3          | Reserved    | -                               |
-| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Yes         |                                 |
-| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | In Progress     |                                 |
-| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Yes         |                                 |
-| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Yes         | -                               |
-
-# Minimal Hardware Examples
-
-For complete step-by-step tutorials on setting up your first hardware, including wiring diagrams and software configuration, see the [Getting Started Guide](./docs/developer-docs/getting-started.md#minimal-hardware-examples).
-
-Available examples:
- **LED Control with EL2004** - Digital output control (simplest setup)
- **Analog Input with EL3021** - Reading analog current measurements
-
+| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Not Yet     |                                 |
+| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | Not Yet     |                                 |

 # More Docs

@@ -111,9 +87,7 @@ Available examples:
    - Write Device Identification

 - Server
-
-  - [x] [Threading](./docs/control-loop.md)
-  - [x] [Logging](./docs/logging.md)
+  - [X] [Threading](./docs/control-loop.md)
  - [ ] Control Loop Setup
    - Control Loop Thread
      - [ ] realtime
@@ -1,33 +1,13 @@
 #!/bin/bash

-set -e
-
-FEATURE=""
-
-# Check if "mock-machine" was passed as an argument
-if [[ "$1" == "mock-machine" ]]; then
-    echo "Building Debug Code with mock-machine feature"
-    FEATURE="--features mock-machine"
-fi
-
-if [[ "$1" == "release" ]]; then
+if [ $1 == "release" ]; then
    echo "building Release Code"
    cargo build --release
 else
-    echo "Building Debug Code"
-    cargo build $FEATURE --features development-build
+    echo "building Debug Code"
+    cargo build
 fi
-
-# Only setcap if not building with mock-machine
-if [ "$1" != "mock-machine" ]; then
-    echo "Setting capabilities for server executable"
-    sudo setcap 'cap_dac_override,cap_net_raw,cap_sys_nice,cap_ipc_lock=eip' ./target/debug/server
-
-    if compgen -G "/dev/ttyUSB*" > /dev/null; then
-      echo "Setting permissions for serial ports"
-      sudo chown "root:$(groups | cut -f1 -d' ')" /dev/ttyUSB*
-    fi
-fi
-
+# set cap for server executable
+sudo setcap cap_net_raw=eip ./target/debug/server
 # run
 ./target/debug/server
@@ -1,67 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-BUILD_DIR="${BUILD_DIR:-target}"
-CSV_FILE="${CSV_FILE:-compile_metrics.csv}"
-DEFAULT_PKG="server"
-
-if [ "$#" -eq 0 ]; then
-  set -- cargo build
-fi
-
-if [ "${1:-}" = "cargo" ] && [ "${2:-}" = "build" ]; then
-  cargo clean
-  BUILD_CMD=(cargo rustc -p "$DEFAULT_PKG")
-  shift 2
-  BUILD_CMD+=("$@")
-  BUILD_CMD+=(-- --emit=llvm-ir -C debuginfo=0)
-else
-  BUILD_CMD=("$@")
-fi
-
-compile_start_ns=$(date +%s%N)
-"${BUILD_CMD[@]}"
-compile_end_ns=$(date +%s%N)
-compile_ms=$(( (compile_end_ns - compile_start_ns) / 1000000 ))
-
-if [ -d "$BUILD_DIR" ]; then
-  llvm_ir_lines=$(
-    find "$BUILD_DIR" -type f -name '*.ll' -print0 \
-      | xargs -0 cat \
-      | wc -l
-  )
-else
-  llvm_ir_lines=0
-fi
-
-bin_path=""
-
-if [ -n "${BINARY_PATH:-}" ] && [ -f "$BINARY_PATH" ]; then
-  bin_path="$BINARY_PATH"
-elif [ -f "./target/release/server" ]; then
-  bin_path="./target/release/server"
-elif [ -f "./target/debug/server" ]; then
-  bin_path="./target/debug/server"
-elif [ -f "./server/target/release/server" ]; then
-  bin_path="./server/target/release/server"
-elif [ -f "./server/target/debug/server" ]; then
-  bin_path="./server/target/debug/server"
-fi
-
-if [ -n "$bin_path" ]; then
-  binary_size_bytes=$(stat -c '%s' "$bin_path")
-else
-  binary_size_bytes=0
-fi
-
-finished_timestamp_ms=$(($(date +%s%N) / 1000000))
-finished_datetime=$(date -Iseconds)
-
-if [ ! -f "$CSV_FILE" ]; then
-  echo "datetime,finished_timestamp_ms,compile_ms,llvm_ir_lines,binary_size_bytes" > "$CSV_FILE"
-fi
-
-echo "${finished_datetime},${finished_timestamp_ms},${compile_ms},${llvm_ir_lines},${binary_size_bytes}" \
-  >> "$CSV_FILE"
-
-echo "Metrics recorded in $CSV_FILE"
@@ -1,43 +0,0 @@
-#!/bin/bash
-
-# Nix store uses sqlite ... SO HAHAHAHAHH NO CONCURRENT ACCESS AHAHAHHAHAHAHHAHAHAHAH
-time nix build .#packages.x86_64-linux.server --impure --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/server-result
-serverstore=$(readlink -f /tmp/server-result) 
-
-time nix build .#packages.x86_64-linux.electron --impure --option sandbox false --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/electron-result
-electronstore=$(readlink -f /tmp/electron-result)
-
-
-nix copy --to "file:///opt/dev-cache" \
-  $(readlink -f /tmp/server-result) \
-  $(readlink -f /tmp/electron-result) --extra-experimental-features nix-command
-
-nix store sign \
-  --key-file /opt/dev-cache/cache-private-key.pem \
-  --store "file:///opt/dev-cache" \
-  --extra-experimental-features nix-command \
-  "$serverstore" "$electronstore"
-
-
-nix path-info "$serverstore" --extra-experimental-features nix-command --extra-experimental-features flakes
-
-
-# nix verify --store "file:///opt/dev-cache" \
-#   --trusted-public-keys "$(cat /opt/dev-cache/cache-public-key.pem)" --extra-experimental-features nix-command --extra-experimental-features flakes \
-#   "$FIRST_PATH" || echo "Verification failed!" 
-
-
-#time nix build .#packages.x86_64-linux.electron --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/electron-result
-#electronstore=$(readlink -f /tmp/electron-result)
-
-#nix-store --generate-binary-cache-key cache.key cache.pem --extra-experimental-features nix-command
-#nix store sign --key-file cache.key "$serverstore" --extra-experimental-features nix-command
-#nix path-info --json "$serverstore" --extra-experimental-features nix-command --extra-experimental-features flakes
-#export
-#nix-store --export /nix/store/<hash>-server > nix-cache/server.nar
-#nix-store --export /nix/store/<hash>-electron > nix-cache/electron.nar
-
-# Any http server
-# cd ~/nix-cache
-# python3 -m http.server 8080
-# 
@@ -1,15 +0,0 @@
-[package]
-name = "control_core_derive"
-version = "0.1.0"
-edition = "2024"
-
-[lints]
-workspace = true
-
-[lib]
-proc-macro = true
-
-[dependencies]
-proc-macro2 = "1.0"
-quote = "1.0"
-syn = { version = "2.0", features = ["full"] }
@@ -1,65 +0,0 @@
-use proc_macro::TokenStream;
-use proc_macro2::TokenStream as TokenStream2;
-use quote::quote;
-use syn::{DeriveInput, Error};
-
-#[proc_macro_derive(BuildEvent)]
-pub fn build_event_derive(item: TokenStream) -> TokenStream {
-    build_event_derive2(item.into()).unwrap().into()
-}
-
-fn build_event_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
-    // Parse the input tokens into a syntax tree
-    let ast: DeriveInput = syn::parse2(item)?;
-
-    let ident = &ast.ident;
-    let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
-
-    // Generate the BuildEvent impl
-    let expanded = quote! {
-        impl #impl_generics control_core::socketio::event::BuildEvent for #ident #ty_generics #where_clause {
-            #[doc = "Implemented by the BuildEvent derive macro"]
-            fn build(&self) -> control_core::socketio::event::Event<Self> {
-
-                control_core::socketio::event::Event::new(stringify!(#ident), self.clone())
-
-            }
-        }
-    };
-
-    Ok(expanded)
-}
-
-#[proc_macro_derive(Machine)]
-pub fn machine_derive(item: TokenStream) -> TokenStream {
-    machine_derive2(item.into()).unwrap().into()
-}
-
-fn machine_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
-    // Parse the input tokens into a syntax tree
-    let ast: DeriveInput = syn::parse2(item)?;
-
-    let ident = &ast.ident;
-
-    let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
-
-    let expanded = quote! {
-        impl #impl_generics control_core::machines::Machine for #ident #ty_generics #where_clause {
-            fn get_machine_identification_unique(&self) -> control_core::machines::identification::MachineIdentificationUnique {
-                self.machine_identification_unique.clone()
-            }
-        }
-
-        impl #impl_generics control_core::machines::AnyGetters for #ident #ty_generics #where_clause {
-            fn as_any(&self) -> &dyn std::any::Any {
-                self
-            }
-
-            fn as_any_mut(&mut self) -> &mut dyn std::any::Any {
-                self
-            }
-        }
-    };
-
-    Ok(expanded)
-}
@@ -3,43 +3,19 @@ name = "control_core"
 version = "0.1.0"
 edition = "2024"

-[lints]
-workspace = true
-
 [dependencies]
-anyhow = "1.0.100"
-
-axum = "0.8.6"
-
+anyhow = "1.0.98"
+axum = "0.8.4"
 ethercat_hal = { path = "../ethercat-hal" }
-units = { path = "../units" }
 ethercrab = "0.6"
 interfaces = "0.0.9"
+log = "0.4.27"
 serde = "1.0.219"
-serialport = "4.7.3"
+serde_json = "1.0.140"
 smol = "2.0.2"
-socketioxide = "0.17.2"
+socketioxide = "0.17.0"
+uom = "0.36.0"
 bitvec = { version = "1.0.1", features = ["alloc"] }
-crc = "3.3.0"
-tracing = "0.1.44"
-erased-serde = "0.4.8"
-core_affinity = "0.8.3"
-control_core_derive = { version = "0.1.0", path = "../control-core-derive" }
-tokio = { version = "1.45.1", features = ["sync"], optional = true }
-
-
-[target.'cfg(unix)'.dependencies]
-libc = "0.2.176"
-
+crc = "3.2.1"
 [dev-dependencies]
 approx = "0.5.1"
-textplots = "0.8"
-tokio = { version = "1.45.1", features = ["rt-multi-thread", "macros", "time"] }
-
-
-[features]
-default = []
-video-streaming = ["dep:tokio"]
-
-[package.metadata.cargo-machete]
-ignored =  ["axum","bitvec","control_core_derive"]
@@ -0,0 +1,91 @@
+use super::Actor;
+use ethercat_hal::io::analog_output::AnalogOutput;
+use std::{
+    f64::consts::PI,
+    future::Future,
+    pin::Pin,
+    time::{Duration, Instant},
+};
+use uom::si::{angle::radian, f64::Angle, ratio::ratio};
+pub type AnalogFunction = Box<dyn Fn(Duration) -> f64 + Send + Sync>;
+
+/// Can module analog output with a function
+pub struct AnalogFunctionGenerator {
+    output: AnalogOutput,
+    function: AnalogFunction,
+    start_ts: Instant,
+}
+
+impl AnalogFunctionGenerator {
+    pub fn new(output: AnalogOutput, function: AnalogFunction) -> Self {
+        Self {
+            output,
+            function,
+            start_ts: Instant::now(),
+        }
+    }
+}
+
+impl Actor for AnalogFunctionGenerator {
+    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let diff = now - self.start_ts;
+            let value = (self.function)(diff);
+            (self.output.write)((value as f32).into()).await;
+        })
+    }
+}
+
+pub fn analog_sine(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
+    Box::new(move |dt: Duration| {
+        // Convert to seconds as f64 for calculation
+        let dt_secs = dt.as_secs_f64();
+        let period_secs = period.as_secs_f64();
+        let phase_secs = dt_secs % period_secs;
+        let angle = Angle::new::<radian>(2.0 * PI * phase_secs / period_secs);
+        let value = angle.sin().get::<ratio>();
+        value * (amplitude / 2.0) + normal + (amplitude / 2.0)
+    })
+}
+
+pub fn analog_multiply<const N: usize>(functions: [AnalogFunction; N]) -> AnalogFunction {
+    Box::new(move |dt: Duration| functions.iter().fold(1.0, |acc, func| acc * func(dt)))
+}
+
+pub fn analog_sawtooth(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
+    Box::new(move |dt: Duration| {
+        let dt_secs = dt.as_secs_f64();
+        let period_secs = period.as_secs_f64();
+        let phase_secs = dt_secs % period_secs;
+        let value = phase_secs / period_secs;
+        value * amplitude + normal
+    })
+}
+
+pub fn analog_square(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
+    Box::new(move |dt: Duration| {
+        let dt_secs = dt.as_secs_f64();
+        let period_secs = period.as_secs_f64();
+        let phase_secs = dt_secs % period_secs;
+        let value = if phase_secs < period_secs / 2.0 {
+            1.0
+        } else {
+            -1.0
+        };
+        value * amplitude + normal
+    })
+}
+
+pub fn analog_triangle(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
+    Box::new(move |dt: Duration| {
+        let dt_secs = dt.as_secs_f64();
+        let period_secs = period.as_secs_f64();
+        let phase_secs = dt_secs % period_secs;
+        let value = if phase_secs < period_secs / 2.0 {
+            phase_secs / period_secs * 2.0
+        } else {
+            2.0 - phase_secs / period_secs * 2.0
+        };
+        value * amplitude + normal
+    })
+}
@@ -0,0 +1,40 @@
+use super::Actor;
+use ethercat_hal::io::analog_input::{AnalogInput, physical::AnalogInputValue};
+use std::{future::Future, pin::Pin, time::Instant};
+
+/// Log the state of a analog input
+#[derive(Debug)]
+pub struct AnalogInputGetter {
+    input: AnalogInput,
+    normalized: Option<f32>,
+}
+
+impl AnalogInputGetter {
+    pub fn new(input: AnalogInput) -> Self {
+        Self {
+            input,
+            normalized: None,
+        }
+    }
+
+    /// Value from -1.0 to 1.0
+    pub fn get_normalized(&self) -> Option<f32> {
+        self.normalized
+    }
+
+    pub fn get_physical(&self) -> Option<AnalogInputValue> {
+        match self.get_normalized() {
+            Some(normalized) => Some(self.input.range.normalized_to_physical(normalized)),
+            None => return None,
+        }
+    }
+}
+
+impl Actor for AnalogInputGetter {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.input.state)().await;
+            self.normalized = Some(state.input.normalized);
+        })
+    }
+}
@@ -0,0 +1,25 @@
+use super::Actor;
+use ethercat_hal::io::digital_input::DigitalInput;
+use std::{future::Future, pin::Pin, time::Instant};
+
+/// Log the state of a digital input
+pub struct DigitalInputLogger {
+    input: DigitalInput,
+}
+
+impl DigitalInputLogger {
+    pub fn new(input: DigitalInput) -> Self {
+        Self { input }
+    }
+}
+
+impl Actor for DigitalInputLogger {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.input.state)()
+                .await
+                .expect("Failed to get digital input state");
+            println!("DigitalInputLogger: {}", state.input.value);
+        })
+    }
+}
@@ -0,0 +1,52 @@
+use super::Actor;
+use ethercat_hal::io::digital_output::DigitalOutput;
+use std::{
+    future::Future,
+    pin::Pin,
+    time::{Duration, Instant},
+};
+
+/// Set a digital output high and low with a given interval
+#[derive(Debug)]
+
+pub struct DigitalOutputBlinker {
+    last_toggle: Instant,
+    output: DigitalOutput,
+    interval: Duration,
+    enabled: bool,
+}
+
+impl DigitalOutputBlinker {
+    pub fn new(output: DigitalOutput, interval: Duration) -> Self {
+        Self {
+            last_toggle: Instant::now(),
+            output,
+            interval,
+            enabled: true,
+        }
+    }
+    pub fn set_interval(&mut self, interval: Duration) {
+        self.interval = interval;
+    }
+
+    pub fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+}
+
+impl Actor for DigitalOutputBlinker {
+    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            {
+                let state = (self.output.state)().await;
+                if now - self.last_toggle > self.interval {
+                    match state.output.into() {
+                        true => (self.output.write)(false.into()).await,
+                        false => (self.output.write)(true.into()).await,
+                    }
+                    self.last_toggle = now;
+                }
+            }
+        })
+    }
+}
@@ -0,0 +1,57 @@
+use super::Actor;
+use ethercat_hal::io::digital_output::DigitalOutput;
+use std::{
+    future::Future,
+    pin::Pin,
+    time::{Duration, Instant},
+};
+
+/// Set a series of digital outputs high in sequence with a given interval
+pub struct DigitalOutputBlinkers {
+    last_toggle: Instant,
+    outputs: Vec<Option<DigitalOutput>>,
+    index: usize,
+    interval: Duration,
+    enabled: bool,
+    amount: usize,
+}
+
+impl DigitalOutputBlinkers {
+    pub fn new(outputs: Vec<Option<DigitalOutput>>, interval: Duration, amount: usize) -> Self {
+        Self {
+            last_toggle: Instant::now(),
+            outputs,
+            interval,
+            enabled: true,
+            index: 0,
+            amount,
+        }
+    }
+
+    pub fn set_interval(&mut self, interval: Duration) {
+        self.interval = interval;
+    }
+
+    pub fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+}
+
+impl Actor for DigitalOutputBlinkers {
+    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            if now - self.last_toggle > self.interval {
+                if let Some(output) = &self.outputs[self.index] {
+                    (output.write)(true.into()).await;
+                }
+                let index_end =
+                    (self.index + self.outputs.len() - self.amount) % self.outputs.len();
+                if let Some(output) = &self.outputs[index_end] {
+                    (output.write)(false.into()).await;
+                }
+                self.last_toggle = now;
+                self.index = (self.index + 1) % self.outputs.len();
+            }
+        })
+    }
+}
@@ -0,0 +1,38 @@
+use super::Actor;
+use ethercat_hal::io::digital_output::DigitalOutput;
+use std::{future::Future, pin::Pin, time::Instant};
+
+/// Set a digital output high and low with a given interval
+#[derive(Debug)]
+pub struct DigitalOutputSetter {
+    output: DigitalOutput,
+    enabled: bool,
+}
+
+impl DigitalOutputSetter {
+    pub fn new(output: DigitalOutput) -> Self {
+        Self {
+            output,
+            enabled: true,
+        }
+    }
+    pub fn set(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+    pub fn get(&self) -> bool {
+        self.enabled
+    }
+    pub fn toggle(&mut self) {
+        self.enabled = !self.enabled;
+    }
+}
+
+impl Actor for DigitalOutputSetter {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            {
+                (self.output.write)(self.enabled.into()).await;
+            }
+        })
+    }
+}
@@ -0,0 +1 @@
+// In this file create all Requests that are needed to int the inverter
@@ -0,0 +1,630 @@
+use super::Actor;
+use crate::{
+    converters::motor_converter::MotorConverter,
+    modbus::{ModbusFunctionCode, ModbusRequest, ModbusResponse, calculate_modbus_rtu_timeout},
+};
+use ethercat_hal::io::serial_interface::{SerialEncoding, SerialInterface};
+use std::{
+    collections::HashMap,
+    pin::Pin,
+    time::{Duration, Instant},
+};
+
+#[derive(Debug)]
+pub enum State {
+    /// WaitingForResponse is set after sending a request through the serial_interface
+    WaitingForResponse,
+    /// After Sending a Resuest we need to wait atleast one ethercat cycle
+    /// After one Cycle we check if el6021 status has transmit accepted toggled
+    /// Then we can set state = ReadyToSend
+    WaitingForRequestAccept,
+    /// After Receiving a Response we need to wait atleast one ethercat cycle
+    /// After one Cycle we check if el6021 status has received accepted toggled
+    WaitingForReceiveAccept,
+    /// ReadyToSend is set after receiving the response from the serial_interface
+    ReadyToSend,
+    /// Initial State
+    Uninitialized,
+}
+
+#[derive(Debug)]
+pub enum OperationMode {
+    PU,
+    EXT,
+    NET,
+}
+
+impl MitsubishiInverterRS485Actor {
+    pub fn convert_hz_float_to_word(&mut self, value: f32, little_endian: bool) -> u16 {
+        let scaled = value * 100.0; // Convert Hz to 0.01 Hz units
+        scaled.round() as u16
+    }
+
+    pub fn set_running_rpm_target(&mut self, rpm: f32) {
+        let mut request: MitsubishiModbusRequest =
+            MitsubishiControlRequests::WriteRunningFrequency.into();
+
+        let hz = MotorConverter::rpm_to_hz(rpm); // convert rpm to hz
+        let result: u16 = self.convert_hz_float_to_word(hz, true); // convert hz float to short
+        request.request.data[2] = result.to_le_bytes()[1];
+        request.request.data[3] = result.to_le_bytes()[0];
+        self.add_request(request);
+    }
+
+    pub fn read_running_frequency() {
+        // Check if the current element pushed to front is freq event
+    }
+
+    pub fn switch_operation_mode() {}
+}
+
+/// Specifies all System environmet Variables
+/// Register addresses are calculated as follows: Register-value 40002 -> address: 40002-40001 -> address:0x1
+enum MitsubishiSystemRegister {
+    /// Register 40002
+    InverterReset,
+    /// Register 40003
+    ParameterClear,
+    /// Register 40004
+    AllParameterClear,
+    /// Register 40006
+    ParamClearNonCommunication,
+    /// Register 40007
+    AllParameterClearNonCommunication,
+    /// Register 40009
+    InverterStatusAndControl,
+    /// Register 40010
+    OperationModeAndSetting,
+    /// Register 40014
+    RunningFrequencyRAM,
+    /// Register 40015
+    RunningFrequencyEEPROM,
+    /// Register 40201
+    MotorFrequency,
+}
+
+impl MitsubishiControlRequests {
+    fn get_system_register(value: MitsubishiSystemRegister) -> u16 {
+        match value {
+            MitsubishiSystemRegister::InverterReset => 0x1,
+            MitsubishiSystemRegister::ParameterClear => 0x2,
+            MitsubishiSystemRegister::AllParameterClear => 0x3,
+            MitsubishiSystemRegister::ParamClearNonCommunication => 0x5,
+            MitsubishiSystemRegister::AllParameterClearNonCommunication => 0x6,
+            MitsubishiSystemRegister::InverterStatusAndControl => 0x8,
+            MitsubishiSystemRegister::OperationModeAndSetting => 0x9,
+            MitsubishiSystemRegister::RunningFrequencyRAM => 0x0d,
+            MitsubishiSystemRegister::RunningFrequencyEEPROM => 0x0e,
+            MitsubishiSystemRegister::MotorFrequency => 0x00C8,
+        }
+    }
+}
+
+impl From<MitsubishiControlRequests> for MitsubishiModbusRequest {
+    fn from(request: MitsubishiControlRequests) -> Self {
+        match request {
+            MitsubishiControlRequests::WriteRunningFrequency => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::RunningFrequencyRAM,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::PresetHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x0, 0x0],
+                    },
+                    request_category: RequestCategory::OperationCommand,
+                    expected_response_type: ResponseType::WriteFrequency,
+                    request_type: MitsubishiControlRequests::WriteRunningFrequency,
+                }
+            }
+            MitsubishiControlRequests::ReadInverterStatus => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::InverterStatusAndControl,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::ReadHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x00, 0x01], // Read 1 register
+                    },
+                    request_category: RequestCategory::OperationCommand,
+                    expected_response_type: ResponseType::InverterStatus,
+                    request_type: MitsubishiControlRequests::ReadInverterStatus,
+                }
+            }
+            MitsubishiControlRequests::StopMotor => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::InverterStatusAndControl,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::PresetHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x00, 0x01], // Value 1 to stop
+                    },
+                    request_category: RequestCategory::OperationCommand,
+                    expected_response_type: ResponseType::InverterControl,
+                    request_type: MitsubishiControlRequests::StopMotor,
+                }
+            }
+            MitsubishiControlRequests::StartForwardRotation => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::InverterStatusAndControl,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::PresetHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0, 0b00000010], // Value 2 for forward rotation
+                    },
+                    request_category: RequestCategory::OperationCommand,
+                    expected_response_type: ResponseType::InverterControl,
+                    request_type: MitsubishiControlRequests::StartForwardRotation,
+                }
+            }
+            MitsubishiControlRequests::StartReverseRotation => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::InverterStatusAndControl,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::PresetHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0, 0b00000100], // Value 4 for reverse rotation
+                    },
+                    request_category: RequestCategory::OperationCommand,
+                    expected_response_type: ResponseType::InverterControl,
+                    request_type: MitsubishiControlRequests::StartReverseRotation,
+                }
+            }
+            MitsubishiControlRequests::ReadRunningFrequency => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::RunningFrequencyRAM,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::ReadHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x00, 0x01], // Read 1 register
+                    },
+                    request_category: RequestCategory::OperationCommand,
+                    expected_response_type: ResponseType::ReadFrequency,
+                    request_type: MitsubishiControlRequests::ReadRunningFrequency,
+                }
+            }
+            MitsubishiControlRequests::ReadMotorFrequency => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::MotorFrequency,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::ReadHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x0, 0x1],
+                    },
+                    request_category: RequestCategory::OperationCommand,
+                    expected_response_type: ResponseType::ReadMotorFrequency,
+                    request_type: MitsubishiControlRequests::ReadMotorFrequency,
+                }
+            }
+            MitsubishiControlRequests::ResetInverter => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::InverterReset,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::PresetHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x0, 0b00000001],
+                    },
+                    request_category: RequestCategory::OperationCommand,
+                    expected_response_type: ResponseType::NoResponse,
+                    request_type: MitsubishiControlRequests::ResetInverter,
+                }
+            }
+            MitsubishiControlRequests::ClearAllParameters => todo!(),
+            MitsubishiControlRequests::ClearNonCommunicationParameter => todo!(),
+            MitsubishiControlRequests::ClearNonCommunicationParameters => todo!(),
+        }
+    }
+}
+
+/// These Requests Serve as Templates for controling the inverter
+#[derive(Debug, Clone, Copy, Eq, Hash, PartialEq)]
+pub enum MitsubishiControlRequests {
+    /// Register 40002, Reset/Restart the Inverter
+    ResetInverter,
+    /// Register 40004, Clear ALL parameters
+    ClearAllParameters,
+    /// Register 40006, Clear a non communication parameter
+    ClearNonCommunicationParameter,
+    /// Register 40007, Clear all Non Communication related Parameters
+    ClearNonCommunicationParameters,
+    /// Register 40009, Read Inverter Status
+    ReadInverterStatus,
+    /// Register 40009, Stops the Motor
+    StopMotor,
+    /// Register 40009, Starts the Motor in Forward Rotation
+    StartForwardRotation,
+    /// Register 40009, Starts the Motor in Reverse Rotation
+    StartReverseRotation,
+    /// Register 40014, Read the current frequency the motor runs at (RAM)
+    ReadRunningFrequency,
+    /// Register 40014, Write the frequency
+    WriteRunningFrequency,
+    /// Read Register 40201, This contains the actual output frequency
+    ReadMotorFrequency,
+}
+
+pub enum Priority {
+    High,
+    Medium,
+    Low,
+}
+
+impl MitsubishiControlRequests {
+    pub fn get_priority(&self) -> Priority {
+        match self {
+            MitsubishiControlRequests::ResetInverter => Priority::High,
+            MitsubishiControlRequests::ClearAllParameters => Priority::Low,
+            MitsubishiControlRequests::ClearNonCommunicationParameter => Priority::Low,
+            MitsubishiControlRequests::ClearNonCommunicationParameters => Priority::Low,
+            MitsubishiControlRequests::ReadInverterStatus => Priority::High,
+            MitsubishiControlRequests::StopMotor => Priority::High,
+            MitsubishiControlRequests::StartForwardRotation => Priority::Medium,
+            MitsubishiControlRequests::StartReverseRotation => Priority::Medium,
+            MitsubishiControlRequests::ReadRunningFrequency => Priority::Medium,
+            MitsubishiControlRequests::WriteRunningFrequency => Priority::Medium,
+            MitsubishiControlRequests::ReadMotorFrequency => Priority::Medium,
+        }
+    }
+}
+
+// We need to know from the request queue which events are of what operation type, so that the correct timeout can be used
+#[derive(Debug, Clone)]
+pub struct MitsubishiModbusRequest {
+    request: ModbusRequest,
+    request_category: RequestCategory,
+    request_type: MitsubishiControlRequests,
+    expected_response_type: ResponseType,
+}
+
+#[derive(Debug, Clone, Copy)]
+pub enum RotationDirection {
+    Forward,
+    Backwards,
+    Stopped,
+}
+
+#[derive(Debug, Clone, Copy)]
+pub enum ResponseType {
+    NoResponse,
+    ReadFrequency,
+    ReadMotorFrequency, // Motor Frequency is the actual frequency, that the motor is running at right now
+    ReadInverterStatus,
+    WriteFrequency,
+    InverterStatus,
+    InverterControl,
+}
+
+#[derive(Debug, Clone, Copy, Eq, Hash, PartialEq)]
+pub enum RequestType {
+    NoResponse,
+    ReadFrequency,
+    ReadMotorFrequency, // Motor Frequency is the actual frequency, that the motor is running at right now
+    ReadInverterStatus,
+    WriteFrequency,
+    InverterStatus,
+    InverterControl,
+}
+
+#[derive(Debug)]
+pub struct MitsubishiInverterRS485Actor {
+    pub serial_interface: SerialInterface,
+    pub last_ts: Instant,
+
+    pub last_message_size: usize,
+    pub last_request_category: RequestCategory,
+    pub last_request_type: RequestType,
+    pub last_request: MitsubishiControlRequests,
+
+    pub state: State,
+    pub baudrate: Option<u32>,
+    pub encoding: Option<SerialEncoding>,
+
+    pub request_map: HashMap<MitsubishiControlRequests, MitsubishiModbusRequest>,
+    pub response: Option<ModbusResponse>,
+
+    pub forward_rotation: bool,
+    pub next_response_type: ResponseType,
+
+    pub current_freq: f32,
+    pub current_rpm: f32,
+}
+
+impl MitsubishiInverterRS485Actor {
+    pub fn new(serial_interface: SerialInterface) -> Self {
+        Self {
+            serial_interface,
+            last_ts: Instant::now(),
+            state: State::Uninitialized,
+            request_map: HashMap::new(),
+            response: None,
+            forward_rotation: true,
+            next_response_type: ResponseType::ReadMotorFrequency,
+            last_request_type: RequestType::ReadMotorFrequency,
+            last_request_category: RequestCategory::OperationCommand,
+            last_message_size: 0,
+            baudrate: None,
+            encoding: None,
+            current_freq: 0.0,
+            current_rpm: 0.0,
+            last_request: MitsubishiControlRequests::ResetInverter,
+        }
+    }
+
+    /// This would get called by the api to add a new request to the inverter
+    pub fn add_request(&mut self, request: MitsubishiModbusRequest) {
+        self.request_map.insert(request.request_type, request);
+    }
+
+    /// This is used by the Api to pop off the Response of our Request
+    pub fn get_response(&mut self) -> Option<ModbusResponse> {
+        return self.response.clone();
+    }
+
+    /// This is used internally to read the receive buffer of the el6021
+    fn read_modbus_response(
+        &mut self,
+    ) -> Pin<Box<dyn Future<Output = Result<ModbusResponse, anyhow::Error>> + Send + '_>> {
+        Box::pin(async move {
+            if !(self.serial_interface.has_message)().await {
+                //   return;
+            }
+
+            let res: Option<Vec<u8>> = (self.serial_interface.read_message)().await;
+            let raw_response = match res {
+                Some(res) => res,
+                None => {
+                    log::error!("ERROR: No Modbus Response");
+                    vec![]
+                }
+            };
+
+            let response: Result<ModbusResponse, _> =
+                ModbusResponse::try_from(raw_response.clone());
+            println!("response {:?}", raw_response);
+            match response {
+                Ok(result) => {
+                    self.last_message_size = result.clone().data.len() + 4;
+                    self.state = State::ReadyToSend;
+                    self.response = Some(result.clone());
+                    Ok(result)
+                }
+                Err(_) => {
+                    //log::error!("Error Parsing ModbusResponse!");
+                    self.state = State::ReadyToSend;
+                    self.response = None;
+                    Err(anyhow::anyhow!("Error Parsing ModbusResponse!"))
+                }
+            }
+        })
+    }
+
+    fn remove_request(&mut self, request_type: MitsubishiControlRequests) {
+        self.request_map.remove(&request_type);
+    }
+
+    /// This is used internally to fill the write buffer of the el6021
+    fn send_modbus_request(&mut self) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            if self.request_map.is_empty() {
+                return;
+            };
+
+            let mut high_prio = None;
+            let mut medium_prio = None;
+            let mut low_prio = None;
+
+            // Iterate over the keys
+            // Highest priority is StopMotor then ResetInverter, then
+            for key in self.request_map.keys() {
+                let prio = key.get_priority();
+                match prio {
+                    Priority::High => high_prio = self.request_map.get(key),
+                    Priority::Medium => medium_prio = self.request_map.get(key),
+                    Priority::Low => low_prio = self.request_map.get(key),
+                }
+            }
+
+            let request: &MitsubishiModbusRequest;
+            let mut modbus_request: Vec<u8> = vec![];
+
+            if !high_prio.is_none() {
+                request = high_prio.unwrap();
+                self.next_response_type = request.expected_response_type;
+                self.last_request_category = request.request_category;
+                self.last_request = request.request_type;
+                modbus_request = request.request.clone().into();
+
+                self.remove_request(request.request_type);
+            } else if !medium_prio.is_none() {
+                request = medium_prio.unwrap();
+                self.next_response_type = request.expected_response_type;
+                self.last_request_category = request.request_category;
+                self.last_request = request.request_type;
+
+                modbus_request = request.request.clone().into();
+            } else if !low_prio.is_none() {
+                request = low_prio.unwrap();
+                self.next_response_type = request.expected_response_type;
+                self.last_request_category = request.request_category;
+                self.last_request = request.request_type;
+                modbus_request = request.request.clone().into();
+            }
+            let res = (self.serial_interface.write_message)(modbus_request.clone()).await;
+            match res {
+                Ok(_) => (),
+                Err(_) => log::error!("ERROR: serial_interface.write_message has failed"),
+            }
+            self.state = State::WaitingForRequestAccept;
+            self.last_message_size = modbus_request.len();
+        })
+    }
+}
+
+#[derive(Debug, Clone, Copy, Eq, Hash, PartialEq)]
+pub enum RequestCategory {
+    /// Monitoring, Operation (start,stop etc) command, frequency setting (RAM), less than 12 milliseconds timeout for Response
+    OperationCommand,
+    /// Parameter Read/Write and Frequency (EEPROM), Less than 30 milliseconds timeout for Response
+    ReadWrite,
+    /// Less than 5 seconds timeout for Response
+    ParamClear,
+    /// no Timeout for Response
+    Reset,
+}
+
+impl RequestCategory {
+    fn timeout_duration(self) -> Duration {
+        match self {
+            RequestCategory::OperationCommand => Duration::from_millis(12),
+            RequestCategory::ReadWrite => Duration::from_millis(30),
+            RequestCategory::ParamClear => Duration::from_millis(5000),
+            RequestCategory::Reset => Duration::from_millis(30),
+        }
+    }
+}
+
+pub enum MitsubishiModbusExceptionCode {
+    IllegalFunction,
+    IllegalDataAddress,
+    IllegalDataValue,
+    None,
+}
+
+impl From<MitsubishiModbusExceptionCode> for u8 {
+    fn from(value: MitsubishiModbusExceptionCode) -> Self {
+        match value {
+            MitsubishiModbusExceptionCode::None => 0,
+            MitsubishiModbusExceptionCode::IllegalFunction => 1,
+            MitsubishiModbusExceptionCode::IllegalDataAddress => 2,
+            MitsubishiModbusExceptionCode::IllegalDataValue => 3,
+        }
+    }
+}
+
+impl From<u8> for MitsubishiModbusExceptionCode {
+    fn from(value: u8) -> Self {
+        match value {
+            1 => MitsubishiModbusExceptionCode::IllegalFunction,
+            2 => MitsubishiModbusExceptionCode::IllegalDataAddress,
+            3 => MitsubishiModbusExceptionCode::IllegalDataValue,
+            _ => MitsubishiModbusExceptionCode::None,
+        }
+    }
+}
+
+// Handle different Response types
+impl MitsubishiInverterRS485Actor {
+    // When we get respone from Pr. 40014 (Running Frequency) Convert to rpm and save it
+    fn handle_motor_frequency(&mut self, resp: ModbusResponse) {
+        if resp.data.len() < 4 {
+            //return;
+        }
+        println!("mot freq");
+        let freq_bytes = &resp.data[1..3]; // bytes 1 and 2 are needed
+        self.current_freq = u16::from_be_bytes([freq_bytes[0], freq_bytes[1]]) as f32 / 100.0;
+        self.current_rpm = MotorConverter::hz_to_rpm(self.current_freq);
+    }
+
+    fn handle_inverter_status(&mut self, resp: ModbusResponse) {}
+
+    fn handle_inverter_frequency(&mut self, resp: ModbusResponse) {}
+
+    fn handle_response(&mut self, resp: ModbusResponse) {
+        match self.next_response_type {
+            ResponseType::ReadFrequency => self.handle_inverter_frequency(resp),
+            ResponseType::ReadInverterStatus => (),
+            ResponseType::WriteFrequency => (),
+            ResponseType::ReadMotorFrequency => self.handle_motor_frequency(resp),
+            ResponseType::InverterStatus => self.handle_inverter_status(resp),
+            ResponseType::InverterControl => (),
+            ResponseType::NoResponse => (),
+        }
+    }
+}
+
+impl Actor for MitsubishiInverterRS485Actor {
+    fn act(&mut self, now_ts: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let elapsed: Duration = now_ts.duration_since(self.last_ts);
+            // State is uninitialized until serial interface init returns true, which takes a few cycles on the el6021
+            if let State::Uninitialized = self.state {
+                let res = (self.serial_interface.initialize)().await;
+                if res == true {
+                    self.state = State::ReadyToSend;
+                    // every time when our inverter is "Uninitialzed" reset it first to clear any error states it may have
+                    self.add_request(MitsubishiControlRequests::ResetInverter.into());
+                    self.baudrate = (self.serial_interface.get_baudrate)().await;
+                    self.encoding = (self.serial_interface.get_serial_encoding)().await;
+                }
+                return;
+            }
+
+            let encoding = match self.encoding {
+                Some(encoding) => encoding,
+                None => return,
+            };
+
+            let baudrate = match self.baudrate {
+                Some(baudrate) => baudrate,
+                None => return,
+            };
+
+            let timeout = calculate_modbus_rtu_timeout(
+                encoding.total_bits(),
+                self.last_request_category.timeout_duration(),
+                baudrate,
+                self.last_message_size,
+            );
+
+            // if we have no requests add ReadMotorFrequency
+            if self.request_map.is_empty() {
+                self.add_request(MitsubishiControlRequests::ReadMotorFrequency.into());
+            }
+
+            if elapsed < timeout {
+                return;
+            }
+
+            self.last_ts = now_ts;
+            match self.state {
+                State::WaitingForResponse => {
+                    let ret = self.read_modbus_response().await;
+                    match ret {
+                        Ok(ret) => self.handle_response(ret),
+                        Err(_) => println!("Error"), // Do nothing for now
+                    }
+                }
+                State::ReadyToSend => {
+                    self.send_modbus_request().await;
+                    self.remove_request(self.last_request);
+                }
+
+                State::WaitingForReceiveAccept => self.state = State::ReadyToSend,
+                State::WaitingForRequestAccept => self.state = State::WaitingForResponse,
+                _ => (),
+            }
+        })
+    }
+}
@@ -0,0 +1,18 @@
+pub mod analog_function_generator;
+pub mod analog_input_getter;
+pub mod digital_input_logger;
+pub mod digital_output_blinker;
+pub mod digital_output_blinkers;
+pub mod digital_output_setter;
+pub mod mitsubishi_inverter_rs485;
+pub mod stepper_driver_el70x1;
+pub mod stepper_driver_max_speed;
+pub mod stepper_driver_pulse_train;
+pub mod temperature_input_getter;
+pub mod temperature_input_logger;
+
+use std::{pin::Pin, time::Instant};
+
+pub trait Actor: Send + Sync {
+    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>>;
+}
@@ -0,0 +1,88 @@
+use ethercat_hal::shared_config::el70x1::EL70x1SpeedRange;
+
+#[derive(Debug)]
+pub struct EL70x1VelocityCalculator {
+    max_steps_per_seconds: u16,
+}
+
+const MAX_VELOCITY: i16 = 10_000; // 100% of max speed
+
+impl EL70x1VelocityCalculator {
+    pub fn new(speed_range: &EL70x1SpeedRange) -> Self {
+        let speed_range_value = match speed_range {
+            EL70x1SpeedRange::Steps1000 => 1000,
+            EL70x1SpeedRange::Steps2000 => 2000,
+            EL70x1SpeedRange::Steps4000 => 4000,
+            EL70x1SpeedRange::Steps8000 => 8000,
+            EL70x1SpeedRange::Steps16000 => 16000,
+            EL70x1SpeedRange::Steps32000 => 32000,
+        };
+        Self {
+            max_steps_per_seconds: speed_range_value,
+        }
+    }
+
+    /// Convert steps per second to the i16 velocity value used by the EL7031
+    pub fn steps_to_velocity(&self, steps_per_second: i32) -> i16 {
+        // Calculate the velocity value (10000 = 100% of max speed)
+        let velocity_f64 =
+            (steps_per_second as f64 / self.max_steps_per_seconds as f64) * MAX_VELOCITY as f64;
+
+        // Clamp to i16 range to be safe
+        velocity_f64.round() as i16
+    }
+
+    /// Convert i16 velocity value back to steps per second
+    pub fn velocity_to_steps(&self, velocity: i16) -> i16 {
+        // Calculate steps per second from velocity value
+        let steps_per_second =
+            (velocity as f64 / MAX_VELOCITY as f64) * self.max_steps_per_seconds as f64;
+
+        steps_per_second.round() as i16
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_steps_to_velocity_conversion() {
+        let calc = EL70x1VelocityCalculator::new(&EL70x1SpeedRange::Steps4000); // 4000 steps/s
+
+        // 0 sps = 0% velocity
+        assert_eq!(calc.steps_to_velocity(0), 0);
+        // 1000 sps = 25% velocity = 2500
+        let v1 = calc.steps_to_velocity(1000);
+        assert!((v1 - 2500i16).abs() <= 1, "Expected 2500±1, got {}", v1);
+        // 2000 sps = 50% velocity = 5000
+        let v2 = calc.steps_to_velocity(2000);
+        assert!((v2 - 5000i16).abs() <= 1, "Expected 5000±1, got {}", v2);
+        // 3000 sps = 75% velocity = 7500
+        let v3 = calc.steps_to_velocity(3000);
+        assert!((v3 - 7500i16).abs() <= 1, "Expected 7500±1, got {}", v3);
+        // 4000 sps = 100% velocity = 10000
+        let v4 = calc.steps_to_velocity(4000);
+        assert!((v4 - 10000i16).abs() <= 1, "Expected 10000±1, got {}", v4);
+    }
+
+    #[test]
+    fn test_velocity_to_steps_conversion() {
+        let calc = EL70x1VelocityCalculator::new(&EL70x1SpeedRange::Steps4000); // 4000 steps/s
+
+        // 0% velocity = 0i16 = 0 sps
+        assert_eq!(calc.velocity_to_steps(0), 0);
+        // 25% velocity = 2500i16 = 1000 sps
+        let s1 = calc.velocity_to_steps(2500);
+        assert_eq!((s1 - 1000i16).abs(), 0, "Expected 1000±0, got {}", s1);
+        // 50% velocity = 5000i16 = 2000 sps
+        let s2 = calc.velocity_to_steps(5000);
+        assert_eq!((s2 - 2000i16).abs(), 0, "Expected 2000±0, got {}", s2);
+        // 75% velocity = 7500i16 = 3000 sps
+        let s3 = calc.velocity_to_steps(7500);
+        assert_eq!((s3 - 3000i16).abs(), 0, "Expected 3000±0, got {}", s3);
+        // 100% velocity = 10000i16 = 4000 sps
+        let s4 = calc.velocity_to_steps(10000);
+        assert_eq!((s4 - 4000i16).abs(), 0, "Expected 4000±0, got {}", s4);
+    }
+}
@@ -0,0 +1,75 @@
+use super::Actor;
+use core::panic;
+use el70xx_velocity_converter::EL70x1VelocityCalculator;
+use ethercat_hal::{
+    io::stepper_velocity_el70x1::StepperVelocityEL70x1, shared_config::el70x1::EL70x1SpeedRange,
+};
+use std::{future::Future, pin::Pin, time::Instant};
+
+pub mod el70xx_velocity_converter;
+
+/// Set a digital output high and low with a given interval
+#[derive(Debug)]
+pub struct StepperDriverEL70x1 {
+    stepper: StepperVelocityEL70x1,
+    enabled: bool,
+    velocity: i16,
+    pub converter: EL70x1VelocityCalculator,
+}
+
+impl StepperDriverEL70x1 {
+    pub fn new(stepper: StepperVelocityEL70x1, speed_range: &EL70x1SpeedRange) -> Self {
+        Self {
+            stepper,
+            enabled: false,
+            velocity: 0,
+            converter: EL70x1VelocityCalculator::new(speed_range),
+        }
+    }
+
+    /// Set the speed in steps per second
+    pub fn set_speed(&mut self, steps_per_second: i32) {
+        self.velocity = self.converter.steps_to_velocity(steps_per_second)
+    }
+
+    /// Get the speed in steps per second
+    pub fn get_speed(&self) -> i32 {
+        self.converter.velocity_to_steps(self.velocity) as i32
+    }
+
+    /// Enable or disable the stepper
+    pub fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+
+    /// Get the enabled state of the stepper
+    pub fn is_enabled(&self) -> bool {
+        self.enabled
+    }
+}
+
+impl Actor for StepperDriverEL70x1 {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = match (self.stepper.state)().await {
+                Ok(state) => state,
+                Err(e) => {
+                    panic!("Error while reading StepperVelocity {:?}", e);
+                }
+            };
+            let mut output = state.output.clone();
+
+            // set the output
+            output.stm_control.enable = self.enabled;
+            output.stm_velocity.velocity = self.velocity;
+
+            // write the output
+            match (self.stepper.write)(output).await {
+                Ok(_) => {}
+                Err(e) => {
+                    panic!("Error while writing StepperVelocity {:?}", e);
+                }
+            }
+        })
+    }
+}
@@ -0,0 +1,37 @@
+use super::Actor;
+use ethercat_hal::io::digital_output::DigitalOutput;
+use std::{
+    future::Future,
+    pin::Pin,
+    sync::{Arc, RwLock},
+    time::Instant,
+};
+
+/// Set a digital output high and low with a given interval
+pub struct StepperDriverMaxSpeed {
+    pulse: DigitalOutput,
+}
+
+impl StepperDriverMaxSpeed {
+    pub fn new(output: DigitalOutput) -> Self {
+        Self { pulse: output }
+    }
+}
+
+impl Actor for StepperDriverMaxSpeed {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.pulse.state)().await;
+            match state.output.into() {
+                true => (self.pulse.write)(false.into()).await,
+                false => (self.pulse.write)(true.into()).await,
+            }
+        })
+    }
+}
+
+impl From<StepperDriverMaxSpeed> for Arc<RwLock<StepperDriverMaxSpeed>> {
+    fn from(actor: StepperDriverMaxSpeed) -> Self {
+        Arc::new(RwLock::new(actor))
+    }
+}
@@ -0,0 +1,222 @@
+/// Translates the encoder value to a larger space and handle underflow/overflow situations
+#[derive(Debug)]
+pub struct Encoder {
+    pub position: i64,
+    pub last_encoder_position: u32,
+}
+
+impl Encoder {
+    pub fn new() -> Self {
+        Self {
+            position: 0,
+            last_encoder_position: 0,
+        }
+    }
+
+    pub fn update(&mut self, counter_value: u32, counter_overflow: bool, counter_underflow: bool) {
+        // Handle overflow case
+        if counter_overflow {
+            // When overflow occurs, the counter wraps from MAX to 0
+            // Calculate how much it moved past MAX
+            let delta = counter_value as i64;
+            // Add the remaining distance from last position to MAX, plus the overflow amount
+            self.position += (u32::MAX - self.last_encoder_position) as i64 + 1 + delta;
+        }
+        // Handle underflow case
+        else if counter_underflow {
+            // When underflow occurs, the counter wraps from 0 to MAX
+            // Calculate how much it moved below 0
+            let delta = (u32::MAX - counter_value) as i64;
+            // Subtract the distance from last position to 0, plus the underflow amount
+            self.position -= self.last_encoder_position as i64 + 1 + delta;
+        }
+        // Normal case - no overflow/underflow
+        else {
+            // Calculate the signed difference between current and last position
+            let delta = counter_value as i64 - self.last_encoder_position as i64;
+            // Update the position
+            self.position += delta;
+        }
+
+        // Update the last encoder position for next time
+        self.last_encoder_position = counter_value;
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    /// Tests that the position tracker correctly handles normal forward movement
+    /// without any overflow conditions.
+    ///
+    /// This test verifies:
+    /// 1. Initial state is zeroed
+    /// 2. Moving forward updates both position and last_encoder_position
+    /// 3. Consecutive forward movements accumulate correctly
+    #[test]
+    fn test_normal_forward_movement() {
+        let mut tracker = Encoder::new();
+
+        // Initial state
+        assert_eq!(tracker.position, 0);
+        assert_eq!(tracker.last_encoder_position, 0);
+
+        // Move forward by 100
+        tracker.update(100, false, false);
+        assert_eq!(tracker.position, 100);
+        assert_eq!(tracker.last_encoder_position, 100);
+
+        // Move forward by another 50
+        tracker.update(150, false, false);
+        assert_eq!(tracker.position, 150);
+        assert_eq!(tracker.last_encoder_position, 150);
+    }
+
+    /// Tests that the position tracker correctly handles normal backward movement
+    /// without any underflow conditions.
+    ///
+    /// This test verifies:
+    /// 1. Starting from a non-zero position
+    /// 2. Moving backward updates both position and last_encoder_position
+    /// 3. Consecutive backward movements accumulate correctly
+    #[test]
+    fn test_normal_backward_movement() {
+        let mut tracker = Encoder::new();
+
+        // Start at position 1000
+        tracker.position = 1000;
+        tracker.last_encoder_position = 1000;
+
+        // Move backward by 100
+        tracker.update(900, false, false);
+        assert_eq!(tracker.position, 900);
+        assert_eq!(tracker.last_encoder_position, 900);
+
+        // Move backward by another 50
+        tracker.update(850, false, false);
+        assert_eq!(tracker.position, 850);
+        assert_eq!(tracker.last_encoder_position, 850);
+    }
+
+    /// Tests that the position tracker correctly handles overflow conditions
+    /// where the encoder counter wraps from near its maximum value to a small value.
+    ///
+    /// This test verifies:
+    /// 1. When overflow flag is set, the tracker correctly calculates the true movement
+    /// 2. Position is updated to account for the full distance traveled
+    /// 3. last_encoder_position is updated to the new counter value
+    #[test]
+    fn test_overflow() {
+        let mut tracker = Encoder::new();
+
+        // Set position near the maximum u32 value
+        tracker.position = 100;
+        tracker.last_encoder_position = u32::MAX - 10;
+
+        // Overflow: counter goes from (MAX-10) to 5
+        // This means we moved forward by 10 steps to MAX, then 1 step to overflow,
+        // then 5 more steps to reach the current position
+        tracker.update(5, true, false);
+
+        // Expected: position += (10 + 1 + 5) = position += 16
+        assert_eq!(tracker.position, 116);
+        assert_eq!(tracker.last_encoder_position, 5);
+    }
+
+    /// Tests that the position tracker correctly handles underflow conditions
+    /// where the encoder counter wraps from near zero to a value near its maximum.
+    ///
+    /// This test verifies:
+    /// 1. When underflow flag is set, the tracker correctly calculates the true movement
+    /// 2. Position is updated to account for the full distance traveled (in negative direction)
+    /// 3. last_encoder_position is updated to the new counter value
+    #[test]
+    fn test_underflow() {
+        let mut tracker = Encoder::new();
+
+        // Set position near zero
+        tracker.position = 100;
+        tracker.last_encoder_position = 10;
+
+        // Underflow: counter goes from 10 to (MAX-5)
+        // This means we moved backward by 10 steps to 0, then 1 step to underflow,
+        // then 5 more steps to reach the current position
+        tracker.update(u32::MAX - 5, false, true);
+
+        // Expected: position -= (10 + 1 + 5) = position -= 16
+        assert_eq!(tracker.position, 84);
+        assert_eq!(tracker.last_encoder_position, u32::MAX - 5);
+    }
+
+    /// Tests that the position tracker maintains correct behavior across
+    /// a sequence of different operations including normal movement,
+    /// overflow, and underflow.
+    ///
+    /// This test verifies:
+    /// 1. The tracker maintains state correctly between operations
+    /// 2. Different types of movements can be handled in sequence
+    /// 3. Position calculations remain accurate throughout various scenarios
+    #[test]
+    fn test_multiple_operations() {
+        let mut tracker = Encoder::new();
+
+        // Normal forward
+        tracker.update(100, false, false);
+        assert_eq!(tracker.position, 100);
+
+        // Normal backward
+        tracker.update(50, false, false);
+        assert_eq!(tracker.position, 50);
+
+        // Overflow
+        tracker.last_encoder_position = u32::MAX - 5;
+        tracker.position = 50; // Reset for clarity
+        tracker.update(10, true, false);
+        assert_eq!(tracker.position, 66); // 50 + (5 + 1 + 10)
+
+        // Underflow
+        tracker.last_encoder_position = 5;
+        tracker.position = 100; // Reset for clarity
+        tracker.update(u32::MAX - 10, false, true);
+        assert_eq!(tracker.position, 84); // 100 - (5 + 1 + 10)
+    }
+
+    /// Tests that the position tracker can handle multiple overflow and underflow
+    /// events, maintaining an accurate position count that exceeds the u32 range.
+    ///
+    /// This test verifies:
+    /// 1. Multiple overflow events accumulate correctly in the i64 position
+    /// 2. Multiple underflow events correctly subtract from the position
+    /// 3. The i64 position field properly extends the range beyond u32 limits
+    #[test]
+    fn test_large_movements() {
+        let mut tracker = Encoder::new();
+
+        // Test tracking beyond u32 limits with multiple overflows
+        for _ in 0..5 {
+            // Simulate overflow: move from (MAX-100) to 100
+            tracker.last_encoder_position = u32::MAX - 100;
+            tracker.update(100, true, false);
+
+            // Each iteration adds (100 + 1 + 100) = 201 to position
+            // We move 100 steps to MAX, 1 step to overflow, and 100 more steps to reach 100
+        }
+
+        // After 5 iterations, position should be 5 * 201 = 1005
+        assert_eq!(tracker.position, 1005);
+
+        // Test tracking with multiple underflows
+        for _ in 0..3 {
+            // Simulate underflow: move from 100 to (MAX-100)
+            tracker.last_encoder_position = 100;
+            tracker.update(u32::MAX - 100, false, true);
+
+            // Each iteration subtracts (100 + 1 + 100) = 201 from position
+            // We move 100 steps to 0, 1 step to underflow, and 100 more steps to reach MAX-100
+        }
+
+        // Final position: 1005 - (3 * 201) = 1005 - 603 = 402
+        assert_eq!(tracker.position, 402);
+    }
+}
@@ -0,0 +1,51 @@
+use super::Actor;
+use encoder::Encoder;
+use ethercat_hal::io::pulse_train_output::PulseTrainOutput;
+use std::{future::Future, pin::Pin, time::Instant};
+
+pub mod encoder;
+
+/// Set a digital output high and low with a given interval
+#[derive(Debug)]
+pub struct StepperDriverPulseTrain {
+    pulse: PulseTrainOutput,
+    encoder: Encoder,
+    frequency: i32,
+}
+
+impl<'ptodevice> StepperDriverPulseTrain {
+    pub fn new(output: PulseTrainOutput) -> Self {
+        Self {
+            pulse: output,
+            encoder: Encoder::new(),
+            frequency: 0,
+        }
+    }
+}
+
+impl<'ptodevice> Actor for StepperDriverPulseTrain {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.pulse.state)().await;
+            let mut output = state.output.clone();
+
+            // sync the counter to the encoder
+            self.encoder.update(
+                state.input.counter_value,
+                state.input.counter_overflow,
+                state.input.counter_underflow,
+            );
+
+            // write frequency
+            output.frequency_value = self.frequency;
+
+            (self.pulse.write)(output).await;
+        })
+    }
+}
+
+impl<'ptodevice> StepperDriverPulseTrain {
+    pub fn set_frequency(&mut self, frequency: i32) {
+        self.frequency = frequency;
+    }
+}
@@ -0,0 +1,35 @@
+use std::{pin::Pin, time::Instant};
+
+use ethercat_hal::io::temperature_input::TemperatureInput;
+
+use super::Actor;
+
+#[derive(Debug)]
+pub struct TemperatureInputGetter {
+    input: TemperatureInput,
+    pub temperature: f32,
+    pub wiring_error: bool,
+}
+
+impl TemperatureInputGetter {
+    pub fn new(input: TemperatureInput) -> Self {
+        Self {
+            input,
+            temperature: 0.0,
+            wiring_error: false,
+        }
+    }
+}
+
+impl Actor for TemperatureInputGetter {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let input = (self.input.state)().await.input;
+            self.temperature = input.temperature;
+            self.wiring_error = input.overvoltage | input.undervoltage;
+            if self.wiring_error {
+                self.temperature = 0.0;
+            }
+        })
+    }
+}
@@ -0,0 +1,23 @@
+use super::Actor;
+use ethercat_hal::io::temperature_input::TemperatureInput;
+use std::{future::Future, pin::Pin, time::Instant};
+
+/// Log the state of a temperature input
+pub struct TemperatureInputLogger {
+    input: TemperatureInput,
+}
+
+impl TemperatureInputLogger {
+    pub fn new(input: TemperatureInput) -> Self {
+        Self { input }
+    }
+}
+
+impl Actor for TemperatureInputLogger {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.input.state)().await;
+            println!("TemperatureInputLogger: {:?}C", state.input.temperature);
+        })
+    }
+}
@@ -1,218 +0,0 @@
-use std::time::Instant;
-
-#[derive(Debug)]
-pub struct ClampingTimeagnosticPidController {
-    // Params
-    /// Proportional gain
-    kp: f64,
-    /// Integral gain
-    ki: f64,
-    /// Derivative gain
-    kd: f64,
-    // State
-    /// Proportional error
-    ep: f64,
-    /// Integral error
-    ei: f64,
-    /// Derivative error
-    ed: f64,
-
-    min_ep: Option<f64>,
-    max_ep: Option<f64>,
-
-    min_ei: Option<f64>,
-    max_ei: Option<f64>,
-
-    min_ed: Option<f64>,
-    max_ed: Option<f64>,
-
-    min_signal: Option<f64>,
-    max_signal: Option<f64>,
-
-    last: Option<Instant>,
-}
-
-impl ClampingTimeagnosticPidController {
-    pub const fn new(
-        kp: f64,
-        ki: f64,
-        kd: f64,
-        min_ep: Option<f64>,
-        max_ep: Option<f64>,
-        min_ei: Option<f64>,
-        max_ei: Option<f64>,
-        min_ed: Option<f64>,
-        max_ed: Option<f64>,
-        min_signal: Option<f64>,
-        max_signal: Option<f64>,
-    ) -> Self {
-        Self {
-            kp,
-            ki,
-            kd,
-            ep: 0.0,
-            ei: 0.0,
-            ed: 0.0,
-            last: None,
-            min_ep,
-            max_ep,
-            min_ei,
-            max_ei,
-            min_ed,
-            max_ed,
-            min_signal,
-            max_signal,
-        }
-    }
-
-    pub const fn simple_new(kp: f64, ki: f64, kd: f64) -> Self {
-        Self {
-            kp,
-            ki,
-            kd,
-            ep: 0.0,
-            ei: 0.0,
-            ed: 0.0,
-            min_ep: None,
-            max_ep: None,
-            min_ei: None,
-            max_ei: None,
-            min_ed: None,
-            max_ed: None,
-            last: None,
-            min_signal: None,
-            max_signal: None,
-        }
-    }
-
-    pub const fn get_kp(&self) -> f64 {
-        self.kp
-    }
-
-    pub const fn get_ki(&self) -> f64 {
-        self.ki
-    }
-
-    pub const fn get_kd(&self) -> f64 {
-        self.kd
-    }
-
-    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
-        self.reset();
-        self.kp = kp;
-        self.ki = ki;
-        self.kd = kd;
-    }
-
-    pub const fn optional_clamp(value: f64, min: Option<f64>, max: Option<f64>) -> f64 {
-        match (min, max) {
-            (Some(min), Some(max)) => value.clamp(min, max),
-            (Some(min), None) => value.max(min),
-            (None, Some(max)) => value.min(max),
-            (None, None) => value,
-        }
-    }
-
-    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        match self.last {
-            // First update
-            None => {
-                // Calculate error
-                let ep = error;
-
-                // Calculate signal
-                let signal = self.kp * ep;
-                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);
-
-                // Set values
-                self.ep = Self::optional_clamp(ep, self.min_ep, self.max_ep);
-                self.ei = 0.0;
-                self.ed = 0.0;
-                self.last = Some(t);
-
-                clamped_signal
-            }
-            // Subsequent updates
-            Some(last) => {
-                // Calculate the time delta in seconds
-                let dt = t.duration_since(last).as_secs_f64();
-
-                // Calculate errors
-                let ep = Self::optional_clamp(error, self.min_ep, self.max_ep);
-
-                let ei = Self::optional_clamp(ep.mul_add(dt, self.ei), self.min_ei, self.max_ei);
-
-                let ed = Self::optional_clamp((ep - self.ep) / dt, self.min_ed, self.max_ed);
-
-                // Make factors timeagnostic
-                let kp = self.kp * dt;
-                let ki = self.ki * dt;
-                let kd = self.kd * dt;
-
-                // Calculate signal
-                let signal = kd.mul_add(ed, kp.mul_add(ep, ki * ei));
-                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);
-
-                // Set values
-                self.ep = ep;
-                self.ei = ei;
-                self.ed = ed;
-                self.last = Some(t);
-
-                clamped_signal
-            }
-        }
-    }
-
-    pub const fn reset(&mut self) {
-        self.ep = 0.0;
-        self.ei = 0.0;
-        self.ed = 0.0;
-        self.last = None;
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::controllers::clamping_timeagnostic_pid::ClampingTimeagnosticPidController;
-
-    #[test]
-    fn test_optional_clamp_with_both_bounds() {
-        let val = 5.0;
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, Some(1.0), Some(4.0));
-        assert_eq!(clamped, 4.0);
-
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, Some(6.0), Some(10.0));
-        assert_eq!(clamped, 6.0);
-
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, Some(2.0), Some(6.0));
-        assert_eq!(clamped, 5.0);
-    }
-
-    #[test]
-    fn test_optional_clamp_with_only_min() {
-        let val = 3.0;
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, Some(5.0), None);
-        assert_eq!(clamped, 5.0);
-
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, Some(2.0), None);
-        assert_eq!(clamped, 3.0);
-    }
-
-    #[test]
-    fn test_optional_clamp_with_only_max() {
-        let val = 7.0;
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, None, Some(6.0));
-        assert_eq!(clamped, 6.0);
-
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, None, Some(8.0));
-        assert_eq!(clamped, 7.0);
-    }
-
-    #[test]
-    fn test_optional_clamp_with_no_bounds() {
-        let val = 42.0;
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, None, None);
-        assert_eq!(clamped, 42.0);
-    }
-}
@@ -1,434 +0,0 @@
-use std::time::Instant;
-
-#[derive(Debug)]
-pub struct AccelerationSpeedController {
-    /// Maximum deceleration in units per second (positive value)
-    max_acceleration: f64,
-
-    /// Maximum acceleratoin in units per second (negative value)
-    min_acceleration: f64,
-
-    /// Minimum speed limit (None for no limit)
-    min_speed: Option<f64>,
-
-    /// Maximum speed limit (None for no limit)
-    max_speed: Option<f64>,
-
-    /// Calculated speed at the last update
-    last_speed: f64,
-
-    /// Last update time
-    last_t: Option<Instant>,
-}
-
-impl AccelerationSpeedController {
-    pub const fn new(
-        min_speed: Option<f64>,
-        max_speed: Option<f64>,
-        min_acceleration: f64,
-        max_acceleration: f64,
-        initial_speed: f64,
-    ) -> Self {
-        Self {
-            min_acceleration,
-            max_acceleration,
-            min_speed,
-            max_speed,
-            last_speed: initial_speed,
-            last_t: None,
-        }
-    }
-
-    /// Creates a new acceleration speed controller with simplified parameters.
-    /// Sets min_acceleration to -max_acceleration for symmetric behavior.
-    /// No speed limits are applied.
-    pub fn new_simple(max_acceleration: f64, initial_speed: f64) -> Self {
-        Self::new(
-            None,              // min_speed
-            None,              // max_speed
-            -max_acceleration, // min_acceleration (deceleration)
-            max_acceleration,  // max_acceleration
-            initial_speed,
-        )
-    }
-
-    pub fn update(&mut self, target_speed: f64, t: Instant) -> f64 {
-        // Calculate time delta
-        let dt = match self.last_t {
-            Some(last) => {
-                let duration = t.duration_since(last);
-                duration.as_secs_f64()
-            }
-            None => 0.0, // First update, no acceleration applied
-        };
-
-        // Update the last update time
-        self.last_t = Some(t);
-
-        // Get acceleration
-        let acceleration = if target_speed > self.last_speed {
-            // We are accelerating
-            self.max_acceleration
-        } else if target_speed < self.last_speed {
-            // We are decelerating
-            self.min_acceleration
-        } else {
-            0.0
-        };
-
-        let speed_change = acceleration * dt;
-        let new_speed = self.last_speed + speed_change;
-
-        // Prevent overshooting the target speed
-        let new_speed = if acceleration > 0.0 {
-            // Limit speed when accelerating
-            new_speed.min(target_speed)
-        } else if acceleration < 0.0 {
-            // Limit speed when decelerating
-            new_speed.max(target_speed)
-        } else {
-            new_speed
-        };
-
-        // Apply speed limits
-        let new_speed = self.apply_speed_limits(new_speed);
-
-        self.last_speed = new_speed;
-
-        new_speed
-    }
-
-    pub const fn reset(&mut self, initial_speed: f64) {
-        self.last_speed = initial_speed;
-        self.last_t = None; // Reset the last update time
-    }
-
-    pub const fn set_max_acceleration(&mut self, acceleration: f64) {
-        self.max_acceleration = acceleration;
-    }
-
-    const fn apply_speed_limits(&self, speed: f64) -> f64 {
-        let mut limited_speed = speed;
-
-        if let Some(min) = self.min_speed {
-            limited_speed = limited_speed.max(min);
-        }
-
-        if let Some(max) = self.max_speed {
-            limited_speed = limited_speed.min(max);
-        }
-
-        limited_speed
-    }
-
-    pub const fn get_min_speed(&self) -> Option<f64> {
-        self.min_speed
-    }
-
-    pub const fn get_max_speed(&self) -> Option<f64> {
-        self.max_speed
-    }
-
-    pub const fn set_min_speed(&mut self, min_speed: Option<f64>) {
-        self.min_speed = min_speed;
-    }
-
-    pub const fn set_max_speed(&mut self, max_speed: Option<f64>) {
-        self.max_speed = max_speed;
-    }
-
-    pub const fn set_min_acceleration(&mut self, deceleration: f64) {
-        self.min_acceleration = deceleration;
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use approx::assert_relative_eq;
-    use std::time::Duration;
-
-    const EPSILON: f64 = 0.001;
-
-    // Custom function to create a "future" instant for testing
-    fn future_instant(now: Instant, seconds: f64) -> Instant {
-        now + Duration::from_secs_f64(seconds)
-    }
-
-    #[test]
-    fn test_initialization() {
-        let controller = AccelerationSpeedController::new(None, None, -15.0, 10.0, 5.0);
-        assert_relative_eq!(controller.max_acceleration, 10.0, epsilon = EPSILON);
-        assert_relative_eq!(controller.min_acceleration, -15.0, epsilon = EPSILON);
-        assert_relative_eq!(controller.last_speed, 5.0, epsilon = EPSILON);
-        assert!(controller.last_t.is_none());
-    }
-
-    #[test]
-    fn test_first_update() {
-        let mut controller = AccelerationSpeedController::new(None, None, -15.0, 10.0, 5.0);
-        let now = Instant::now();
-
-        let speed = controller.update(5.0, now);
-
-        assert_relative_eq!(speed, 5.0, epsilon = EPSILON);
-        assert_relative_eq!(controller.last_speed, 5.0, epsilon = EPSILON);
-        assert_eq!(controller.last_t.unwrap(), now);
-    }
-
-    #[test]
-    fn test_acceleration() {
-        let mut controller = AccelerationSpeedController::new(None, None, -15.0, 10.0, 0.0);
-        let t1 = Instant::now();
-        controller.update(0.0, t1); // Initialize last_t
-
-        // Use 0.1 seconds as our simulated time difference
-        let dt = 0.1;
-        let t2 = future_instant(t1, dt);
-
-        let expected_speed = (10.0 * dt).min(5.0); // Should accelerate by max_acceleration * dt, capped at target
-
-        let actual_speed = controller.update(5.0, t2);
-
-        assert!(actual_speed > 0.0);
-        assert!(actual_speed <= 5.0);
-        assert_relative_eq!(actual_speed, expected_speed, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_deceleration() {
-        let mut controller = AccelerationSpeedController::new(None, None, -15.0, 10.0, 10.0);
-        let t1 = Instant::now();
-        controller.update(10.0, t1); // Initialize last_t
-
-        // Use 0.1 seconds as our simulated time difference
-        let dt = 0.1;
-        let t2 = future_instant(t1, dt);
-
-        let expected_speed = (10.0 + (-15.0 * dt)).max(5.0); // Should decelerate by max_deceleration * dt, floored at target
-
-        let actual_speed = controller.update(5.0, t2);
-
-        assert!(actual_speed < 10.0);
-        assert!(actual_speed >= 5.0);
-        assert_relative_eq!(actual_speed, expected_speed, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_constant_speed() {
-        let mut controller = AccelerationSpeedController::new(None, None, -15.0, 10.0, 7.0);
-        let t1 = Instant::now();
-        controller.update(7.0, t1); // Initialize last_t
-
-        let t2 = future_instant(t1, 0.1);
-
-        let speed = controller.update(7.0, t2);
-
-        assert_relative_eq!(speed, 7.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_acceleration_limit() {
-        let mut controller = AccelerationSpeedController::new(None, None, -15.0, 10.0, 0.0);
-        let t1 = Instant::now();
-        controller.update(0.0, t1); // Initialize last_t
-
-        let dt = 0.1;
-        let t2 = future_instant(t1, dt);
-
-        let max_possible_change = 10.0 * dt;
-
-        // Target is far away, should be limited by max_acceleration
-        let actual_speed = controller.update(100.0, t2);
-
-        assert_relative_eq!(actual_speed, max_possible_change, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_deceleration_limit() {
-        let mut controller = AccelerationSpeedController::new(None, None, -15.0, 10.0, 20.0);
-        let t1 = Instant::now();
-        controller.update(20.0, t1); // Initialize last_t
-
-        let dt = 0.1;
-        let t2 = future_instant(t1, dt);
-
-        let max_possible_change = -15.0 * dt;
-
-        // Target is far away, should be limited by max_deceleration
-        let actual_speed = controller.update(0.0, t2);
-
-        assert_relative_eq!(actual_speed, 20.0 + max_possible_change, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_zero_time_delta() {
-        let mut controller = AccelerationSpeedController::new(None, None, -15.0, 10.0, 5.0);
-        let now = Instant::now();
-
-        controller.update(5.0, now); // Initialize last_t
-        // Update again with the same time stamp
-        let speed = controller.update(10.0, now);
-
-        // With zero time delta, speed shouldn't change
-        assert_relative_eq!(speed, 5.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_acceleration_capped_at_target() {
-        let mut controller = AccelerationSpeedController::new(None, None, -15.0, 100.0, 3.0);
-        let t1 = Instant::now();
-        controller.update(3.0, t1); // Initialize last_t
-
-        // With a high acceleration of 100.0 and dt of 0.1,
-        // we could go up by 10.0 units, from 3.0 to 13.0
-        // But target is only 5.0, so we should cap at 5.0
-        let dt = 0.1;
-        let t2 = future_instant(t1, dt);
-
-        let speed = controller.update(5.0, t2);
-
-        // Speed should be capped at target_speed (5.0), not 13.0
-        assert_relative_eq!(speed, 5.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_deceleration_capped_at_target() {
-        let mut controller = AccelerationSpeedController::new(None, None, -100.0, 10.0, 8.0);
-        let t1 = Instant::now();
-        controller.update(8.0, t1); // Initialize last_t
-
-        // With a high deceleration of -100.0 and dt of 0.1,
-        // we could go down by 10.0 units, from 8.0 to -2.0
-        // But target is 5.0, so we should cap at 5.0
-        let dt = 0.1;
-        let t2 = future_instant(t1, dt);
-
-        let speed = controller.update(5.0, t2);
-
-        // Speed should be capped at target_speed (5.0), not -2.0
-        assert_relative_eq!(speed, 5.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_exact_acceleration_to_target() {
-        let mut controller = AccelerationSpeedController::new(None, None, -15.0, 20.0, 3.0);
-        let t1 = Instant::now();
-        controller.update(3.0, t1); // Initialize last_t
-
-        // With acceleration of 20.0 and dt of 0.1,
-        // we would go up exactly 2.0 units, from 3.0 to 5.0
-        // Target is 5.0, so we should hit it exactly
-        let dt = 0.1;
-        let t2 = future_instant(t1, dt);
-
-        let speed = controller.update(5.0, t2);
-
-        assert_relative_eq!(speed, 5.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_exact_deceleration_to_target() {
-        let mut controller = AccelerationSpeedController::new(None, None, -30.0, 10.0, 8.0);
-        let t1 = Instant::now();
-        controller.update(8.0, t1); // Initialize last_t
-
-        // With deceleration of -30.0 and dt of 0.1,
-        // we would go down exactly 3.0 units, from 8.0 to 5.0
-        // Target is 5.0, so we should hit it exactly
-        let dt = 0.1;
-        let t2 = future_instant(t1, dt);
-
-        let speed = controller.update(5.0, t2);
-
-        assert_relative_eq!(speed, 5.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_speed_limits_initialization() {
-        let controller =
-            AccelerationSpeedController::new(Some(-50.0), Some(100.0), -10.0, 20.0, 5.0);
-        assert_eq!(controller.get_min_speed(), Some(-50.0));
-        assert_eq!(controller.get_max_speed(), Some(100.0));
-    }
-
-    #[test]
-    fn test_max_speed_limit() {
-        let mut controller = AccelerationSpeedController::new(None, Some(50.0), -10.0, 100.0, 0.0);
-        let t1 = Instant::now();
-        controller.update(0.0, t1); // Initialize last_t
-
-        let dt = 1.0; // 1 second
-        let t2 = future_instant(t1, dt);
-
-        // Try to reach 80.0, but should be limited to 50.0
-        let speed = controller.update(80.0, t2);
-        assert_eq!(speed, 50.0);
-    }
-
-    #[test]
-    fn test_min_speed_limit() {
-        let mut controller = AccelerationSpeedController::new(Some(-30.0), None, -100.0, 10.0, 0.0);
-        let t1 = Instant::now();
-        controller.update(0.0, t1); // Initialize last_t
-
-        let dt = 1.0; // 1 second
-        let t2 = future_instant(t1, dt);
-
-        // Try to reach -50.0, but should be limited to -30.0
-        let speed = controller.update(-50.0, t2);
-        assert_eq!(speed, -30.0);
-    }
-
-    #[test]
-    fn test_speed_within_limits() {
-        let mut controller =
-            AccelerationSpeedController::new(Some(-50.0), Some(50.0), -20.0, 20.0, 0.0);
-        let t1 = Instant::now();
-        controller.update(0.0, t1); // Initialize last_t
-
-        let dt = 0.5; // 0.5 seconds
-        let t2 = future_instant(t1, dt);
-
-        // Target 10.0, with acceleration 20.0, should reach 10.0 in 0.5s
-        let speed = controller.update(10.0, t2);
-        assert_relative_eq!(speed, 10.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_speed_limit_setters() {
-        let mut controller = AccelerationSpeedController::new(None, None, -15.0, 10.0, 5.0);
-
-        // Initially no limits
-        assert_eq!(controller.get_min_speed(), None);
-        assert_eq!(controller.get_max_speed(), None);
-
-        // Set limits
-        controller.set_min_speed(Some(-100.0));
-        controller.set_max_speed(Some(100.0));
-
-        assert_eq!(controller.get_min_speed(), Some(-100.0));
-        assert_eq!(controller.get_max_speed(), Some(100.0));
-
-        // Remove limits
-        controller.set_min_speed(None);
-        controller.set_max_speed(None);
-
-        assert_eq!(controller.get_min_speed(), None);
-        assert_eq!(controller.get_max_speed(), None);
-    }
-
-    #[test]
-    fn test_new_simple_constructor() {
-        let controller = AccelerationSpeedController::new_simple(20.0, 5.0);
-
-        // Check that acceleration values are symmetric
-        assert_eq!(controller.min_acceleration, -20.0);
-        assert_eq!(controller.max_acceleration, 20.0);
-        assert_eq!(controller.last_speed, 5.0);
-
-        // Check that speed limits are None
-        assert_eq!(controller.get_min_speed(), None);
-        assert_eq!(controller.get_max_speed(), None);
-    }
-}
@@ -1,94 +0,0 @@
-use std::time::Instant;
-
-use units::{
-    angular_acceleration::radian_per_second_squared,
-    angular_velocity::radian_per_second,
-    f64::{AngularAcceleration, AngularVelocity},
-};
-
-use super::acceleration_speed_controller::AccelerationSpeedController;
-
-/// [`LinearAngularAccelerationController`] wraps [`LinearAccelerationController`]
-/// to handle angular velocities and accelerations.
-#[derive(Debug)]
-pub struct AngularAccelerationSpeedController {
-    pub controller: AccelerationSpeedController,
-}
-
-impl AngularAccelerationSpeedController {
-    pub fn new(
-        min_speed: Option<AngularVelocity>,
-        max_speed: Option<AngularVelocity>,
-        min_acceleration: AngularAcceleration,
-        max_acceleration: AngularAcceleration,
-        initial_speed: AngularVelocity,
-    ) -> Self {
-        Self {
-            controller: AccelerationSpeedController::new(
-                min_speed.map(|s| s.get::<radian_per_second>()),
-                max_speed.map(|s| s.get::<radian_per_second>()),
-                min_acceleration.get::<radian_per_second_squared>(),
-                max_acceleration.get::<radian_per_second_squared>(),
-                initial_speed.get::<radian_per_second>(),
-            ),
-        }
-    }
-
-    /// Creates a new angular acceleration speed controller with simplified parameters.
-    /// Sets min_acceleration to -max_acceleration for symmetric behavior.
-    /// No speed limits are applied.
-    pub fn new_simple(
-        max_acceleration: AngularAcceleration,
-        initial_speed: AngularVelocity,
-    ) -> Self {
-        Self::new(
-            None,              // min_speed
-            None,              // max_speed
-            -max_acceleration, // min_acceleration (deceleration)
-            max_acceleration,  // max_acceleration
-            initial_speed,
-        )
-    }
-
-    pub fn update(&mut self, target_speed: AngularVelocity, t: Instant) -> AngularVelocity {
-        let target_speed = target_speed.get::<radian_per_second>();
-        let new_speed = self.controller.update(target_speed, t);
-        AngularVelocity::new::<radian_per_second>(new_speed)
-    }
-
-    pub fn reset(&mut self, initial_speed: AngularVelocity) {
-        let initial_speed = initial_speed.get::<radian_per_second>();
-        self.controller.reset(initial_speed);
-    }
-
-    pub fn set_max_acceleration(&mut self, acceleration: AngularAcceleration) {
-        self.controller
-            .set_max_acceleration(acceleration.get::<radian_per_second_squared>());
-    }
-    pub fn set_min_acceleration(&mut self, deceleration: AngularAcceleration) {
-        self.controller
-            .set_min_acceleration(deceleration.get::<radian_per_second_squared>());
-    }
-
-    pub fn get_min_speed(&self) -> Option<AngularVelocity> {
-        self.controller
-            .get_min_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
-    }
-
-    pub fn get_max_speed(&self) -> Option<AngularVelocity> {
-        self.controller
-            .get_max_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
-    }
-
-    pub fn set_min_speed(&mut self, min_speed: Option<AngularVelocity>) {
-        self.controller
-            .set_min_speed(min_speed.map(|s| s.get::<radian_per_second>()));
-    }
-
-    pub fn set_max_speed(&mut self, max_speed: Option<AngularVelocity>) {
-        self.controller
-            .set_max_speed(max_speed.map(|s| s.get::<radian_per_second>()));
-    }
-}
@@ -1,83 +0,0 @@
-use std::time::Instant;
-
-use units::{
-    acceleration::meter_per_second_squared,
-    f64::{Acceleration, Velocity},
-    velocity::meter_per_second,
-};
-
-use super::acceleration_speed_controller::AccelerationSpeedController;
-
-/// [`LinearAccelerationController`] wraps [`LinearF64AccelerationController`]
-/// to handle linear velocities and accelerations.
-#[derive(Debug)]
-pub struct LinearAccelerationLimitingController {
-    pub controller: AccelerationSpeedController,
-}
-
-impl LinearAccelerationLimitingController {
-    pub fn new(
-        min_speed: Option<Velocity>,
-        max_speed: Option<Velocity>,
-        acceleration: Acceleration,
-        deceleration: Acceleration,
-        initial_speed: Velocity,
-    ) -> Self {
-        Self {
-            controller: AccelerationSpeedController::new(
-                min_speed.map(|s| s.get::<meter_per_second>()),
-                max_speed.map(|s| s.get::<meter_per_second>()),
-                acceleration.get::<meter_per_second_squared>(),
-                deceleration.get::<meter_per_second_squared>(),
-                initial_speed.get::<meter_per_second>(),
-            ),
-        }
-    }
-    /// Creates a new linear acceleration speed controller with simplified parameters.
-    /// Sets deceleration to -acceleration for symmetric behavior.
-    /// No speed limits are applied.
-    pub fn new_simple(acceleration: Acceleration, initial_speed: Velocity) -> Self {
-        Self::new(
-            None,          // min_speed
-            None,          // max_speed
-            acceleration,  // acceleration
-            -acceleration, // deceleration (negative for deceleration)
-            initial_speed,
-        )
-    }
-    pub fn update(&mut self, target_speed: Velocity, t: Instant) -> Velocity {
-        let target_speed = target_speed.get::<meter_per_second>();
-        let new_speed = self.controller.update(target_speed, t);
-        Velocity::new::<meter_per_second>(new_speed)
-    }
-    pub fn reset(&mut self, initial_speed: Velocity) {
-        let initial_speed = initial_speed.get::<meter_per_second>();
-        self.controller.reset(initial_speed);
-    }
-    pub fn set_acceleration(&mut self, acceleration: Acceleration) {
-        self.controller
-            .set_max_acceleration(acceleration.get::<meter_per_second_squared>());
-    }
-    pub fn set_deceleration(&mut self, deceleration: Acceleration) {
-        self.controller
-            .set_min_acceleration(deceleration.get::<meter_per_second_squared>());
-    }
-    pub fn get_min_speed(&self) -> Option<Velocity> {
-        self.controller
-            .get_min_speed()
-            .map(Velocity::new::<meter_per_second>)
-    }
-    pub fn get_max_speed(&self) -> Option<Velocity> {
-        self.controller
-            .get_max_speed()
-            .map(Velocity::new::<meter_per_second>)
-    }
-    pub fn set_min_speed(&mut self, min_speed: Option<Velocity>) {
-        self.controller
-            .set_min_speed(min_speed.map(|s| s.get::<meter_per_second>()));
-    }
-    pub fn set_max_speed(&mut self, max_speed: Option<Velocity>) {
-        self.controller
-            .set_max_speed(max_speed.map(|s| s.get::<meter_per_second>()));
-    }
-}
@@ -1,3 +0,0 @@
-pub mod acceleration_speed_controller;
-pub mod angular_acceleration_speed_controller;
-pub mod linear_acceleration_speed_controller;
@@ -1,4 +1 @@
-pub mod clamping_timeagnostic_pid;
-pub mod first_degree_motion;
 pub mod pid;
-pub mod second_degree_motion;
@@ -9,6 +9,7 @@ pub struct PidController {
    ki: f64,
    /// Derivative gain
    kd: f64,
+
    // State
    /// Proportional error
    ep: f64,
@@ -21,7 +22,7 @@ pub struct PidController {
 }

 impl PidController {
-    pub const fn new(kp: f64, ki: f64, kd: f64) -> Self {
+    pub fn new(kp: f64, ki: f64, kd: f64) -> Self {
        Self {
            kp,
            ki,
@@ -33,27 +34,8 @@ impl PidController {
        }
    }

-    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
-        self.reset();
-        self.kp = kp;
-        self.ki = ki;
-        self.kd = kd;
-    }
-
-    pub const fn get_kp(&self) -> f64 {
-        self.kp
-    }
-
-    pub const fn get_ki(&self) -> f64 {
-        self.ki
-    }
-
-    pub const fn get_kd(&self) -> f64 {
-        self.kd
-    }
-
    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        match self.last {
+        let signal = match self.last {
            // First update
            None => {
                // Calculate error
@@ -65,7 +47,6 @@ impl PidController {
                // Set values
                self.ep = ep;
                self.ei = 0.0;
-
                self.ed = 0.0;
                self.last = Some(t);

@@ -78,11 +59,11 @@ impl PidController {

                // Calculate errors
                let ep = error;
-                let ei = ep.mul_add(dt, self.ei);
+                let ei = self.ei + ep * dt;
                let ed = (ep - self.ep) / dt;

                // Calculate signal
-                let signal = self.kd.mul_add(ed, self.kp.mul_add(ep, self.ki * ei));
+                let signal = self.kp * ep + self.ki * ei + self.kd * ed;

                // Set values
                self.ep = ep;
@@ -92,10 +73,12 @@ impl PidController {

                signal
            }
-        }
+        };
+
+        signal
    }

-    pub const fn reset(&mut self) {
+    pub fn reset(&mut self) {
        self.ep = 0.0;
        self.ei = 0.0;
        self.ed = 0.0;
@@ -1,219 +0,0 @@
-use std::time::Instant;
-
-use units::{
-    angle::radian,
-    angular_acceleration::radian_per_second_squared,
-    angular_velocity::radian_per_second,
-    f64::{Angle, AngularAcceleration, AngularVelocity},
-};
-
-use super::acceleration_position_controller::{
-    AccelerationPositionController, MotionControllerError,
-};
-
-/// Angular Acceleration Position Controller with proper physical units
-#[derive(Debug)]
-pub struct AngularAccelerationPositionController {
-    controller: AccelerationPositionController,
-    last_update: Option<Instant>,
-}
-
-impl AngularAccelerationPositionController {
-    /// Create a new angular position controller with acceleration limits
-    pub fn new(
-        min_position: Option<Angle>,
-        max_position: Option<Angle>,
-        min_speed: AngularVelocity,
-        max_speed: AngularVelocity,
-        min_acceleration: AngularAcceleration,
-        max_acceleration: AngularAcceleration,
-    ) -> Self {
-        Self {
-            controller: AccelerationPositionController::new(
-                min_speed.get::<radian_per_second>(),                // min_speed
-                max_speed.get::<radian_per_second>(),                // max_speed
-                min_acceleration.get::<radian_per_second_squared>(), // min_acceleration
-                max_acceleration.get::<radian_per_second_squared>(), // max_acceleration
-                min_position.map(|angle| angle.get::<radian>()),     // min_position
-                max_position.map(|angle| angle.get::<radian>()),     // max_position
-                1e-6,                                                // position_tolerance
-                1e-6,                                                // speed_tolerance
-            )
-            .expect("Failed to create AccelerationPositionController"),
-            last_update: None,
-        }
-    }
-
-    /// Create a new angular position controller with simple symmetric limits
-    ///
-    /// This is a convenience constructor that creates symmetric limits:
-    /// - Position limits: [-position, +position] (if position is Some)
-    /// - Speed limits: [-speed, +speed]
-    /// - Acceleration limits: [-acceleration, +acceleration]
-    /// - Default tolerances: 1e-6 for both position and speed
-    ///
-    /// # Parameters (ordered: position, speed, acceleration)
-    /// - `position`: Optional maximum position magnitude (None for no limits, Some(x) creates [-x, +x])
-    /// - `speed`: Maximum angular velocity magnitude (creates limits [-speed, +speed])
-    /// - `acceleration`: Maximum angular acceleration magnitude (creates limits [-acceleration, +acceleration])
-    pub fn new_simple(
-        position: Option<Angle>,
-        speed: AngularVelocity,
-        acceleration: AngularAcceleration,
-    ) -> Self {
-        Self {
-            controller: AccelerationPositionController::new_simple(
-                position.map(|angle| angle.get::<radian>()),
-                speed.get::<radian_per_second>(),
-                acceleration.get::<radian_per_second_squared>(),
-            )
-            .expect("Failed to create AccelerationPositionController"),
-            last_update: None,
-        }
-    }
-
-    /// Update the controller with a new target angle
-    pub fn update(&mut self, target_angle: Angle, t: Instant) -> Angle {
-        // Calculate dt from the last update
-        let dt = if let Some(last_t) = self.last_update {
-            t.duration_since(last_t).as_secs_f64()
-        } else {
-            0.0 // First update, no time has passed
-        };
-        self.last_update = Some(t);
-
-        // Update controller with raw angle values
-        let result = self
-            .controller
-            .update(target_angle.get::<radian>(), dt)
-            .expect("Failed to update AccelerationPositionController");
-        Angle::new::<radian>(result)
-    }
-
-    /// Get the current angle position
-    pub fn get_position(&self) -> Angle {
-        Angle::new::<radian>(self.controller.get_position())
-    }
-
-    /// Get the target angle
-    pub fn get_target_position(&self) -> Angle {
-        Angle::new::<radian>(self.controller.get_target_position())
-    }
-
-    /// Get the minimum angle position limit
-    pub fn get_min_position(&self) -> Option<Angle> {
-        self.controller.get_min_position().map(Angle::new::<radian>)
-    }
-
-    /// Get the maximum angle position limit
-    pub fn get_max_position(&self) -> Option<Angle> {
-        self.controller.get_max_position().map(Angle::new::<radian>)
-    }
-
-    /// Set the minimum angle position limit
-    pub fn set_min_position(
-        &mut self,
-        min_position: Option<Angle>,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_position(min_position.map(|angle| angle.get::<radian>()))
-    }
-
-    /// Set the maximum angle position limit
-    pub fn set_max_position(
-        &mut self,
-        max_position: Option<Angle>,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_position(max_position.map(|angle| angle.get::<radian>()))
-    }
-
-    /// Get the current angular velocity
-    pub fn get_speed(&self) -> AngularVelocity {
-        AngularVelocity::new::<radian_per_second>(self.controller.get_speed())
-    }
-
-    /// Set the minimum angular velocity
-    pub fn set_min_speed(
-        &mut self,
-        min_speed: AngularVelocity,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_speed(min_speed.get::<radian_per_second>())
-    }
-
-    /// Set the maximum angular velocity
-    pub fn set_max_speed(
-        &mut self,
-        max_speed: AngularVelocity,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_speed(max_speed.get::<radian_per_second>())
-    }
-
-    /// Get the current angular acceleration
-    pub fn get_acceleration(&self) -> AngularAcceleration {
-        AngularAcceleration::new::<radian_per_second_squared>(self.controller.get_acceleration())
-    }
-
-    /// Set the minimum angular acceleration
-    pub fn set_min_acceleration(
-        &mut self,
-        min_acceleration: AngularAcceleration,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_acceleration(min_acceleration.get::<radian_per_second_squared>())
-    }
-
-    /// Set the maximum angular acceleration
-    pub fn set_max_acceleration(
-        &mut self,
-        max_acceleration: AngularAcceleration,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_acceleration(max_acceleration.get::<radian_per_second_squared>())
-    }
-
-    /// Resets the controller to a specific angular position
-    ///
-    /// This method completely reinitializes the controller state, setting:
-    /// - Current angular position to the specified value
-    /// - Target angular position to the specified value (stops any ongoing motion)
-    /// - Current angular velocity to 0
-    /// - Current angular acceleration to 0
-    /// - Motion phase to Idle
-    /// - Clears any motion planning state and timing information
-    ///
-    /// Use this method when you need to teleport the controlled object to a new angular position
-    /// or when recovering from errors/emergency stops.
-    ///
-    /// # Arguments
-    /// * `position` - The new angular position to reset to
-    ///
-    /// # Returns
-    /// Returns `Ok(())` on success, or `Err(MotionControllerError)` if the position is outside configured limits.
-    ///
-    /// # Errors
-    /// - `InvalidPositionLimits`: If the specified position is outside the configured min/max position limits
-    ///
-    /// # Example
-    /// ```ignore
-    /// use control_core::controllers::second_degree_motion::angular_acceleration_position_controller::AngularAccelerationPositionController;
-    /// use units::f64::Angle;
-    /// use units::angle::degree;
-    ///
-    /// let mut controller = AngularAccelerationPositionController::new_simple(
-    ///     Some(Angle::new::<degree>(180.0)),
-    ///     // ... other parameters
-    /// )?;
-    ///
-    /// // Reset to 45 degrees
-    /// let new_position = Angle::new::<degree>(45.0);
-    /// controller.reset(new_position)?;
-    /// ```
-    pub fn reset(&mut self, position: Angle) -> Result<(), MotionControllerError> {
-        self.controller.reset(position.get::<radian>())?;
-        self.last_update = None;
-        Ok(())
-    }
-}
@@ -1,327 +0,0 @@
-use std::time::Instant;
-
-use units::{
-    angular_acceleration::radian_per_second_squared,
-    angular_jerk::radian_per_second_cubed,
-    angular_velocity::radian_per_second,
-    f64::{AngularAcceleration, AngularJerk, AngularVelocity},
-};
-
-use super::acceleration_position_controller::MotionControllerError;
-use super::jerk_speed_controller::JerkSpeedController;
-
-/// Angular Jerk Speed Controller with proper physical units
-///
-/// This controller provides angular motion control with proper SI units for rotational systems.
-/// It wraps the core JerkSpeedController and provides unit-typed interfaces for angular velocity
-/// (AngularVelocity), angular acceleration (AngularAcceleration), and angular jerk (AngularJerk).
-///
-/// The controller manages smooth rotational speed profiles with configurable limits and tolerances,
-/// ensuring that angular velocity, acceleration, and jerk constraints are respected during motion.
-/// This is particularly useful for motor control, servo systems, and any rotational machinery
-/// requiring smooth speed transitions.
-///
-/// # Example
-/// ```ignore
-/// use units::{
-///     angular_velocity::revolution_per_minute,
-///     angular_acceleration::revolution_per_minute_per_second,
-///     angular_jerk::revolution_per_minute_per_second_squared,
-///     f64::{AngularVelocity, AngularAcceleration, AngularJerk}
-/// };
-///
-/// let max_speed = AngularVelocity::new::<revolution_per_minute>(3000.0);
-/// let max_accel = AngularAcceleration::new::<revolution_per_minute_per_second>(1000.0);
-/// let max_jerk = AngularJerk::new::<revolution_per_minute_per_second_squared>(500.0);
-///
-/// let controller = AngularJerkSpeedController::new_simple(
-///     Some(max_speed),
-///     max_accel,
-///     max_jerk,
-/// );
-/// ```
-#[derive(Debug)]
-pub struct AngularJerkSpeedController {
-    controller: JerkSpeedController,
-    last_update: Option<Instant>,
-}
-
-impl AngularJerkSpeedController {
-    /// Create a new angular speed controller with jerk limits
-    ///
-    /// This constructor allows full control over all angular velocity, acceleration, and jerk limits.
-    /// Use this when you need asymmetric limits or fine-grained control over the rotational motion profile.
-    ///
-    /// # Parameters (ordered: speed, acceleration, jerk)
-    /// * `min_speed` - Optional minimum allowed angular velocity (None for no limit)
-    /// * `max_speed` - Optional maximum allowed angular velocity (None for no limit)
-    /// * `min_acceleration` - Minimum angular acceleration (typically negative for deceleration)
-    /// * `max_acceleration` - Maximum angular acceleration (typically positive)
-    /// * `min_jerk` - Minimum angular jerk for decreasing acceleration (typically negative)
-    /// * `max_jerk` - Maximum angular jerk for increasing acceleration (typically positive)
-    ///
-    /// # Returns
-    /// A new AngularJerkSpeedController instance
-    ///
-    /// # Example
-    /// ```ignore
-    /// use units::{
-    ///     angular_velocity::revolution_per_minute,
-    ///     angular_acceleration::revolution_per_minute_per_second,
-    ///     angular_jerk::revolution_per_minute_per_second_squared,
-    ///     f64::{AngularVelocity, AngularAcceleration, AngularJerk}
-    /// };
-    ///
-    /// // Create controller with asymmetric limits
-    /// let controller = AngularJerkSpeedController::new(
-    ///     Some(AngularVelocity::new::<revolution_per_minute>(-1000.0)), // Min: -1000 RPM
-    ///     Some(AngularVelocity::new::<revolution_per_minute>(3000.0)),  // Max: +3000 RPM
-    ///     AngularAcceleration::new::<revolution_per_minute_per_second>(-800.0), // Min accel
-    ///     AngularAcceleration::new::<revolution_per_minute_per_second>(1200.0), // Max accel
-    ///     AngularJerk::new::<revolution_per_minute_per_second_squared>(-400.0), // Min jerk
-    ///     AngularJerk::new::<revolution_per_minute_per_second_squared>(600.0),  // Max jerk
-    /// );
-    /// ```
-    pub fn new(
-        min_speed: Option<AngularVelocity>,
-        max_speed: Option<AngularVelocity>,
-        min_acceleration: AngularAcceleration,
-        max_acceleration: AngularAcceleration,
-        min_jerk: AngularJerk,
-        max_jerk: AngularJerk,
-    ) -> Self {
-        Self {
-            controller: JerkSpeedController::new(
-                min_speed.map(|speed| speed.get::<radian_per_second>()),
-                max_speed.map(|speed| speed.get::<radian_per_second>()),
-                min_acceleration.get::<radian_per_second_squared>(),
-                max_acceleration.get::<radian_per_second_squared>(),
-                min_jerk.get::<radian_per_second_cubed>(),
-                max_jerk.get::<radian_per_second_cubed>(),
-            ),
-            last_update: None,
-        }
-    }
-
-    /// Create a new simple angular jerk speed controller with symmetric limits
-    ///
-    /// This is a convenience constructor that creates symmetric limits around zero for all parameters.
-    /// This is the most common use case and simplifies controller setup for typical rotational applications.
-    ///
-    /// The created limits are:
-    /// - Angular velocity limits: [-speed, +speed] (if speed is Some), no limits if None
-    /// - Angular acceleration limits: [-acceleration, +acceleration]
-    /// - Angular jerk limits: [-jerk, +jerk]
-    /// - Default tolerances: 1e-6 for both position and speed
-    ///
-    /// # Parameters (ordered: speed, acceleration, jerk)
-    /// * `speed` - Optional maximum angular velocity magnitude (None for no limits, Some(x) creates [-x, +x])
-    /// * `acceleration` - Maximum angular acceleration magnitude (creates limits [-acceleration, +acceleration])
-    /// * `jerk` - Maximum angular jerk magnitude (creates limits [-jerk, +jerk])
-    ///
-    /// # Returns
-    /// A new AngularJerkSpeedController instance
-    ///
-    /// # Panics
-    /// Panics if acceleration or jerk values are negative or zero
-    ///
-    /// # Example
-    /// ```ignore
-    /// use units::{
-    ///     angular_velocity::revolution_per_minute,
-    ///     angular_acceleration::revolution_per_minute_per_second,
-    ///     angular_jerk::revolution_per_minute_per_second_squared,
-    ///     f64::{AngularVelocity, AngularAcceleration, AngularJerk}
-    /// };
-    ///
-    /// // Create controller with symmetric limits
-    /// let max_speed = AngularVelocity::new::<revolution_per_minute>(2000.0);
-    /// let max_accel = AngularAcceleration::new::<revolution_per_minute_per_second>(1000.0);
-    /// let max_jerk = AngularJerk::new::<revolution_per_minute_per_second_squared>(500.0);
-    ///
-    /// let controller = AngularJerkSpeedController::new_simple(
-    ///     Some(max_speed),  // Angular velocity limits: [-2000, +2000] RPM
-    ///     max_accel,        // Angular acceleration limits: [-1000, +1000] RPM/s
-    ///     max_jerk,         // Angular jerk limits: [-500, +500] RPM/s²
-    /// );
-    ///
-    /// // Create controller with no speed limits
-    /// let unlimited_controller = AngularJerkSpeedController::new_simple(
-    ///     None,       // No angular velocity limits
-    ///     max_accel,  // Angular acceleration limits: [-1000, +1000] RPM/s
-    ///     max_jerk,   // Angular jerk limits: [-500, +500] RPM/s²
-    /// );
-    /// ```
-    pub fn new_simple(
-        speed: Option<AngularVelocity>,
-        acceleration: AngularAcceleration,
-        jerk: AngularJerk,
-    ) -> Self {
-        let controller = JerkSpeedController::new_simple(
-            speed.map(|s| s.get::<radian_per_second>()),
-            acceleration.get::<radian_per_second_squared>(),
-            jerk.get::<radian_per_second_cubed>(),
-        );
-
-        Self {
-            controller,
-            last_update: None,
-        }
-    }
-
-    /// Update the controller with a new target angular velocity
-    ///
-    /// Calculates the next angular velocity in the motion profile based on the target and elapsed time.
-    /// The controller automatically manages angular acceleration and jerk to reach the target angular
-    /// velocity while respecting all configured limits.
-    ///
-    /// # Parameters
-    /// * `target_speed` - The desired target angular velocity
-    /// * `t` - Current timestamp for calculating time delta
-    ///
-    /// # Returns
-    /// The current angular velocity after applying the motion profile for this time step
-    ///
-    /// # Example
-    /// ```ignore
-    /// use std::time::Instant;
-    /// use units::{angular_velocity::revolution_per_minute, f64::AngularVelocity};
-    ///
-    /// let mut controller = AngularJerkSpeedController::new_simple(/* ... */);
-    /// let target = AngularVelocity::new::<revolution_per_minute>(1500.0);
-    ///
-    /// let current_speed = controller.update(target, Instant::now());
-    /// ```
-    pub fn update(&mut self, target_speed: AngularVelocity, t: Instant) -> AngularVelocity {
-        // Calculate dt from the last update
-        let dt = if let Some(last_t) = self.last_update {
-            t.duration_since(last_t).as_secs_f64()
-        } else {
-            0.0 // First update, no time has passed
-        };
-        self.last_update = Some(t);
-
-        // Convert target to raw value, update controller, and convert result back to AngularVelocity
-        let target_raw = target_speed.get::<radian_per_second>();
-        let speed_raw = self.controller.update(target_raw, dt);
-        AngularVelocity::new::<radian_per_second>(speed_raw)
-    }
-
-    /// Get the current angular velocity
-    ///
-    /// Returns the controller's current angular velocity in the motion profile.
-    ///
-    /// # Returns
-    /// Current angular velocity as an AngularVelocity value
-    pub fn get_speed(&self) -> AngularVelocity {
-        AngularVelocity::new::<radian_per_second>(self.controller.get_speed())
-    }
-
-    /// Get the target angular velocity
-    ///
-    /// Returns the current target angular velocity that the controller is trying to reach.
-    ///
-    /// # Returns
-    /// Target angular velocity as an AngularVelocity value
-    pub fn get_target_speed(&self) -> AngularVelocity {
-        AngularVelocity::new::<radian_per_second>(self.controller.get_target_speed())
-    }
-
-    /// Get the minimum angular velocity limit
-    ///
-    /// Returns the minimum angular velocity constraint, if one is set.
-    ///
-    /// # Returns
-    /// Minimum angular velocity limit as an Option<AngularVelocity>, None if no limit is set
-    pub fn get_min_speed(&self) -> Option<AngularVelocity> {
-        self.controller
-            .get_min_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
-    }
-
-    /// Get the maximum angular velocity limit
-    ///
-    /// Returns the maximum angular velocity constraint, if one is set.
-    ///
-    /// # Returns
-    /// Maximum angular velocity limit as an Option<AngularVelocity>, None if no limit is set
-    pub fn get_max_speed(&self) -> Option<AngularVelocity> {
-        self.controller
-            .get_max_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
-    }
-
-    /// Set the minimum angular velocity limit
-    pub fn set_min_speed(
-        &mut self,
-        min_speed: Option<AngularVelocity>,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_speed(min_speed.map(|speed| speed.get::<radian_per_second>()))
-    }
-
-    /// Set the maximum angular velocity limit
-    pub fn set_max_speed(
-        &mut self,
-        max_speed: Option<AngularVelocity>,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_speed(max_speed.map(|speed| speed.get::<radian_per_second>()))
-    }
-
-    /// Get the current angular acceleration
-    pub fn get_acceleration(&self) -> AngularAcceleration {
-        AngularAcceleration::new::<radian_per_second_squared>(self.controller.get_acceleration())
-    }
-
-    /// Set the minimum angular acceleration
-    pub fn set_min_acceleration(
-        &mut self,
-        min_acceleration: AngularAcceleration,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_acceleration(min_acceleration.get::<radian_per_second_squared>())
-    }
-
-    /// Set the maximum angular acceleration
-    pub fn set_max_acceleration(
-        &mut self,
-        max_acceleration: AngularAcceleration,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_acceleration(max_acceleration.get::<radian_per_second_squared>())
-    }
-
-    /// Get the current angular jerk
-    pub fn get_jerk(&self) -> AngularJerk {
-        AngularJerk::new::<radian_per_second_cubed>(self.controller.get_jerk())
-    }
-
-    /// Set the minimum angular jerk
-    pub fn set_min_jerk(&mut self, min_jerk: AngularJerk) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_jerk(min_jerk.get::<radian_per_second_cubed>())
-    }
-
-    /// Set the maximum angular jerk
-    pub fn set_max_jerk(&mut self, max_jerk: AngularJerk) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_jerk(max_jerk.get::<radian_per_second_cubed>())
-    }
-
-    /// Reset the controller to a new angular velocity and acceleration
-    ///
-    /// This resets all internal state including:
-    /// - Current angular velocity to the provided value
-    /// - Current angular acceleration to 0
-    /// - Current angular jerk to 0
-    /// - Target angular velocity to the current velocity
-    ///
-    /// # Parameters
-    /// - `velocity`: The new current angular velocity
-    pub fn reset(&mut self, velocity: AngularVelocity) -> Result<(), MotionControllerError> {
-        self.controller.reset(velocity.get::<radian_per_second>())?;
-        self.last_update = None;
-        Ok(())
-    }
-}
@@ -1,378 +0,0 @@
-use super::acceleration_position_controller::{
-    AccelerationPositionController, MotionControllerError,
-};
-
-/// Controller for speed-based motion with jerk limits.
-///
-/// This controller manages motion profiles where speed is the primary controlled variable,
-/// with constraints on acceleration (rate of change of speed) and jerk (rate of change of acceleration).
-/// It wraps an AccelerationPositionController but remaps the parameters to represent one higher
-/// degree of derivation in the motion hierarchy.
-///
-/// The control hierarchy is:
-/// - **Speed**: The primary controlled variable (analogous to position in position control)
-/// - **Acceleration**: First derivative of speed (analogous to velocity in position control)  
-/// - **Jerk**: Second derivative of speed, rate of change of acceleration (analogous to acceleration in position control)
-///
-/// This controller is particularly useful for applications where you need to control rotational
-/// or linear speed with smooth acceleration profiles, such as motor control, conveyor systems,
-/// or any application requiring smooth speed transitions.
-///
-/// # Example
-/// ```ignore
-/// // Create a controller for speed control with jerk limiting
-/// let controller = JerkSpeedController::new_simple(
-///     Some(100.0),  // Max speed ±100 units/s
-///     50.0,         // Max acceleration ±50 units/s²
-///     25.0,         // Max jerk ±25 units/s³
-/// );
-///
-/// // Update towards target speed
-/// let current_speed = controller.update(80.0, 0.01);  // Target 80 units/s, dt=10ms
-/// ```
-#[derive(Debug)]
-pub struct JerkSpeedController {
-    base_controller: AccelerationPositionController,
-}
-
-impl JerkSpeedController {
-    /// Create a new speed controller with the given constraints
-    ///
-    /// This constructor allows full control over all speed, acceleration, and jerk limits.
-    /// Use this when you need asymmetric limits or fine-grained control over the motion profile.
-    ///
-    /// # Parameters (ordered: speed, acceleration, jerk)
-    /// * `min_speed` - Optional minimum allowed speed (None for no limit)
-    /// * `max_speed` - Optional maximum allowed speed (None for no limit)
-    /// * `min_acceleration` - Minimum acceleration (typically negative for deceleration)
-    /// * `max_acceleration` - Maximum acceleration (typically positive)
-    /// * `min_jerk` - Minimum jerk for decreasing acceleration (typically negative)
-    /// * `max_jerk` - Maximum jerk for increasing acceleration (typically positive)
-    ///
-    /// # Returns
-    /// A new JerkSpeedController instance
-    ///
-    /// # Panics
-    /// Panics if the underlying AccelerationPositionController cannot be created with the given parameters
-    ///
-    /// # Example
-    /// ```ignore
-    /// // Create controller with asymmetric limits
-    /// let controller = JerkSpeedController::new(
-    ///     Some(-50.0),  // Min speed: -50 units/s
-    ///     Some(100.0),  // Max speed: +100 units/s
-    ///     -30.0,        // Min acceleration: -30 units/s²
-    ///     40.0,         // Max acceleration: +40 units/s²
-    ///     -20.0,        // Min jerk: -20 units/s³
-    ///     25.0,         // Max jerk: +25 units/s³
-    /// );
-    /// ```
-    pub fn new(
-        min_speed: Option<f64>,
-        max_speed: Option<f64>,
-        min_acceleration: f64,
-        max_acceleration: f64,
-        min_jerk: f64,
-        max_jerk: f64,
-    ) -> Self {
-        // Create the base controller with renamed parameters
-        let base_controller = AccelerationPositionController::new(
-            min_jerk,         // min_speed in the base controller
-            max_jerk,         // max_speed in the base controller
-            min_acceleration, // min_acceleration in the base controller
-            max_acceleration, // max_acceleration in the base controller
-            min_speed,        // min_position in the base controller
-            max_speed,        // max_position in the base controller
-            1e-6,             // position_tolerance
-            1e-6,             // speed_tolerance
-        )
-        .expect("Failed to create AccelerationPositionController");
-
-        Self { base_controller }
-    }
-
-    /// Create a new speed controller with simple symmetric limits
-    ///
-    /// This is a convenience constructor that creates symmetric limits around zero for all parameters.
-    /// This is the most common use case and simplifies controller setup for typical applications.
-    ///
-    /// The created limits are:
-    /// - Speed limits: [-speed, +speed] (if speed is Some), no limits if None
-    /// - Acceleration limits: [-acceleration, +acceleration]  
-    /// - Jerk limits: [-jerk, +jerk]
-    /// - Default tolerances: 1e-6 for both position and speed
-    ///
-    /// # Parameters (ordered: speed, acceleration, jerk)
-    /// * `speed` - Optional maximum speed magnitude (None for no limits, Some(x) creates [-x, +x])
-    /// * `acceleration` - Maximum acceleration magnitude (creates limits [-acceleration, +acceleration])
-    /// * `jerk` - Maximum jerk magnitude (creates limits [-jerk, +jerk])
-    ///
-    /// # Returns
-    /// A new JerkSpeedController instance
-    ///
-    /// # Panics
-    /// Panics if acceleration or jerk values are negative or zero
-    ///
-    /// # Example
-    /// ```ignore
-    /// // Create controller with symmetric limits
-    /// let controller = JerkSpeedController::new_simple(
-    ///     Some(100.0),  // Speed limits: [-100, +100] units/s
-    ///     50.0,         // Acceleration limits: [-50, +50] units/s²
-    ///     25.0,         // Jerk limits: [-25, +25] units/s³
-    /// );
-    ///
-    /// // Create controller with no speed limits
-    /// let unlimited_controller = JerkSpeedController::new_simple(
-    ///     None,    // No speed limits
-    ///     30.0,    // Acceleration limits: [-30, +30] units/s²
-    ///     15.0,    // Jerk limits: [-15, +15] units/s³
-    /// );
-    /// ```
-    pub fn new_simple(speed: Option<f64>, acceleration: f64, jerk: f64) -> Self {
-        if acceleration <= 0.0 || jerk <= 0.0 {
-            panic!("Acceleration and jerk must be positive values");
-        }
-
-        Self::new(
-            speed.map(|s| -s), // min_speed
-            speed,             // max_speed
-            -acceleration,     // min_acceleration
-            acceleration,      // max_acceleration
-            -jerk,             // min_jerk
-            jerk,              // max_jerk
-        )
-    }
-
-    /// Update the controller state based on the target speed and time step
-    ///
-    /// Calculates the next speed in the motion profile based on the target speed and elapsed time.
-    /// The controller automatically manages acceleration and jerk to reach the target speed
-    /// while respecting all configured limits.
-    ///
-    /// # Parameters
-    /// * `target_speed` - The desired target speed to reach
-    /// * `dt` - Time step in seconds since the last update
-    ///
-    /// # Returns
-    /// The current speed after applying the motion profile for this time step
-    ///
-    /// # Panics
-    /// Panics if the underlying controller update fails (should not happen in normal operation)
-    ///
-    /// # Example
-    /// ```ignore
-    /// let mut controller = JerkSpeedController::new_simple(Some(100.0), 50.0, 25.0);
-    ///
-    /// // Control loop
-    /// loop {
-    ///     let current_speed = controller.update(target_speed, 0.01);  // 10ms update cycle
-    ///     // Use current_speed for your application
-    /// }
-    /// ```
-    pub fn update(&mut self, target_speed: f64, dt: f64) -> f64 {
-        // Call the base controller's update method with the target speed
-        self.base_controller
-            .update(target_speed, dt)
-            .expect("Failed to update controller")
-    }
-
-    /// Get the current speed
-    ///
-    /// Returns the controller's current speed in the motion profile.
-    ///
-    /// # Returns
-    /// Current speed as a floating-point value
-    pub const fn get_speed(&self) -> f64 {
-        self.base_controller.get_position()
-    }
-
-    /// Get the current acceleration
-    ///
-    /// Returns the controller's current acceleration (rate of change of speed).
-    ///
-    /// # Returns
-    /// Current acceleration as a floating-point value
-    pub const fn get_acceleration(&self) -> f64 {
-        self.base_controller.get_speed()
-    }
-
-    /// Get the current jerk
-    ///
-    /// Returns the controller's current jerk (rate of change of acceleration).
-    ///
-    /// # Returns
-    /// Current jerk as a floating-point value
-    pub const fn get_jerk(&self) -> f64 {
-        self.base_controller.get_acceleration()
-    }
-
-    /// Get the target speed
-    ///
-    /// Returns the current target speed that the controller is trying to reach.
-    ///
-    /// # Returns
-    /// Target speed as a floating-point value
-    pub const fn get_target_speed(&self) -> f64 {
-        self.base_controller.get_target_position()
-    }
-
-    /// Get the minimum speed limit
-    ///
-    /// Returns the minimum speed constraint, if one is set.
-    ///
-    /// # Returns
-    /// Minimum speed limit as an Option<f64>, None if no limit is set
-    pub const fn get_min_speed(&self) -> Option<f64> {
-        self.base_controller.get_min_position()
-    }
-
-    /// Get the maximum speed limit
-    ///
-    /// Returns the maximum speed constraint, if one is set.
-    ///
-    /// # Returns
-    /// Maximum speed limit as an Option<f64>, None if no limit is set
-    pub const fn get_max_speed(&self) -> Option<f64> {
-        self.base_controller.get_max_position()
-    }
-
-    /// Set the minimum speed limit
-    ///
-    /// Updates the minimum speed constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `min_speed` - New minimum speed limit (None to remove limit)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., greater than the maximum speed limit)
-    pub fn set_min_speed(&mut self, min_speed: Option<f64>) -> Result<(), MotionControllerError> {
-        self.base_controller.set_min_position(min_speed)
-    }
-
-    /// Set the maximum speed limit
-    ///
-    /// Updates the maximum speed constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `max_speed` - New maximum speed limit (None to remove limit)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., less than the minimum speed limit)
-    pub fn set_max_speed(&mut self, max_speed: Option<f64>) -> Result<(), MotionControllerError> {
-        self.base_controller.set_max_position(max_speed)
-    }
-
-    /// Set the minimum acceleration
-    ///
-    /// Updates the minimum acceleration constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `min_acceleration` - New minimum acceleration limit (typically negative for deceleration)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., greater than the maximum acceleration limit)
-    pub fn set_min_acceleration(
-        &mut self,
-        min_acceleration: f64,
-    ) -> Result<(), MotionControllerError> {
-        self.base_controller.set_min_speed(min_acceleration)
-    }
-
-    /// Set the maximum acceleration
-    ///
-    /// Updates the maximum acceleration constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `max_acceleration` - New maximum acceleration limit (typically positive)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., less than the minimum acceleration limit or negative/zero value)
-    pub fn set_max_acceleration(
-        &mut self,
-        max_acceleration: f64,
-    ) -> Result<(), MotionControllerError> {
-        self.base_controller.set_max_speed(max_acceleration)
-    }
-
-    /// Set the minimum jerk
-    ///
-    /// Updates the minimum jerk constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `min_jerk` - New minimum jerk limit (typically negative for decreasing acceleration)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., greater than the maximum jerk limit)
-    pub fn set_min_jerk(&mut self, min_jerk: f64) -> Result<(), MotionControllerError> {
-        self.base_controller.set_min_acceleration(min_jerk)
-    }
-
-    /// Set the maximum jerk
-    ///
-    /// Updates the maximum jerk constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `max_jerk` - New maximum jerk limit (typically positive for increasing acceleration)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., less than the minimum jerk limit or negative/zero value)
-    pub fn set_max_jerk(&mut self, max_jerk: f64) -> Result<(), MotionControllerError> {
-        self.base_controller.set_max_acceleration(max_jerk)
-    }
-
-    /// Reset the controller to a new speed and acceleration
-    ///
-    /// This resets all internal state of the controller to start fresh from a new state.
-    /// The controller will reset its speed, clear any accumulated motion profile state,
-    /// and set the target speed to the current speed.
-    ///
-    /// # Parameters
-    /// * `speed` - The new current speed to reset to
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the reset operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the speed is outside the configured limits
-    ///
-    /// # Example
-    /// ```ignore
-    /// let mut controller = JerkSpeedController::new_simple(Some(100.0), 50.0, 25.0);
-    ///
-    /// // Reset to zero speed with zero acceleration
-    /// controller.reset(0.0)?;
-    ///
-    /// // Reset to specific speed
-    /// controller.reset(25.0)?;
-    /// ```
-    pub fn reset(&mut self, speed: f64) -> Result<(), MotionControllerError> {
-        // Reset to the speed position (treating speed as position in the base controller)
-        self.base_controller.reset(speed)?;
-        Ok(())
-    }
-}
@@ -1,389 +0,0 @@
-use std::time::Instant;
-
-use units::{
-    acceleration::meter_per_second_squared,
-    f64::{Acceleration, Length, Velocity},
-    length::meter,
-    velocity::meter_per_second,
-};
-
-use super::acceleration_position_controller::{
-    AccelerationPositionController, MotionControllerError,
-};
-
-/// Linear Acceleration Position Controller with proper physical units
-///
-/// This controller provides linear motion control with proper SI units (meters, m/s, m/s²).
-/// It wraps the core AccelerationPositionController and provides unit-typed interfaces
-/// for position (Length), velocity (Velocity), and acceleration (Acceleration).
-///
-/// The controller manages smooth motion profiles with configurable limits and tolerances,
-/// ensuring that position, speed, and acceleration constraints are respected during motion.
-///
-/// # Example
-/// ```ignore
-/// use units::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
-/// use units::f64::{Length, Velocity, Acceleration};
-///
-/// let position_limit = Length::new::<meter>(10.0);
-/// let max_speed = Velocity::new::<meter_per_second>(2.0);
-/// let max_acceleration = Acceleration::new::<meter_per_second_squared>(5.0);
-///
-/// let controller = LinearAccelerationPositionController::new_simple(
-///     Some(position_limit),
-///     max_speed,
-///     max_acceleration,
-/// ).unwrap();
-/// ```
-#[derive(Debug)]
-pub struct LinearAccelerationPositionController {
-    controller: AccelerationPositionController,
-    last_update: Option<Instant>,
-}
-
-impl LinearAccelerationPositionController {
-    /// Create a new linear position controller with acceleration limits
-    ///
-    /// # Parameters
-    /// * `min_position` - Minimum position limit (optional)
-    /// * `max_position` - Maximum position limit (optional)  
-    /// * `min_speed` - Minimum speed limit (typically negative)
-    /// * `max_speed` - Maximum speed limit (typically positive)
-    /// * `min_acceleration` - Minimum acceleration limit (typically negative for deceleration)
-    /// * `max_acceleration` - Maximum acceleration limit (typically positive)
-    ///
-    /// # Returns
-    /// A new LinearAccelerationPositionController instance
-    ///
-    /// # Panics
-    /// Panics if the underlying AccelerationPositionController cannot be created with the given parameters
-    pub fn new(
-        min_position: Option<Length>,
-        max_position: Option<Length>,
-        min_speed: Velocity,
-        max_speed: Velocity,
-        min_acceleration: Acceleration,
-        max_acceleration: Acceleration,
-    ) -> Self {
-        Self {
-            controller: AccelerationPositionController::new(
-                min_speed.get::<meter_per_second>(),
-                max_speed.get::<meter_per_second>(),
-                min_acceleration.get::<meter_per_second_squared>(),
-                max_acceleration.get::<meter_per_second_squared>(),
-                min_position.map(|length| length.get::<meter>()),
-                max_position.map(|length| length.get::<meter>()),
-                1e-6, // position_tolerance
-                1e-6, // speed_tolerance
-            )
-            .expect("Failed to create AccelerationPositionController"),
-            last_update: None,
-        }
-    }
-
-    /// Create a new simple linear acceleration position controller with symmetric limits
-    ///
-    /// This is a convenience constructor that creates symmetric limits around zero for
-    /// position, speed, and acceleration. This is useful for most common use cases.
-    ///
-    /// # Parameters
-    /// * `position` - Maximum position limit (creates [-position, +position] range if Some)
-    /// * `speed` - Maximum speed limit (creates [-speed, +speed] range)
-    /// * `acceleration` - Maximum acceleration limit (creates [-acceleration, +acceleration] range)
-    ///
-    /// # Returns
-    /// A Result containing the new controller or a MotionControllerError
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if:
-    /// - Speed or acceleration values are negative or zero
-    /// - The underlying controller cannot be created with the calculated limits
-    ///
-    /// # Example
-    /// ```ignore
-    /// use units::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
-    /// use units::f64::{Length, Velocity, Acceleration};
-    ///
-    /// let position_limit = Length::new::<meter>(5.0);  // Creates [-5.0, +5.0] meter range
-    /// let max_speed = Velocity::new::<meter_per_second>(1.0);  // Creates [-1.0, +1.0] m/s range
-    /// let max_accel = Acceleration::new::<meter_per_second_squared>(2.0);  // Creates [-2.0, +2.0] m/s² range
-    ///
-    /// let controller = LinearAccelerationPositionController::new_simple(
-    ///     Some(position_limit),
-    ///     max_speed,
-    ///     max_accel,
-    /// )?;
-    /// ```
-    pub fn new_simple(
-        position: Option<Length>,
-        speed: Velocity,
-        acceleration: Acceleration,
-    ) -> Result<Self, MotionControllerError> {
-        let controller = AccelerationPositionController::new_simple(
-            position.map(|p| p.get::<meter>()),
-            speed.get::<meter_per_second>(),
-            acceleration.get::<meter_per_second_squared>(),
-        )?;
-
-        Ok(Self {
-            controller,
-            last_update: None,
-        })
-    }
-
-    /// Update the controller with a new target position
-    ///
-    /// Calculates the next position in the motion profile based on the target position
-    /// and elapsed time since the last update. The controller automatically manages
-    /// acceleration and velocity to reach the target while respecting all limits.
-    ///
-    /// # Parameters
-    /// * `target_position` - The desired target position
-    /// * `t` - Current timestamp for calculating time delta
-    ///
-    /// # Returns
-    /// The current position after applying the motion profile for this time step
-    ///
-    /// # Panics
-    /// Panics if the underlying controller update fails (should not happen in normal operation)
-    ///
-    /// # Example
-    /// ```ignore
-    /// use std::time::Instant;
-    /// use units::{length::meter, f64::Length};
-    ///
-    /// let mut controller = LinearAccelerationPositionController::new_simple(
-    ///     Some(Length::new::<meter>(10.0)),
-    ///     // ... other parameters
-    /// )?;
-    ///
-    /// let target = Length::new::<meter>(5.0);
-    /// let current_position = controller.update(target, Instant::now());
-    /// ```
-    pub fn update(&mut self, target_position: Length, t: Instant) -> Length {
-        // Calculate dt from the last update
-        let dt = if let Some(last_t) = self.last_update {
-            t.duration_since(last_t).as_secs_f64()
-        } else {
-            0.0 // First update, no time has passed
-        };
-        self.last_update = Some(t);
-
-        // Convert target to raw value, update controller, and convert result back to Length
-        let target_raw = target_position.get::<meter>();
-        let position_raw = self
-            .controller
-            .update(target_raw, dt)
-            .expect("Failed to update controller");
-        Length::new::<meter>(position_raw)
-    }
-
-    /// Get the current position
-    ///
-    /// Returns the controller's current position in the motion profile.
-    ///
-    /// # Returns
-    /// Current position as a Length value
-    pub fn get_position(&self) -> Length {
-        Length::new::<meter>(self.controller.get_position())
-    }
-
-    /// Get the target position  
-    ///
-    /// Returns the current target position that the controller is trying to reach.
-    ///
-    /// # Returns
-    /// Target position as a Length value
-    pub fn get_target_position(&self) -> Length {
-        Length::new::<meter>(self.controller.get_target_position())
-    }
-
-    /// Get the minimum position limit
-    ///
-    /// Returns the minimum position constraint, if one is set.
-    ///
-    /// # Returns
-    /// Minimum position limit as an Option<Length>, None if no limit is set
-    pub fn get_min_position(&self) -> Option<Length> {
-        self.controller.get_min_position().map(Length::new::<meter>)
-    }
-
-    /// Get the maximum position limit
-    ///
-    /// Returns the maximum position constraint, if one is set.
-    ///
-    /// # Returns  
-    /// Maximum position limit as an Option<Length>, None if no limit is set
-    pub fn get_max_position(&self) -> Option<Length> {
-        self.controller.get_max_position().map(Length::new::<meter>)
-    }
-
-    /// Set the minimum position limit
-    ///
-    /// Updates the minimum position constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `min_position` - New minimum position limit (None to remove limit)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., greater than the maximum position limit)
-    pub fn set_min_position(
-        &mut self,
-        min_position: Option<Length>,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_position(min_position.map(|length| length.get::<meter>()))
-    }
-
-    /// Set the maximum position limit
-    ///
-    /// Updates the maximum position constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `max_position` - New maximum position limit (None to remove limit)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., less than the minimum position limit)
-    pub fn set_max_position(
-        &mut self,
-        max_position: Option<Length>,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_position(max_position.map(|length| length.get::<meter>()))
-    }
-
-    /// Get the current speed
-    ///
-    /// Returns the controller's current velocity in the motion profile.
-    ///
-    /// # Returns
-    /// Current velocity as a Velocity value
-    pub fn get_speed(&self) -> Velocity {
-        Velocity::new::<meter_per_second>(self.controller.get_speed())
-    }
-
-    /// Set the minimum speed
-    ///
-    /// Updates the minimum velocity constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `min_speed` - New minimum speed limit (typically negative for reverse motion)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., greater than the maximum speed limit)
-    pub fn set_min_speed(&mut self, min_speed: Velocity) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_speed(min_speed.get::<meter_per_second>())
-    }
-
-    /// Set the maximum speed
-    ///
-    /// Updates the maximum velocity constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `max_speed` - New maximum speed limit (typically positive)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., less than the minimum speed limit or negative/zero value)
-    pub fn set_max_speed(&mut self, max_speed: Velocity) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_speed(max_speed.get::<meter_per_second>())
-    }
-
-    /// Get the current acceleration
-    ///
-    /// Returns the controller's current acceleration in the motion profile.
-    ///
-    /// # Returns
-    /// Current acceleration as an Acceleration value
-    pub fn get_acceleration(&self) -> Acceleration {
-        Acceleration::new::<meter_per_second_squared>(self.controller.get_acceleration())
-    }
-
-    /// Set the minimum acceleration
-    ///
-    /// Updates the minimum acceleration constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `min_acceleration` - New minimum acceleration limit (typically negative for deceleration)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., greater than the maximum acceleration limit)
-    pub fn set_min_acceleration(
-        &mut self,
-        min_acceleration: Acceleration,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_acceleration(min_acceleration.get::<meter_per_second_squared>())
-    }
-
-    /// Set the maximum acceleration
-    ///
-    /// Updates the maximum acceleration constraint for the controller.
-    ///
-    /// # Parameters
-    /// * `max_acceleration` - New maximum acceleration limit (typically positive)
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the new limit would be invalid
-    /// (e.g., less than the minimum acceleration limit or negative/zero value)
-    pub fn set_max_acceleration(
-        &mut self,
-        max_acceleration: Acceleration,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_acceleration(max_acceleration.get::<meter_per_second_squared>())
-    }
-
-    /// Reset the controller to a new position and velocity
-    ///
-    /// This resets all internal state of the controller to start fresh from a new state.
-    /// The controller will reset its position, clear any accumulated motion profile state,
-    /// and set the target position to the current position.
-    ///
-    /// # Parameters
-    /// * `position` - The new current position to reset to
-    ///
-    /// # Returns
-    /// Result indicating success or failure of the reset operation
-    ///
-    /// # Errors
-    /// Returns MotionControllerError if the position is outside the configured limits
-    ///
-    /// # Example
-    /// ```ignore
-    /// use units::{length::meter, velocity::meter_per_second, f64::{Length, Velocity}};
-    ///
-    /// let new_position = Length::new::<meter>(0.0);
-    ///
-    /// controller.reset(new_position)?;
-    /// ```
-    pub fn reset(&mut self, position: Length) -> Result<(), MotionControllerError> {
-        self.controller.reset(position.get::<meter>())?;
-        self.last_update = None;
-        Ok(())
-    }
-}
@@ -1,281 +0,0 @@
-use std::time::Instant;
-
-use units::{
-    acceleration::meter_per_second_squared,
-    f64::{Acceleration, Jerk, Velocity},
-    jerk::meter_per_second_cubed,
-    velocity::meter_per_second,
-};
-
-use super::acceleration_position_controller::MotionControllerError;
-use super::jerk_speed_controller::JerkSpeedController;
-
-/// Linear Jerk Speed Controller with proper physical units
-///
-/// This controller provides linear motion control with proper SI units for translational systems.
-/// It wraps the core JerkSpeedController and provides unit-typed interfaces for velocity (Velocity),
-/// acceleration (Acceleration), and jerk (Jerk).
-///
-/// The controller manages smooth linear speed profiles with configurable limits and tolerances,
-/// ensuring that velocity, acceleration, and jerk constraints are respected during motion.
-/// This is particularly useful for linear actuators, conveyor systems, CNC machines, and any
-/// translational machinery requiring smooth speed transitions.
-///
-/// # Example
-/// ```ignore
-/// use units::{
-///     velocity::meter_per_second,
-///     acceleration::meter_per_second_squared,
-///     jerk::meter_per_second_cubed,
-///     f64::{Velocity, Acceleration, Jerk}
-/// };
-///
-/// let max_speed = Velocity::new::<meter_per_second>(5.0);
-/// let max_accel = Acceleration::new::<meter_per_second_squared>(2.0);
-/// let max_jerk = Jerk::new::<meter_per_second_cubed>(1.0);
-///
-/// let controller = LinearJerkSpeedController::new_simple(
-///     Some(max_speed),
-///     max_accel,
-///     max_jerk,
-/// );
-/// ```
-#[derive(Debug)]
-pub struct LinearJerkSpeedController {
-    controller: JerkSpeedController,
-    last_update: Option<Instant>,
-}
-
-impl LinearJerkSpeedController {
-    /// Create a new linear speed controller with jerk limits
-    ///
-    /// This constructor allows full control over all velocity, acceleration, and jerk limits.
-    /// Use this when you need asymmetric limits or fine-grained control over the linear motion profile.
-    ///
-    /// # Parameters (ordered: speed, acceleration, jerk)
-    /// * `min_speed` - Optional minimum allowed velocity (None for no limit)
-    /// * `max_speed` - Optional maximum allowed velocity (None for no limit)
-    /// * `min_acceleration` - Minimum acceleration (typically negative for deceleration)
-    /// * `max_acceleration` - Maximum acceleration (typically positive)
-    /// * `min_jerk` - Minimum jerk for decreasing acceleration (typically negative)
-    /// * `max_jerk` - Maximum jerk for increasing acceleration (typically positive)
-    ///
-    /// # Returns
-    /// A new LinearJerkSpeedController instance
-    ///
-    /// # Example
-    /// ```ignore
-    /// use units::{
-    ///     velocity::meter_per_second,
-    ///     acceleration::meter_per_second_squared,
-    ///     jerk::meter_per_second_cubed,
-    ///     f64::{Velocity, Acceleration, Jerk}
-    /// };
-    ///
-    /// // Create controller with asymmetric limits
-    /// let controller = LinearJerkSpeedController::new(
-    ///     Some(Velocity::new::<meter_per_second>(-2.0)), // Min: -2 m/s
-    ///     Some(Velocity::new::<meter_per_second>(5.0)),  // Max: +5 m/s
-    ///     Acceleration::new::<meter_per_second_squared>(-3.0), // Min accel
-    ///     Acceleration::new::<meter_per_second_squared>(4.0),  // Max accel
-    ///     Jerk::new::<meter_per_second_cubed>(-2.0), // Min jerk
-    ///     Jerk::new::<meter_per_second_cubed>(3.0),  // Max jerk
-    /// );
-    /// ```
-    pub fn new(
-        min_speed: Option<Velocity>,
-        max_speed: Option<Velocity>,
-        min_acceleration: Acceleration,
-        max_acceleration: Acceleration,
-        min_jerk: Jerk,
-        max_jerk: Jerk,
-    ) -> Self {
-        Self {
-            controller: JerkSpeedController::new(
-                min_speed.map(|speed| speed.get::<meter_per_second>()),
-                max_speed.map(|speed| speed.get::<meter_per_second>()),
-                min_acceleration.get::<meter_per_second_squared>(),
-                max_acceleration.get::<meter_per_second_squared>(),
-                min_jerk.get::<meter_per_second_cubed>(),
-                max_jerk.get::<meter_per_second_cubed>(),
-            ),
-            last_update: None,
-        }
-    }
-
-    /// Create a new simple linear jerk speed controller with symmetric limits
-    ///
-    /// This is a convenience constructor that creates symmetric limits around zero for all parameters.
-    /// This is the most common use case and simplifies controller setup for typical linear applications.
-    ///
-    /// The created limits are:
-    /// - Velocity limits: [-speed, +speed] (if speed is Some), no limits if None
-    /// - Acceleration limits: [-acceleration, +acceleration]
-    /// - Jerk limits: [-jerk, +jerk]
-    /// - Default tolerances: 1e-6 for both position and speed
-    ///
-    /// # Parameters (ordered: speed, acceleration, jerk)
-    /// * `speed` - Optional maximum velocity magnitude (None for no limits, Some(x) creates [-x, +x])
-    /// * `acceleration` - Maximum acceleration magnitude (creates limits [-acceleration, +acceleration])
-    /// * `jerk` - Maximum jerk magnitude (creates limits [-jerk, +jerk])
-    ///
-    /// # Returns
-    /// A new LinearJerkSpeedController instance
-    ///
-    /// # Panics
-    /// Panics if acceleration or jerk values are negative or zero
-    ///
-    /// # Example
-    /// ```ignore
-    /// use units::{
-    ///     velocity::meter_per_second,
-    ///     acceleration::meter_per_second_squared,
-    ///     jerk::meter_per_second_cubed,
-    ///     f64::{Velocity, Acceleration, Jerk}
-    /// };
-    ///
-    /// // Create controller with symmetric limits
-    /// let max_speed = Velocity::new::<meter_per_second>(3.0);
-    /// let max_accel = Acceleration::new::<meter_per_second_squared>(2.0);
-    /// let max_jerk = Jerk::new::<meter_per_second_cubed>(1.5);
-    ///
-    /// let controller = LinearJerkSpeedController::new_simple(
-    ///     Some(max_speed),  // Velocity limits: [-3, +3] m/s
-    ///     max_accel,        // Acceleration limits: [-2, +2] m/s²
-    ///     max_jerk,         // Jerk limits: [-1.5, +1.5] m/s³
-    /// );
-    ///
-    /// // Create controller with no speed limits
-    /// let unlimited_controller = LinearJerkSpeedController::new_simple(
-    ///     None,       // No velocity limits
-    ///     max_accel,  // Acceleration limits: [-2, +2] m/s²
-    ///     max_jerk,   // Jerk limits: [-1.5, +1.5] m/s³
-    /// );
-    /// ```
-    pub fn new_simple(speed: Option<Velocity>, acceleration: Acceleration, jerk: Jerk) -> Self {
-        let controller = JerkSpeedController::new_simple(
-            speed.map(|s| s.get::<meter_per_second>()),
-            acceleration.get::<meter_per_second_squared>(),
-            jerk.get::<meter_per_second_cubed>(),
-        );
-
-        Self {
-            controller,
-            last_update: None,
-        }
-    }
-
-    /// Update the controller with a new target speed
-    pub fn update(&mut self, target_speed: Velocity, t: Instant) -> Velocity {
-        // Calculate dt from the last update
-        let dt = if let Some(last_t) = self.last_update {
-            t.duration_since(last_t).as_secs_f64()
-        } else {
-            0.0 // First update, no time has passed
-        };
-        self.last_update = Some(t);
-
-        // Convert target to raw value, update controller, and convert result back to Velocity
-        let target_raw = target_speed.get::<meter_per_second>();
-        let speed_raw = self.controller.update(target_raw, dt);
-        Velocity::new::<meter_per_second>(speed_raw)
-    }
-
-    /// Get the current speed
-    pub fn get_speed(&self) -> Velocity {
-        Velocity::new::<meter_per_second>(self.controller.get_speed())
-    }
-
-    /// Get the target speed
-    pub fn get_target_speed(&self) -> Velocity {
-        Velocity::new::<meter_per_second>(self.controller.get_target_speed())
-    }
-
-    /// Get the minimum velocity limit
-    pub fn get_min_speed(&self) -> Option<Velocity> {
-        self.controller
-            .get_min_speed()
-            .map(Velocity::new::<meter_per_second>)
-    }
-
-    /// Get the maximum velocity limit
-    pub fn get_max_speed(&self) -> Option<Velocity> {
-        self.controller
-            .get_max_speed()
-            .map(Velocity::new::<meter_per_second>)
-    }
-
-    /// Set the minimum velocity limit
-    pub fn set_min_speed(
-        &mut self,
-        min_speed: Option<Velocity>,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_speed(min_speed.map(|speed| speed.get::<meter_per_second>()))
-    }
-
-    /// Set the maximum velocity limit
-    pub fn set_max_speed(
-        &mut self,
-        max_speed: Option<Velocity>,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_speed(max_speed.map(|speed| speed.get::<meter_per_second>()))
-    }
-
-    /// Get the current acceleration
-    pub fn get_acceleration(&self) -> Acceleration {
-        Acceleration::new::<meter_per_second_squared>(self.controller.get_acceleration())
-    }
-
-    /// Set the minimum acceleration
-    pub fn set_min_acceleration(
-        &mut self,
-        min_acceleration: Acceleration,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_acceleration(min_acceleration.get::<meter_per_second_squared>())
-    }
-
-    /// Set the maximum acceleration
-    pub fn set_max_acceleration(
-        &mut self,
-        max_acceleration: Acceleration,
-    ) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_acceleration(max_acceleration.get::<meter_per_second_squared>())
-    }
-
-    /// Get the current jerk
-    pub fn get_jerk(&self) -> Jerk {
-        Jerk::new::<meter_per_second_cubed>(self.controller.get_jerk())
-    }
-
-    /// Set the minimum jerk
-    pub fn set_min_jerk(&mut self, min_jerk: Jerk) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_min_jerk(min_jerk.get::<meter_per_second_cubed>())
-    }
-
-    /// Set the maximum jerk
-    pub fn set_max_jerk(&mut self, max_jerk: Jerk) -> Result<(), MotionControllerError> {
-        self.controller
-            .set_max_jerk(max_jerk.get::<meter_per_second_cubed>())
-    }
-
-    /// Reset the controller to a new velocity and acceleration
-    ///
-    /// This resets all internal state including:
-    /// - Current velocity to the provided value
-    /// - Current acceleration to 0
-    /// - Current jerk to 0
-    /// - Target velocity to the current velocity
-    ///
-    /// # Parameters
-    /// - `velocity`: The new current velocity
-    pub fn reset(&mut self, velocity: Velocity) -> Result<(), MotionControllerError> {
-        self.controller.reset(velocity.get::<meter_per_second>())?;
-        self.last_update = None;
-        Ok(())
-    }
-}
@@ -1,6 +0,0 @@
-pub mod acceleration_position_controller;
-pub mod angular_acceleration_position_controller;
-pub mod angular_jerk_speed_controller;
-pub mod jerk_speed_controller;
-pub mod linear_acceleration_position_controller;
-pub mod linear_jerk_speed_controller;
@@ -1,297 +0,0 @@
-use units::{angle::radian, f64::Angle};
-
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
-pub struct AngleConverter {
-    pub flip_x: bool, // true to flip X-axis (mirror horizontally)
-    pub flip_y: bool, // true to flip Y-axis (mirror vertically)
-    pub is_cw: bool,  // true for clockwise, false for counter-clockwise
-}
-
-impl AngleConverter {
-    /// Create a custom coordinate system
-    pub const fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
-        Self {
-            flip_x,
-            flip_y,
-            is_cw,
-        }
-    }
-
-    /// Standard mathematical coordinate system (CCW positive, 0° at positive X)
-    pub const fn mathematical() -> Self {
-        Self::new(false, false, false)
-    }
-
-    /// Screen/graphics coordinate system (CW positive, 0° at positive X, Y-flipped)
-    pub const fn screen() -> Self {
-        Self::new(false, true, false)
-    }
-
-    /// System where 0° points up, clockwise positive
-    pub const fn y_up_cw() -> Self {
-        Self::new(false, false, true)
-    }
-
-    /// System where 0° points down, counter-clockwise positive
-    pub const fn y_down_ccw() -> Self {
-        Self::new(false, true, true)
-    }
-
-    /// System where 0° points left, clockwise positive
-    pub const fn x_left_cw() -> Self {
-        Self::new(true, false, false)
-    }
-
-    /// System where 0° points right, counter-clockwise positive (same as mathematical)
-    pub const fn x_right_ccw() -> Self {
-        Self::mathematical()
-    }
-
-    /// System where 0° points up, counter-clockwise positive
-    pub const fn y_up_ccw() -> Self {
-        Self::new(false, false, false)
-    }
-
-    /// System where 0° points down, clockwise positive
-    pub const fn y_down_cw() -> Self {
-        Self::new(false, true, false)
-    }
-
-    /// System where 0° points left, counter-clockwise positive
-    pub const fn x_left_ccw() -> Self {
-        Self::new(true, false, true)
-    }
-
-    /// Convert angle from mathematical system to this system (f32)
-    pub fn degrees_encode(&self, math_angle_degrees: f64) -> f64 {
-        let normalized_input = self.normalize_angle(math_angle_degrees);
-
-        let mut result = normalized_input;
-
-        // Apply axis flips
-        match (self.flip_x, self.flip_y) {
-            (false, false) => {}                      // No change
-            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
-            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result += 180.0,          // Both flips: 180° rotation
-        }
-
-        // Handle rotation direction
-        if self.is_cw {
-            result = -result;
-        }
-
-        self.normalize_angle(result)
-    }
-
-    /// Convert angle from this system to mathematical system (f32)
-    pub fn degrees_decode(&self, system_angle_degrees: f64) -> f64 {
-        let normalized_input = self.normalize_angle(system_angle_degrees);
-
-        let mut result = normalized_input;
-
-        // Handle rotation direction
-        if self.is_cw {
-            result = -result;
-        }
-
-        // Apply inverse axis flips
-        match (self.flip_x, self.flip_y) {
-            (false, false) => {}                      // No change
-            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
-            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result -= 180.0,          // Both flips: inverse 180° rotation
-        }
-
-        self.normalize_angle(result)
-    }
-
-    /// Convert angle in radians from mathematical system to this system (f32)
-    pub fn radians_encode(&self, math_angle_radians: f64) -> f64 {
-        let degrees = math_angle_radians.to_degrees();
-        let converted_degrees = self.degrees_encode(degrees);
-        converted_degrees.to_radians()
-    }
-
-    /// Convert angle in radians from this system to mathematical system (f32)
-    pub fn radians_decode(&self, system_angle_radians: f64) -> f64 {
-        let degrees = system_angle_radians.to_degrees();
-        let converted_degrees = self.degrees_decode(degrees);
-        converted_degrees.to_radians()
-    }
-
-    /// Convert angle from mathematical system to this system (f64)
-    pub fn degrees_encode_f64(&self, math_angle_degrees: f64) -> f64 {
-        let normalized_input = self.normalize_angle_f64(math_angle_degrees);
-
-        let mut result = normalized_input;
-
-        // Apply axis flips
-        match (self.flip_x, self.flip_y) {
-            (false, false) => {}                      // No change
-            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
-            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result += 180.0,          // Both flips: 180° rotation
-        }
-
-        // Handle rotation direction
-        if self.is_cw {
-            result = -result;
-        }
-
-        self.normalize_angle_f64(result)
-    }
-
-    /// Convert angle from this system to mathematical system (f64)
-    pub fn degrees_decode_f64(&self, system_angle_degrees: f64) -> f64 {
-        let normalized_input = self.normalize_angle_f64(system_angle_degrees);
-
-        let mut result = normalized_input;
-
-        // Handle rotation direction
-        if self.is_cw {
-            result = -result;
-        }
-
-        // Apply inverse axis flips
-        match (self.flip_x, self.flip_y) {
-            (false, false) => {}                      // No change
-            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
-            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result -= 180.0,          // Both flips: inverse 180° rotation
-        }
-
-        self.normalize_angle_f64(result)
-    }
-
-    /// Convert angle in radians from mathematical system to this system (f64)
-    pub fn radians_encode_f64(&self, math_angle_radians: f64) -> f64 {
-        let degrees = math_angle_radians.to_degrees();
-        let converted_degrees = self.degrees_encode_f64(degrees);
-        converted_degrees.to_radians()
-    }
-
-    /// Convert angle in radians from this system to mathematical system (f64)
-    pub fn radians_decode_f64(&self, system_angle_radians: f64) -> f64 {
-        let degrees = system_angle_radians.to_degrees();
-        let converted_degrees = self.degrees_decode_f64(degrees);
-        converted_degrees.to_radians()
-    }
-
-    /// Normalize angle to [0, 360) range (f32)
-    fn normalize_angle(&self, angle: f64) -> f64 {
-        let mut normalized = angle % 360.0;
-        if normalized < 0.0 {
-            normalized += 360.0;
-        }
-        normalized
-    }
-
-    /// Normalize angle to [0, 360) range (f64)
-    fn normalize_angle_f64(&self, angle: f64) -> f64 {
-        let mut normalized = angle % 360.0;
-        if normalized < 0.0 {
-            normalized += 360.0;
-        }
-        normalized
-    }
-}
-
-#[derive(Debug, Clone)]
-pub struct AngleConverterUom {
-    angle_converter: AngleConverter,
-}
-
-impl AngleConverterUom {
-    pub const fn new(angle_converter: AngleConverter) -> Self {
-        Self { angle_converter }
-    }
-
-    pub fn encode(&self, angle: Angle) -> Angle {
-        Angle::new::<radian>(self.angle_converter.radians_encode(angle.get::<radian>()))
-    }
-
-    pub fn decode(&self, angle: Angle) -> Angle {
-        Angle::new::<radian>(self.angle_converter.radians_decode(angle.get::<radian>()))
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use std::f32::consts::PI;
-
-    use super::*;
-
-    #[test]
-    fn test_constructors() {
-        let math = AngleConverter::mathematical();
-        assert_eq!(math.flip_x, false);
-        assert_eq!(math.flip_y, false);
-        assert_eq!(math.is_cw, false);
-
-        let screen = AngleConverter::screen();
-        assert_eq!(screen.flip_x, false);
-        assert_eq!(screen.flip_y, true);
-        assert_eq!(screen.is_cw, false);
-    }
-
-    #[test]
-    fn test_screen_converter_bidirectional() {
-        let converter = AngleConverter::screen();
-
-        // Math to screen (Y-flip only)
-        assert_eq!(converter.degrees_encode(0.0), 0.0); // Right stays right
-        assert_eq!(converter.degrees_encode(90.0), 270.0); // Up becomes down
-        assert_eq!(converter.degrees_encode(270.0), 90.0); // Down becomes up
-        assert_eq!(converter.degrees_encode(180.0), 180.0); // Left stays left
-
-        // Screen to math (should be inverse)
-        assert_eq!(converter.degrees_decode(0.0), 0.0); // Right stays right
-        assert_eq!(converter.degrees_decode(270.0), 90.0); // Down becomes up
-        assert_eq!(converter.degrees_decode(90.0), 270.0); // Up becomes down
-        assert_eq!(converter.degrees_decode(180.0), 180.0); // Left stays left
-    }
-
-    #[test]
-    fn test_x_flip_converter() {
-        let converter = AngleConverter::x_left_cw();
-
-        // Math to x-flipped system
-        assert_eq!(converter.degrees_encode(0.0), 180.0); // Right becomes left
-        assert_eq!(converter.degrees_encode(90.0), 90.0); // Up stays up
-        assert_eq!(converter.degrees_encode(180.0), 0.0); // Left becomes right
-        assert_eq!(converter.degrees_encode(270.0), 270.0); // Down stays down
-    }
-
-    #[test]
-    fn test_both_flips_converter() {
-        let converter = AngleConverter::new(true, true, false);
-
-        // Math to both-flipped system (180° rotation)
-        assert_eq!(converter.degrees_encode(0.0), 180.0); // Right becomes left
-        assert_eq!(converter.degrees_encode(90.0), 270.0); // Up becomes down
-        assert_eq!(converter.degrees_encode(180.0), 0.0); // Left becomes right
-        assert_eq!(converter.degrees_encode(270.0), 90.0); // Down becomes up
-    }
-
-    #[test]
-    fn test_radians_conversion() {
-        let converter = AngleConverter::screen();
-
-        // Test radians_encode
-        let result = converter.radians_encode(PI as f64 / 2.0) as f64; // 90° in radians
-        let expected: f64 = 270.0f64 * PI as f64 / 180.0f64; // 270° in radians
-        assert!((result - expected).abs() < 1e-6);
-    }
-
-    #[test]
-    fn test_roundtrip_conversion() {
-        let converter = AngleConverter::new(true, false, true); // X-flip + CW
-
-        let original = 75.0_f64;
-        let converted = converter.degrees_encode(original);
-        let roundtrip = converter.degrees_decode(converted);
-
-        assert!((original - roundtrip as f64).abs() < 1e-6);
-    }
-}
@@ -1,279 +0,0 @@
-//! # Circular Converter
-//!
-//! This module provides the `CircularConverter` which handles transformations between
-//! linear and angular measurements for circular motion systems.
-//!
-//! ## Usage
-//!
-//! The `CircularConverter` is designed to work alongside other converters:
-//! - Use `AngularStepConverter` for angular-to-step conversions
-//! - Use `LinearStepConverter` for complete linear-to-step conversions (uses `CircularConverter` internally)
-//! - Use `CircularConverter` directly when you need linear-to-angular conversions without steps
-//!
-//! ## Examples
-//!
-//! ```rust
-//! use control_core::converters::circular_converter::CircularConverter;
-//! use units::{f64::{Length, Velocity}, length::meter, velocity::meter_per_second};
-//!
-//! let converter = CircularConverter::from_radius(Length::new::<meter>(0.1));
-//! let velocity = Velocity::new::<meter_per_second>(1.0);
-//! let angular_velocity = converter.linear_to_angular_velocity(velocity);
-//! ```
-
-use units::{
-    acceleration::meter_per_second_squared,
-    angle::radian,
-    angular_acceleration::radian_per_second_squared,
-    angular_velocity::radian_per_second,
-    f64::{Acceleration, Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
-    length::meter,
-    velocity::meter_per_second,
-};
-
-/// A converter that handles transformations between linear and angular measurements
-/// for circular motion. This includes conversions for position, velocity, acceleration,
-/// and higher-order derivatives based on a circle's geometric properties.
-#[derive(Debug, Clone)]
-pub struct CircularConverter {
-    radius: Length,
-    circumference: Length,
-    diameter: Length,
-}
-
-impl CircularConverter {
-    /// Create a new converter from radius
-    pub fn from_radius(radius: Length) -> Self {
-        let diameter = radius * 2.0;
-        let circumference =
-            Length::new::<meter>(2.0 * std::f64::consts::PI * radius.get::<meter>());
-        Self {
-            radius,
-            diameter,
-            circumference,
-        }
-    }
-
-    /// Create a new converter from diameter
-    pub fn from_diameter(diameter: Length) -> Self {
-        let radius = diameter / 2.0;
-        Self::from_radius(radius)
-    }
-
-    /// Create a new converter from circumference
-    pub fn from_circumference(circumference: Length) -> Self {
-        let radius =
-            Length::new::<meter>(circumference.get::<meter>() / (2.0 * std::f64::consts::PI));
-        Self::from_radius(radius)
-    }
-
-    /// Get the radius
-    pub fn radius(&self) -> Length {
-        self.radius
-    }
-
-    /// Get the diameter
-    pub fn diameter(&self) -> Length {
-        self.diameter
-    }
-
-    /// Get the circumference
-    pub fn circumference(&self) -> Length {
-        self.circumference
-    }
-
-    // Linear to Angular Position Conversions
-
-    /// Convert linear distance to angular position
-    /// Formula: angle = distance / radius
-    pub fn linear_to_angular_position(&self, distance: Length) -> Angle {
-        let angle_rad = distance.get::<meter>() / self.radius.get::<meter>();
-        Angle::new::<radian>(angle_rad)
-    }
-
-    /// Convert angular position to linear distance
-    /// Formula: distance = angle * radius
-    pub fn angular_to_linear_position(&self, angle: Angle) -> Length {
-        let distance = angle.get::<radian>() * self.radius.get::<meter>();
-        Length::new::<meter>(distance)
-    }
-
-    // Linear to Angular Velocity Conversions
-
-    /// Convert linear velocity to angular velocity
-    /// Formula: angular_velocity = linear_velocity / radius
-    pub fn linear_to_angular_velocity(&self, velocity: Velocity) -> AngularVelocity {
-        let angular_velocity_rad_per_s =
-            velocity.get::<meter_per_second>() / self.radius.get::<meter>();
-        AngularVelocity::new::<radian_per_second>(angular_velocity_rad_per_s)
-    }
-
-    /// Convert angular velocity to linear velocity
-    /// Formula: linear_velocity = angular_velocity * radius
-    pub fn angular_to_linear_velocity(&self, angular_velocity: AngularVelocity) -> Velocity {
-        let velocity = angular_velocity.get::<radian_per_second>() * self.radius.get::<meter>();
-        Velocity::new::<meter_per_second>(velocity)
-    }
-
-    // Linear to Angular Acceleration Conversions
-
-    /// Convert linear acceleration to angular acceleration
-    /// Formula: angular_acceleration = linear_acceleration / radius
-    pub fn linear_to_angular_acceleration(
-        &self,
-        acceleration: Acceleration,
-    ) -> AngularAcceleration {
-        let angular_acceleration_rad_per_s2 =
-            acceleration.get::<meter_per_second_squared>() / self.radius.get::<meter>();
-        AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2)
-    }
-
-    /// Convert angular acceleration to linear acceleration
-    /// Formula: linear_acceleration = angular_acceleration * radius
-    pub fn angular_to_linear_acceleration(
-        &self,
-        angular_acceleration: AngularAcceleration,
-    ) -> Acceleration {
-        let acceleration =
-            angular_acceleration.get::<radian_per_second_squared>() * self.radius.get::<meter>();
-        Acceleration::new::<meter_per_second_squared>(acceleration)
-    }
-
-    // Jerk Conversions (using f64 for now since UOM may not have jerk units)
-
-    /// Convert linear jerk to angular jerk
-    /// Formula: angular_jerk = linear_jerk / radius
-    /// Units: rad/s³ = (m/s³) / m
-    pub fn linear_to_angular_jerk(&self, linear_jerk: f64) -> f64 {
-        linear_jerk / self.radius.get::<meter>()
-    }
-
-    /// Convert angular jerk to linear jerk
-    /// Formula: linear_jerk = angular_jerk * radius
-    /// Units: m/s³ = (rad/s³) * m
-    pub fn angular_to_linear_jerk(&self, angular_jerk: f64) -> f64 {
-        angular_jerk * self.radius.get::<meter>()
-    }
-
-    // Arc Length Calculations
-
-    /// Calculate arc length from angle
-    /// Formula: arc_length = angle * radius
-    pub fn angle_to_arc_length(&self, angle: Angle) -> Length {
-        self.angular_to_linear_position(angle)
-    }
-
-    /// Calculate angle from arc length
-    /// Formula: angle = arc_length / radius
-    pub fn arc_length_to_angle(&self, arc_length: Length) -> Angle {
-        self.linear_to_angular_position(arc_length)
-    }
-
-    // Circumference-based calculations
-
-    /// Convert linear distance to number of revolutions
-    /// Formula: revolutions = distance / circumference
-    pub fn linear_distance_to_revolutions(&self, distance: Length) -> f64 {
-        distance.get::<meter>() / self.circumference.get::<meter>()
-    }
-
-    /// Convert number of revolutions to linear distance
-    /// Formula: distance = revolutions * circumference
-    pub fn revolutions_to_linear_distance(&self, revolutions: f64) -> Length {
-        Length::new::<meter>(revolutions * self.circumference.get::<meter>())
-    }
-
-    /// Convert linear velocity to revolutions per second
-    /// Formula: rps = velocity / circumference
-    pub fn linear_velocity_to_rps(&self, velocity: Velocity) -> f64 {
-        velocity.get::<meter_per_second>() / self.circumference.get::<meter>()
-    }
-
-    /// Convert revolutions per second to linear velocity
-    /// Formula: velocity = rps * circumference
-    pub fn rps_to_linear_velocity(&self, rps: f64) -> Velocity {
-        Velocity::new::<meter_per_second>(rps * self.circumference.get::<meter>())
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use units::length::centimeter;
-
-    #[test]
-    fn test_constructors() {
-        let radius = Length::new::<centimeter>(5.0);
-        let diameter = Length::new::<centimeter>(10.0);
-        let circumference = Length::new::<centimeter>(2.0 * std::f64::consts::PI * 5.0);
-
-        let converter1 = CircularConverter::from_radius(radius);
-        let converter2 = CircularConverter::from_diameter(diameter);
-        let converter3 = CircularConverter::from_circumference(circumference);
-
-        // All should have approximately the same values
-        assert!((converter1.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
-        assert!((converter2.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
-        assert!((converter3.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
-
-        assert!((converter1.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
-        assert!((converter2.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
-        assert!((converter3.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
-    }
-
-    #[test]
-    fn test_position_conversions() {
-        let converter = CircularConverter::from_radius(Length::new::<meter>(1.0));
-
-        // Test linear to angular
-        let distance = Length::new::<meter>(std::f64::consts::PI);
-        let angle = converter.linear_to_angular_position(distance);
-        assert!((angle.get::<radian>() - std::f64::consts::PI).abs() < 1e-10);
-
-        // Test angular to linear
-        let angle = Angle::new::<radian>(std::f64::consts::PI / 2.0);
-        let distance = converter.angular_to_linear_position(angle);
-        assert!((distance.get::<meter>() - std::f64::consts::PI / 2.0).abs() < 1e-10);
-    }
-
-    #[test]
-    fn test_velocity_conversions() {
-        let converter = CircularConverter::from_radius(Length::new::<meter>(0.5));
-
-        // Test linear to angular
-        let velocity = Velocity::new::<meter_per_second>(1.0);
-        let angular_velocity = converter.linear_to_angular_velocity(velocity);
-        assert!((angular_velocity.get::<radian_per_second>() - 2.0).abs() < 1e-10);
-
-        // Test angular to linear
-        let angular_velocity = AngularVelocity::new::<radian_per_second>(4.0);
-        let velocity = converter.angular_to_linear_velocity(angular_velocity);
-        assert!((velocity.get::<meter_per_second>() - 2.0).abs() < 1e-10);
-    }
-
-    #[test]
-    fn test_revolution_conversions() {
-        let converter = CircularConverter::from_radius(Length::new::<meter>(1.0));
-
-        // One full revolution should equal circumference
-        let revolutions = 1.0;
-        let distance = converter.revolutions_to_linear_distance(revolutions);
-        assert!((distance.get::<meter>() - converter.circumference().get::<meter>()).abs() < 1e-10);
-
-        // Converting back should give 1 revolution
-        let calculated_revolutions = converter.linear_distance_to_revolutions(distance);
-        assert!((calculated_revolutions - 1.0).abs() < 1e-10);
-    }
-
-    #[test]
-    fn test_jerk_conversions() {
-        let converter = CircularConverter::from_radius(Length::new::<meter>(2.0));
-
-        let linear_jerk = 4.0; // m/s³
-        let angular_jerk = converter.linear_to_angular_jerk(linear_jerk);
-        assert!((angular_jerk - 2.0).abs() < 1e-10); // 4.0 / 2.0 = 2.0 rad/s³
-
-        let calculated_linear_jerk = converter.angular_to_linear_jerk(angular_jerk);
-        assert!((calculated_linear_jerk - linear_jerk).abs() < 1e-10);
-    }
-}
@@ -1,573 +0,0 @@
-use units::{
-    angle::revolution,
-    angular_velocity::revolution_per_second,
-    f64::{Acceleration, Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
-};
-
-use super::angular_step_converter::AngularStepConverter;
-use super::circular_converter::CircularConverter;
-
-/// Converts between linear measurements and motor steps
-///
-/// This converter handles the transformation between linear motion (distance, velocity,
-/// acceleration) and motor steps, using the relationship between linear and rotary motion
-/// through a wheel or pulley of a specific radius.
-#[derive(Debug, Clone)]
-pub struct LinearStepConverter {
-    angular_step_converter: AngularStepConverter,
-    circular_converter: CircularConverter,
-}
-
-// Constructor and basic getters
-impl LinearStepConverter {
-    /// Create a new converter from radius and steps per revolution
-    pub fn from_radius(steps_per_revolution: i16, radius: Length) -> Self {
-        Self {
-            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            circular_converter: CircularConverter::from_radius(radius),
-        }
-    }
-
-    /// Create a new converter from diameter and steps per revolution
-    pub fn from_diameter(steps_per_revolution: i16, diameter: Length) -> Self {
-        Self {
-            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            circular_converter: CircularConverter::from_diameter(diameter),
-        }
-    }
-
-    /// Create a new converter from circumference and steps per revolution
-    pub fn from_circumference(steps_per_revolution: i16, circumference: Length) -> Self {
-        Self {
-            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            circular_converter: CircularConverter::from_circumference(circumference),
-        }
-    }
-
-    /// Get the radius used by the converter
-    pub fn radius(&self) -> Length {
-        self.circular_converter.radius()
-    }
-
-    /// Get the diameter of the system
-    pub fn diameter(&self) -> Length {
-        self.circular_converter.diameter()
-    }
-
-    /// Get the circumference of the system
-    pub fn circumference(&self) -> Length {
-        self.circular_converter.circumference()
-    }
-
-    /// Get the steps per revolution
-    pub const fn steps_per_revolution(&self) -> i16 {
-        self.angular_step_converter.steps_per_revolution
-    }
-}
-
-// Linear to/from steps conversions
-impl LinearStepConverter {
-    /// Convert linear distance to steps
-    ///
-    /// Formula: steps = (distance / circumference) * steps_per_revolution
-    pub fn distance_to_steps(&self, distance: Length) -> f64 {
-        // Convert distance to revolutions using CircularConverter
-        let revolutions = self
-            .circular_converter
-            .linear_distance_to_revolutions(distance);
-        let angle = Angle::new::<revolution>(revolutions);
-
-        // Convert angle to steps
-        self.angular_step_converter.angle_to_steps(angle)
-    }
-
-    /// Convert steps to linear distance
-    ///
-    /// Formula: distance = (steps / steps_per_revolution) * circumference
-    pub fn steps_to_distance(&self, steps: f64) -> Length {
-        // Convert steps to angle
-        let angle = self.angular_step_converter.steps_to_angle(steps);
-
-        // Convert angle to distance using CircularConverter
-        let revolutions = angle.get::<revolution>();
-        self.circular_converter
-            .revolutions_to_linear_distance(revolutions)
-    }
-
-    /// Convert linear velocity to steps/second
-    ///
-    /// Formula: steps/second = (velocity / circumference) * steps_per_revolution
-    pub fn velocity_to_steps(&self, velocity: Velocity) -> f64 {
-        // Convert linear velocity to revolutions per second using CircularConverter
-        let rps = self.circular_converter.linear_velocity_to_rps(velocity);
-        let angular_velocity = AngularVelocity::new::<revolution_per_second>(rps);
-
-        // Convert angular velocity to steps/second
-        self.angular_step_converter
-            .angular_velocity_to_steps(angular_velocity)
-    }
-
-    /// Convert steps/second to linear velocity
-    ///
-    /// Formula: velocity = (steps_per_second / steps_per_revolution) * circumference
-    pub fn steps_to_velocity(&self, steps_per_second: f64) -> Velocity {
-        // Convert steps/second to angular velocity
-        let angular_velocity = self
-            .angular_step_converter
-            .steps_to_angular_velocity(steps_per_second);
-
-        // Convert angular velocity to linear velocity using CircularConverter
-        let rps = angular_velocity.get::<revolution_per_second>();
-        self.circular_converter.rps_to_linear_velocity(rps)
-    }
-
-    /// Convert linear acceleration to steps/second²
-    ///
-    /// Formula: steps/second² = (acceleration / radius) * (steps_per_revolution / (2π))
-    pub fn acceleration_to_steps(&self, acceleration: Acceleration) -> f64 {
-        // Convert linear acceleration to angular acceleration using CircularConverter
-        let angular_acceleration = self
-            .circular_converter
-            .linear_to_angular_acceleration(acceleration);
-
-        // Convert angular acceleration to steps/second²
-        self.angular_step_converter
-            .angular_acceleration_to_steps(angular_acceleration)
-    }
-
-    /// Convert steps/second² to linear acceleration
-    ///
-    /// Formula: acceleration = (steps_per_second² / steps_per_revolution) * (2π) * radius
-    pub fn steps_to_acceleration(&self, steps_per_second_squared: f64) -> Acceleration {
-        // Convert steps/second² to angular acceleration
-        let angular_acceleration = self
-            .angular_step_converter
-            .steps_to_angular_acceleration(steps_per_second_squared);
-
-        // Convert angular acceleration to linear acceleration using CircularConverter
-        self.circular_converter
-            .angular_to_linear_acceleration(angular_acceleration)
-    }
-}
-
-// Linear to/from angular conversions
-impl LinearStepConverter {
-    /// Convert linear distance to angle
-    ///
-    /// Formula: angle (in revolutions) = distance / circumference
-    pub fn distance_to_angle(&self, distance: Length) -> Angle {
-        let revolutions = self
-            .circular_converter
-            .linear_distance_to_revolutions(distance);
-        Angle::new::<revolution>(revolutions)
-    }
-
-    /// Convert angle to linear distance
-    ///
-    /// Formula: distance = angle (in revolutions) * circumference
-    pub fn angle_to_distance(&self, angle: Angle) -> Length {
-        let revolutions = angle.get::<revolution>();
-        self.circular_converter
-            .revolutions_to_linear_distance(revolutions)
-    }
-
-    /// Convert linear velocity to angular velocity
-    ///
-    /// Formula: angular velocity (in rev/s) = velocity / circumference
-    pub fn velocity_to_angular_velocity(&self, velocity: Velocity) -> AngularVelocity {
-        let rps = self.circular_converter.linear_velocity_to_rps(velocity);
-        AngularVelocity::new::<revolution_per_second>(rps)
-    }
-
-    /// Convert angular velocity to linear velocity
-    ///
-    /// Formula: velocity = angular velocity (in rev/s) * circumference
-    pub fn angular_velocity_to_velocity(&self, angular_velocity: AngularVelocity) -> Velocity {
-        let rps = angular_velocity.get::<revolution_per_second>();
-        self.circular_converter.rps_to_linear_velocity(rps)
-    }
-
-    /// Convert linear acceleration to angular acceleration
-    ///
-    /// Formula: angular acceleration (in rad/s²) = acceleration / radius
-    pub fn acceleration_to_angular_acceleration(
-        &self,
-        acceleration: Acceleration,
-    ) -> AngularAcceleration {
-        self.circular_converter
-            .linear_to_angular_acceleration(acceleration)
-    }
-
-    /// Convert angular acceleration to linear acceleration
-    ///
-    /// Formula: acceleration = angular acceleration (in rad/s²) * radius
-    pub fn angular_acceleration_to_acceleration(
-        &self,
-        angular_acceleration: AngularAcceleration,
-    ) -> Acceleration {
-        self.circular_converter
-            .angular_to_linear_acceleration(angular_acceleration)
-    }
-}
-
-// Forward angular to/from steps conversions from StepConverter
-impl LinearStepConverter {
-    /// Convert steps to angle
-    pub fn steps_to_angle(&self, steps: f64) -> Angle {
-        self.angular_step_converter.steps_to_angle(steps)
-    }
-
-    /// Convert angle to steps
-    pub fn angle_to_steps(&self, angle: Angle) -> f64 {
-        self.angular_step_converter.angle_to_steps(angle)
-    }
-
-    /// Convert steps/second to angular velocity
-    pub fn steps_to_angular_velocity(&self, steps: f64) -> AngularVelocity {
-        self.angular_step_converter.steps_to_angular_velocity(steps)
-    }
-
-    /// Convert angular velocity to steps/second
-    pub fn angular_velocity_to_steps(&self, angular_velocity: AngularVelocity) -> f64 {
-        self.angular_step_converter
-            .angular_velocity_to_steps(angular_velocity)
-    }
-
-    /// Convert steps/second² to angular acceleration
-    pub fn steps_to_angular_acceleration(&self, steps: f64) -> AngularAcceleration {
-        self.angular_step_converter
-            .steps_to_angular_acceleration(steps)
-    }
-
-    /// Convert angular acceleration to steps/second²
-    pub fn angular_acceleration_to_steps(&self, angular_acceleration: AngularAcceleration) -> f64 {
-        self.angular_step_converter
-            .angular_acceleration_to_steps(angular_acceleration)
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use approx::assert_relative_eq;
-    use std::f64::EPSILON;
-    use units::{
-        acceleration::meter_per_second_squared, angular_acceleration::radian_per_second_squared,
-        length::meter, velocity::meter_per_second,
-    };
-
-    #[test]
-    fn test_new() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-        assert_eq!(converter.steps_per_revolution(), 200);
-        assert_eq!(converter.radius().get::<meter>(), 0.1);
-    }
-
-    #[test]
-    fn test_diameter_and_circumference() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-
-        // Test diameter
-        let diameter = converter.diameter();
-        assert_relative_eq!(diameter.get::<meter>(), 0.2, epsilon = EPSILON);
-
-        // Test circumference
-        let circumference = converter.circumference();
-        let expected_circumference = 2.0 * std::f64::consts::PI * 0.1;
-        assert_relative_eq!(
-            circumference.get::<meter>(),
-            expected_circumference,
-            epsilon = EPSILON
-        );
-    }
-
-    // Tests for linear <-> steps conversions
-    #[test]
-    fn test_distance_to_steps() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-        let circumference = 2.0 * std::f64::consts::PI * 0.1; // 0.628m
-
-        // One full revolution
-        let steps = converter.distance_to_steps(Length::new::<meter>(circumference));
-        assert_relative_eq!(steps, 200.0, epsilon = EPSILON);
-
-        // Half revolution
-        let steps = converter.distance_to_steps(Length::new::<meter>(circumference / 2.0));
-        assert_relative_eq!(steps, 100.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_steps_to_distance() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-        let circumference = 2.0 * std::f64::consts::PI * 0.1; // 0.628m
-
-        // One full revolution
-        let distance = converter.steps_to_distance(200.0);
-        assert_relative_eq!(distance.get::<meter>(), circumference, epsilon = EPSILON);
-
-        // Half revolution
-        let distance = converter.steps_to_distance(100.0);
-        assert_relative_eq!(
-            distance.get::<meter>(),
-            circumference / 2.0,
-            epsilon = EPSILON
-        );
-    }
-
-    #[test]
-    fn test_velocity_to_steps() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-        let circumference = 2.0 * std::f64::consts::PI * 0.1; // 0.628m
-
-        // Linear velocity equivalent to one revolution per second
-        let velocity = Velocity::new::<meter_per_second>(circumference);
-        let steps_per_second = converter.velocity_to_steps(velocity);
-        assert_relative_eq!(steps_per_second, 200.0, epsilon = EPSILON);
-
-        // Half revolution per second
-        let velocity = Velocity::new::<meter_per_second>(circumference / 2.0);
-        let steps_per_second = converter.velocity_to_steps(velocity);
-        assert_relative_eq!(steps_per_second, 100.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_steps_to_velocity() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-        let circumference = 2.0 * std::f64::consts::PI * 0.1; // 0.628m
-
-        // Steps for one revolution per second
-        let velocity = converter.steps_to_velocity(200.0);
-        assert_relative_eq!(
-            velocity.get::<meter_per_second>(),
-            circumference,
-            epsilon = EPSILON
-        );
-
-        // Half revolution per second
-        let velocity = converter.steps_to_velocity(100.0);
-        assert_relative_eq!(
-            velocity.get::<meter_per_second>(),
-            circumference / 2.0,
-            epsilon = EPSILON
-        );
-    }
-
-    #[test]
-    fn test_acceleration_to_steps() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-
-        // Create a linear acceleration of 1 m/s²
-        // This will result in angular acceleration of a/r = 1/0.1 = 10 rad/s²
-        let acceleration = Acceleration::new::<meter_per_second_squared>(1.0);
-        let steps_per_second_squared = converter.acceleration_to_steps(acceleration);
-
-        // Expected steps for 10 rad/s² angular acceleration:
-        // 10 rad/s² * (1 rev/2π rad) * 200 steps/rev = 318.31 steps/s²
-        let expected_steps = 200.0 * 10.0 / (2.0 * std::f64::consts::PI);
-        assert_relative_eq!(
-            steps_per_second_squared,
-            expected_steps,
-            epsilon = EPSILON * 10.0
-        );
-    }
-
-    #[test]
-    fn test_steps_to_acceleration() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-
-        // Steps for one revolution per second squared
-        let acceleration = converter.steps_to_acceleration(200.0);
-        let expected = 2.0 * std::f64::consts::PI * 0.1; // rad/s² * radius
-        assert_relative_eq!(
-            acceleration.get::<meter_per_second_squared>(),
-            expected,
-            epsilon = EPSILON
-        );
-    }
-
-    // Tests for linear <-> angular conversions
-    #[test]
-    fn test_distance_to_angle() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-        let circumference = 2.0 * std::f64::consts::PI * 0.1; // 0.628m
-
-        // Full circumference = 1 revolution
-        let angle = converter.distance_to_angle(Length::new::<meter>(circumference));
-        assert_relative_eq!(angle.get::<revolution>(), 1.0, epsilon = EPSILON);
-
-        // Half circumference = 0.5 revolution
-        let angle = converter.distance_to_angle(Length::new::<meter>(circumference / 2.0));
-        assert_relative_eq!(angle.get::<revolution>(), 0.5, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_angle_to_distance() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-        let circumference = 2.0 * std::f64::consts::PI * 0.1; // 0.628m
-
-        // 1 revolution = full circumference
-        let distance = converter.angle_to_distance(Angle::new::<revolution>(1.0));
-        assert_relative_eq!(distance.get::<meter>(), circumference, epsilon = EPSILON);
-
-        // 0.5 revolution = half circumference
-        let distance = converter.angle_to_distance(Angle::new::<revolution>(0.5));
-        assert_relative_eq!(
-            distance.get::<meter>(),
-            circumference / 2.0,
-            epsilon = EPSILON
-        );
-    }
-
-    #[test]
-    fn test_velocity_to_angular_velocity() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-        let circumference = 2.0 * std::f64::consts::PI * 0.1; // 0.628m
-
-        // Linear velocity of full circumference per second = 1 revolution per second
-        let angular_velocity = converter
-            .velocity_to_angular_velocity(Velocity::new::<meter_per_second>(circumference));
-        assert_relative_eq!(
-            angular_velocity.get::<revolution_per_second>(),
-            1.0,
-            epsilon = EPSILON
-        );
-
-        // Half circumference per second = 0.5 revolution per second
-        let angular_velocity =
-            converter.velocity_to_angular_velocity(Velocity::new::<meter_per_second>(
-                circumference / 2.0,
-            ));
-        assert_relative_eq!(
-            angular_velocity.get::<revolution_per_second>(),
-            0.5,
-            epsilon = EPSILON
-        );
-    }
-
-    #[test]
-    fn test_angular_velocity_to_velocity() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-        let circumference = 2.0 * std::f64::consts::PI * 0.1; // 0.628m
-
-        // 1 revolution per second = linear velocity of full circumference per second
-        let velocity = converter
-            .angular_velocity_to_velocity(AngularVelocity::new::<revolution_per_second>(1.0));
-        assert_relative_eq!(
-            velocity.get::<meter_per_second>(),
-            circumference,
-            epsilon = EPSILON
-        );
-
-        // 0.5 revolution per second = half circumference per second
-        let velocity = converter
-            .angular_velocity_to_velocity(AngularVelocity::new::<revolution_per_second>(0.5));
-        assert_relative_eq!(
-            velocity.get::<meter_per_second>(),
-            circumference / 2.0,
-            epsilon = EPSILON
-        );
-    }
-
-    #[test]
-    fn test_acceleration_to_angular_acceleration() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-
-        // Linear acceleration of 1 m/s² = angular acceleration of 10 rad/s²
-        let angular_accel = converter.acceleration_to_angular_acceleration(Acceleration::new::<
-            meter_per_second_squared,
-        >(1.0));
-        assert_relative_eq!(
-            angular_accel.get::<radian_per_second_squared>(),
-            10.0, // a/r = 1/0.1 = 10
-            epsilon = EPSILON
-        );
-    }
-
-    #[test]
-    fn test_angular_acceleration_to_acceleration() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-
-        // Angular acceleration of 10 rad/s² = linear acceleration of 1 m/s²
-        let acceleration =
-            converter.angular_acceleration_to_acceleration(AngularAcceleration::new::<
-                radian_per_second_squared,
-            >(10.0));
-        assert_relative_eq!(
-            acceleration.get::<meter_per_second_squared>(),
-            1.0, // α*r = 10*0.1 = 1
-            epsilon = EPSILON
-        );
-    }
-
-    // Tests for forwarded angular <-> steps methods
-    #[test]
-    fn test_forwarded_steps_to_angle() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-
-        // 200 steps = 1 revolution
-        let angle = converter.steps_to_angle(200.0);
-        assert_relative_eq!(angle.get::<revolution>(), 1.0, epsilon = EPSILON);
-
-        // 100 steps = 0.5 revolution
-        let angle = converter.steps_to_angle(100.0);
-        assert_relative_eq!(angle.get::<revolution>(), 0.5, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_forwarded_angle_to_steps() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-
-        // 1 revolution = 200 steps
-        let steps = converter.angle_to_steps(Angle::new::<revolution>(1.0));
-        assert_relative_eq!(steps, 200.0, epsilon = EPSILON);
-
-        // 0.5 revolution = 100 steps
-        let steps = converter.angle_to_steps(Angle::new::<revolution>(0.5));
-        assert_relative_eq!(steps, 100.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_roundtrip_conversions() {
-        let converter = LinearStepConverter::from_radius(200, Length::new::<meter>(0.1));
-
-        // Test linear distance to steps roundtrip
-        let original_distance = Length::new::<meter>(0.456);
-        let steps = converter.distance_to_steps(original_distance);
-        let roundtrip_distance = converter.steps_to_distance(steps);
-        assert_relative_eq!(
-            original_distance.get::<meter>(),
-            roundtrip_distance.get::<meter>(),
-            epsilon = EPSILON
-        );
-
-        // Test linear velocity to steps roundtrip
-        let original_velocity = Velocity::new::<meter_per_second>(0.789);
-        let steps_per_second = converter.velocity_to_steps(original_velocity);
-        let roundtrip_velocity = converter.steps_to_velocity(steps_per_second);
-        assert_relative_eq!(
-            original_velocity.get::<meter_per_second>(),
-            roundtrip_velocity.get::<meter_per_second>(),
-            epsilon = EPSILON
-        );
-
-        // Test linear distance to angle roundtrip
-        let original_distance = Length::new::<meter>(0.123);
-        let angle = converter.distance_to_angle(original_distance);
-        let roundtrip_distance = converter.angle_to_distance(angle);
-        assert_relative_eq!(
-            original_distance.get::<meter>(),
-            roundtrip_distance.get::<meter>(),
-            epsilon = EPSILON
-        );
-
-        // Test angle to steps roundtrip
-        let original_angle = Angle::new::<revolution>(0.75);
-        let steps = converter.angle_to_steps(original_angle);
-        let roundtrip_angle = converter.steps_to_angle(steps);
-        assert_relative_eq!(
-            original_angle.get::<revolution>(),
-            roundtrip_angle.get::<revolution>(),
-            epsilon = EPSILON
-        );
-    }
-}
@@ -1,5 +1,2 @@
-pub mod angle_converter;
-pub mod angular_step_converter;
-pub mod circular_converter;
-pub mod linear_step_converter;
 pub mod motor_converter;
+pub mod step_converter;
@@ -1 +1,9 @@
-
+pub struct MotorConverter {}
+impl MotorConverter {
+    pub fn rpm_to_hz(rpm: f32) -> f32 {
+        rpm / 60.0
+    }
+    pub fn hz_to_rpm(hz: f32) -> f32 {
+        hz * 60.0
+    }
+}
@@ -1,82 +1,55 @@
-use units::{
+use uom::si::{
    angle::revolution,
    angular_acceleration::radian_per_second_squared,
    angular_velocity::revolution_per_second,
    f64::{Angle, AngularAcceleration, AngularVelocity},
 };

-/// Converts between motor steps and angular measurements
-///
-/// This converter handles the transformation between motor steps and angular
-/// measurements (angle, angular velocity, and angular acceleration) based on
-/// the number of steps required for a full revolution.
 #[derive(Debug, Clone)]
-pub struct AngularStepConverter {
-    /// Number of motor steps required for one complete revolution
-    pub steps_per_revolution: i16,
+pub struct StepConverter {
+    steps_per_revolution: i16,
 }

-impl AngularStepConverter {
-    /// Create a new converter with the specified steps per revolution
-    pub const fn new(steps_per_revolution: i16) -> Self {
+impl StepConverter {
+    pub fn new(steps_per_revolution: i16) -> Self {
        Self {
            steps_per_revolution,
        }
    }

    /// Convert steps to angle
-    ///
-    /// Formula: angle (in revolutions) = steps / steps_per_revolution
    pub fn steps_to_angle(&self, steps: f64) -> Angle {
        let revolutions = steps / self.steps_per_revolution as f64;
        Angle::new::<revolution>(revolutions)
    }

    /// Convert angle to steps
-    ///
-    /// Formula: steps = angle (in revolutions) * steps_per_revolution
    pub fn angle_to_steps(&self, angle: Angle) -> f64 {
        let revolutions = angle.get::<revolution>();
        revolutions * self.steps_per_revolution as f64
    }

    /// Convert steps/second to angular velocity
-    ///
-    /// Formula: angular velocity (in rev/s) = steps_per_second / steps_per_revolution
-    pub fn steps_to_angular_velocity(&self, steps_per_second: f64) -> AngularVelocity {
-        let revolutions_per_second = steps_per_second / self.steps_per_revolution as f64;
+    pub fn steps_to_angular_velocity(&self, steps: f64) -> AngularVelocity {
+        let revolutions_per_second = steps / self.steps_per_revolution as f64;
        AngularVelocity::new::<revolution_per_second>(revolutions_per_second)
    }

    /// Convert angular velocity to steps/second
-    ///
-    /// Formula: steps_per_second = angular velocity (in rev/s) * steps_per_revolution
    pub fn angular_velocity_to_steps(&self, angular_velocity: AngularVelocity) -> f64 {
        let revolutions_per_second = angular_velocity.get::<revolution_per_second>();
        revolutions_per_second * self.steps_per_revolution as f64
    }

-    /// Convert steps/second² to angular acceleration
-    ///
-    /// Formula:
-    /// - revolutions_per_second² = steps_per_second² / steps_per_revolution
-    /// - angular acceleration (in rad/s²) = revolutions_per_second² * 2π
-    pub fn steps_to_angular_acceleration(
-        &self,
-        steps_per_second_squared: f64,
-    ) -> AngularAcceleration {
-        let revolutions_per_second_squared =
-            steps_per_second_squared / self.steps_per_revolution as f64;
+    /// Convert steps/second^2 to angular acceleration
+    pub fn steps_to_angular_acceleration(&self, steps: f64) -> AngularAcceleration {
+        let revolutions_per_second_squared = steps / self.steps_per_revolution as f64;
        let radians_per_second_squared =
            revolutions_per_second_squared * 2.0 * std::f64::consts::PI;
        AngularAcceleration::new::<radian_per_second_squared>(radians_per_second_squared)
    }

-    /// Convert angular acceleration to steps/second²
-    ///
-    /// Formula:
-    /// - revolutions_per_second² = angular acceleration (in rad/s²) / 2π
-    /// - steps_per_second² = revolutions_per_second² * steps_per_revolution
+    /// Convert angular acceleration to steps/second^2
    pub fn angular_acceleration_to_steps(&self, angular_acceleration: AngularAcceleration) -> f64 {
        let radians_per_second_squared = angular_acceleration.get::<radian_per_second_squared>();
        let revolutions_per_second_squared =
@@ -90,20 +63,20 @@ mod tests {
    use super::*;
    use approx::assert_relative_eq;
    use std::f64::EPSILON;
-    use units::{
+    use uom::si::{
        angle::degree, angular_acceleration::degree_per_second_squared,
        angular_velocity::degree_per_second,
    };

    #[test]
    fn test_new() {
-        let converter = AngularStepConverter::new(200);
+        let converter = StepConverter::new(200);
        assert_eq!(converter.steps_per_revolution, 200);
    }

    #[test]
    fn test_steps_to_angle() {
-        let converter = AngularStepConverter::new(200);
+        let converter = StepConverter::new(200);

        // Test full revolution
        let angle = converter.steps_to_angle(200.0);
@@ -121,14 +94,14 @@ mod tests {
        assert_relative_eq!(angle.get::<degree>(), 90.0, epsilon = EPSILON);

        // Test with different steps_per_revolution
-        let converter = AngularStepConverter::new(400);
+        let converter = StepConverter::new(400);
        let angle = converter.steps_to_angle(100.0);
        assert_relative_eq!(angle.get::<revolution>(), 0.25, epsilon = EPSILON);
    }

    #[test]
    fn test_angle_to_steps() {
-        let converter = AngularStepConverter::new(200);
+        let converter = StepConverter::new(200);

        // Test full revolution
        let steps = converter.angle_to_steps(Angle::new::<revolution>(1.0));
@@ -143,14 +116,14 @@ mod tests {
        assert_relative_eq!(steps, 50.0, epsilon = EPSILON);

        // Test with different steps_per_revolution
-        let converter = AngularStepConverter::new(400);
+        let converter = StepConverter::new(400);
        let steps = converter.angle_to_steps(Angle::new::<degree>(90.0));
        assert_relative_eq!(steps, 100.0, epsilon = EPSILON);
    }

    #[test]
    fn test_steps_to_angular_velocity() {
-        let converter = AngularStepConverter::new(200);
+        let converter = StepConverter::new(200);

        // Test one revolution per second
        let angular_velocity = converter.steps_to_angular_velocity(200.0);
@@ -174,7 +147,7 @@ mod tests {
        );

        // Test with different steps_per_revolution
-        let converter = AngularStepConverter::new(400);
+        let converter = StepConverter::new(400);
        let angular_velocity = converter.steps_to_angular_velocity(200.0);
        assert_relative_eq!(
            angular_velocity.get::<revolution_per_second>(),
@@ -185,7 +158,7 @@ mod tests {

    #[test]
    fn test_angular_velocity_to_steps() {
-        let converter = AngularStepConverter::new(200);
+        let converter = StepConverter::new(200);

        // Test one revolution per second
        let steps =
@@ -198,7 +171,7 @@ mod tests {
        assert_relative_eq!(steps, 100.0, epsilon = EPSILON);

        // Test with different steps_per_revolution
-        let converter = AngularStepConverter::new(400);
+        let converter = StepConverter::new(400);
        let steps =
            converter.angular_velocity_to_steps(AngularVelocity::new::<revolution_per_second>(0.5));
        assert_relative_eq!(steps, 200.0, epsilon = EPSILON);
@@ -206,7 +179,7 @@ mod tests {

    #[test]
    fn test_steps_to_angular_acceleration() {
-        let converter = AngularStepConverter::new(200);
+        let converter = StepConverter::new(200);

        // Test one revolution per second squared
        let angular_acceleration = converter.steps_to_angular_acceleration(200.0);
@@ -226,7 +199,7 @@ mod tests {
        );

        // Test with different steps_per_revolution
-        let converter = AngularStepConverter::new(400);
+        let converter = StepConverter::new(400);
        let angular_acceleration = converter.steps_to_angular_acceleration(400.0);
        assert_relative_eq!(
            angular_acceleration.get::<radian_per_second_squared>(),
@@ -237,7 +210,7 @@ mod tests {

    #[test]
    fn test_angular_acceleration_to_steps() {
-        let converter = AngularStepConverter::new(200);
+        let converter = StepConverter::new(200);

        // Test one revolution per second squared (2π rad/s²)
        let rps2 = 2.0 * std::f64::consts::PI;
@@ -253,7 +226,7 @@ mod tests {
        assert_relative_eq!(steps, 100.0, epsilon = EPSILON);

        // Test with different steps_per_revolution
-        let converter = AngularStepConverter::new(400);
+        let converter = StepConverter::new(400);
        let steps = converter.angular_acceleration_to_steps(AngularAcceleration::new::<
            radian_per_second_squared,
        >(rps2));
@@ -262,7 +235,7 @@ mod tests {

    #[test]
    fn test_roundtrip_conversions() {
-        let converter = AngularStepConverter::new(200);
+        let converter = StepConverter::new(200);

        // Test angle roundtrip
        let original_steps = 123.0;
@@ -1,36 +0,0 @@
-use anyhow::anyhow;
-use smol::lock::Mutex;
-use std::any::Any;
-use std::sync::Arc;
-
-pub trait Downcast<T> {
-    fn downcast(&self) -> Result<T, anyhow::Error>;
-}
-
-pub trait DowncastRef<T> {
-    fn downcast_ref(&self) -> Result<&T, anyhow::Error>;
-}
-
-impl<T: 'static, U: Any + 'static> Downcast<Arc<Mutex<T>>> for Arc<Mutex<U>> {
-    fn downcast(&self) -> Result<Arc<Mutex<T>>, anyhow::Error> {
-        // Acquire a read lock on the RwLock
-        let lock = self.lock_blocking();
-
-        // Check if the inner type can be downcasted to T
-        let any: &dyn Any = &*lock;
-
-        if any.is::<T>() {
-            // Clone the Arc and return it as the desired type
-            let cloned: Arc<Mutex<dyn Any>> = self.clone();
-
-            // Transmute the Arc to the desired type
-            unsafe {
-                let arc = Arc::from_raw(Arc::into_raw(cloned) as *const Mutex<T>);
-
-                Ok(arc)
-            }
-        } else {
-            Err(anyhow!("[{}::downcast] Downcast failed", module_path!()))
-        }
-    }
-}
@@ -0,0 +1,308 @@
+use anyhow::Error;
+use anyhow::anyhow;
+use ethercat_hal::devices::ek1100::EK1100_IDENTITY_A;
+use ethercat_hal::devices::el1002::EL1002_IDENTITY_A;
+use ethercat_hal::devices::el1008::EL1008_IDENTITY_A;
+use ethercat_hal::devices::el2002::EL2002_IDENTITY_A;
+use ethercat_hal::devices::el2004::EL2004_IDENTITY_A;
+use ethercat_hal::devices::el2008::EL2008_IDENTITY_A;
+use ethercat_hal::devices::el2521::{
+    EL2521_IDENTITY_0000_A, EL2521_IDENTITY_0000_B, EL2521_IDENTITY_0024_A,
+};
+use ethercat_hal::devices::el2522::EL2522_IDENTITY_A;
+use ethercat_hal::devices::el3001::EL3001_IDENTITY_A;
+use ethercat_hal::devices::el3021::EL3021_IDENTITY_A;
+use ethercat_hal::devices::el3024::EL3024_IDENTITY_A;
+use ethercat_hal::devices::el3204::EL3204_IDENTITY_A;
+use ethercat_hal::devices::el6021::EL6021_IDENTITY_A;
+use ethercat_hal::devices::el6021::EL6021_IDENTITY_B;
+
+use ethercat_hal::devices::el3204::EL3204_IDENTITY_B;
+
+use ethercat_hal::devices::el6021::EL6021_IDENTITY_C;
+use ethercat_hal::devices::el7031::EL7031_IDENTITY_A;
+use ethercat_hal::devices::el7031::EL7031_IDENTITY_B;
+use ethercat_hal::devices::el7041_0052::EL7041_0052_IDENTITY_A;
+use ethercat_hal::devices::subdevice_identity_to_tuple;
+use ethercat_hal::types::{
+    EthercrabSubDeviceOperational,
+    EthercrabSubDevicePreoperational,
+};
+use ethercrab::MainDevice;
+use ethercrab::SubDeviceIdentity;
+
+use crate::machines::identification::DeviceMachineIdentification;
+use crate::machines::identification::MachineIdentification;
+use crate::machines::identification::MachineIdentificationUnique;
+
+#[derive(Debug)]
+pub struct MachineIdentificationAddresses {
+    pub vendor_word: u16,
+    pub serial_word: u16,
+    pub machine_word: u16,
+    pub role_word: u16,
+}
+
+impl MachineIdentificationAddresses {
+    pub fn new(vendor_word: u16, serial_word: u16, machine_word: u16, device_word: u16) -> Self {
+        Self {
+            vendor_word,
+            serial_word,
+            machine_word,
+            role_word: device_word,
+        }
+    }
+}
+
+impl Default for MachineIdentificationAddresses {
+    fn default() -> Self {
+        Self {
+            vendor_word: 0x0028,
+            serial_word: 0x0029,
+            machine_word: 0x002a,
+            role_word: 0x002b,
+        }
+    }
+}
+
+/// Reads the EEPROM of all subdevices to get their machine device identifications
+///
+/// Returns a vector of MachineDeviceIdentification for all subdevices
+pub async fn read_device_identifications<
+    'maindevice,
+>(
+    subdevices: &Vec<EthercrabSubDevicePreoperational<'maindevice>>,
+    maindevice: &MainDevice<'maindevice>,
+) -> Vec<Result<DeviceMachineIdentification, Error>> {
+    let mut result = Vec::new();
+    for subdevice in subdevices.iter() {
+        let identification = machine_device_identification(&subdevice, maindevice).await;
+        result.push(identification);
+    }
+    result
+}
+
+/// Reads the machine device identification from the EEPROM
+pub async fn machine_device_identification<'maindevice>(
+    subdevice: &'maindevice EthercrabSubDevicePreoperational<'maindevice>,
+    maindevice: &MainDevice<'_>,
+) -> Result<DeviceMachineIdentification, Error> {
+    let addresses = match get_identification_addresses(&subdevice.identity(), subdevice.name()) {
+        Ok(x) => x,
+        Err(e) => {
+            u16dump(subdevice, maindevice, 0, 128).await?;
+            return Err(e);
+        }
+    };
+
+    let mdi = DeviceMachineIdentification {
+        machine_identification_unique: MachineIdentificationUnique {
+            machine_identification: MachineIdentification {
+                vendor: subdevice
+                .eeprom_read::<u16>(maindevice, addresses.vendor_word)
+                .await
+                .or(Err(anyhow!(
+                    "[{}::machine_device_identification] Failed to read vendor from EEPROM for device {}",
+                    module_path!(),
+                    subdevice.name()
+                )))?,
+                machine: subdevice
+                .eeprom_read::<u16>(maindevice, addresses.machine_word)
+                .await
+                .or(Err(anyhow!(
+                    "[{}::machine_device_identification] Failed to read machine from EEPROM for device {}",
+                    module_path!(),
+                    subdevice.name()
+                )))?,
+            },
+            serial: subdevice
+                .eeprom_read::<u16>(maindevice, addresses.serial_word)
+                .await
+                .or(Err(anyhow!(
+                    "[{}::machine_device_identification] Failed to read serial from EEPROM for device {}",
+                    module_path!(),
+                    subdevice.name()
+                )))?,
+           
+        },
+        role: subdevice
+            .eeprom_read::<u16>(maindevice, addresses.role_word)
+            .await
+            .or(Err(anyhow!(
+                "[{}::machine_device_identification] Failed to read role from EEPROM for device {}",
+                module_path!(),
+                subdevice.name()
+            )))?,
+    };
+
+    log::debug!(
+        "[{}::machine_device_identification] Read MDI from EEPROM for device {}\nVendor:  0x{:08x} at 0x{:04x}-0x{:04x}\nSerial:  0x{:08x} at 0x{:04x}-0x{:04x}\nMachine: 0x{:08x} at 0x{:04x}-0x{:04x}\nRole:    0x{:08x} at 0x{:04x}-0x{:04x}",
+        module_path!(),
+        subdevice.name(),
+        mdi.machine_identification_unique.machine_identification.vendor,
+        addresses.vendor_word,
+        addresses.vendor_word + 1,
+        mdi.machine_identification_unique.serial,
+        addresses.serial_word,
+        addresses.serial_word + 1,
+        mdi.machine_identification_unique.machine_identification.machine,
+        addresses.machine_word,
+        addresses.machine_word + 1,
+        mdi.role,
+        addresses.role_word,
+        addresses.role_word + 1,
+    );
+
+    Ok(mdi)
+}
+
+/// Writes the machine device identification to the EEPROM
+pub async fn write_machine_device_identification<'maindevice, const MAX_PDI: usize>(
+    subdevice: &EthercrabSubDeviceOperational<'maindevice, MAX_PDI>,
+    maindevice: &MainDevice<'_>,
+    device_identification: &DeviceMachineIdentification,
+) -> Result<(), Error> {
+    let addresses = get_identification_addresses(&subdevice.identity(), subdevice.name())?;
+    log::debug!(
+        "[{}::write_machine_device_identification] Writing MDI to EEPROM for device {}\nVendor:  0x{:08x} at 0x{:04x}-0x{:04x}\nSerial:  0x{:08x} at 0x{:04x}-0x{:04x}\nMachine: 0x{:08x} at 0x{:04x}-0x{:04x}\nRole:    0x{:08x} at 0x{:04x}-0x{:04x}",
+        module_path!(),
+        subdevice.name(),
+        device_identification.machine_identification_unique.machine_identification.vendor,
+        addresses.vendor_word,
+        addresses.vendor_word + 1,
+        device_identification.machine_identification_unique.serial,
+        addresses.serial_word,
+        addresses.serial_word + 1,
+        device_identification.machine_identification_unique.machine_identification.machine,
+        addresses.machine_word,
+        addresses.machine_word + 1,
+        device_identification.role,
+        addresses.role_word,
+        addresses.role_word + 1,
+    );
+
+    subdevice
+        .eeprom_write_dangerously(
+            maindevice,
+            addresses.vendor_word,
+            device_identification.machine_identification_unique.machine_identification.vendor,
+        )
+        .await?;
+    subdevice
+        .eeprom_write_dangerously(
+            maindevice,
+            addresses.serial_word,
+            device_identification.machine_identification_unique.serial,
+        )
+        .await?;
+    subdevice
+        .eeprom_write_dangerously(
+            maindevice,
+            addresses.machine_word,
+            device_identification.machine_identification_unique.machine_identification.machine,
+        )
+        .await?;
+    subdevice
+        .eeprom_write_dangerously(maindevice, addresses.role_word, device_identification.role)
+        .await?;
+    Ok(())
+}
+
+/// Returns the EEPROM addresses for the machine device identification
+/// based on the subdevice's identity
+pub fn get_identification_addresses<'maindevice>(
+    subdevice_identity: &SubDeviceIdentity,
+    subdevice_name: &str,
+) -> Result<MachineIdentificationAddresses, Error> {
+    let identity_tuple = subdevice_identity_to_tuple(&subdevice_identity);
+
+    Ok(match identity_tuple {
+        EK1100_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL1002_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL1008_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL2002_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL2004_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
+        EL2008_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL2521_IDENTITY_0000_A | EL2521_IDENTITY_0000_B | EL2521_IDENTITY_0024_A => {
+            MachineIdentificationAddresses::default()
+        }
+        EL2522_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3024_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3021_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL7031_IDENTITY_A | EL7031_IDENTITY_B => MachineIdentificationAddresses::default(),
+        EL7041_0052_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C => MachineIdentificationAddresses::default(),
+        _ => {
+            // block_on(u16dump(&subdevice, maindevice, 0x00, 0xff))?;
+            Err(anyhow!(
+                "[{}::get_identification_addresses] Unknown MDI addresses for device {:?} vendor: 0x{:08x} product: 0x{:08x} revision: 0x{:08x}",
+                module_path!(),
+                subdevice_name,
+                subdevice_identity.vendor_id,
+                subdevice_identity.product_id,
+                subdevice_identity.revision
+            ))?
+        }
+    })
+}
+
+async fn u16dump<'maindevice>(
+    subdevice: &'maindevice EthercrabSubDevicePreoperational<'maindevice>,
+    maindevice: &MainDevice<'maindevice>,
+    start_byte: u16,
+    end_byte: u16,
+) -> Result<(), Error> {
+    let mut words: Vec<u16> = Vec::new();
+    for word in start_byte..end_byte {
+        words.push(subdevice.eeprom_read(maindevice, word).await?);
+    }
+
+    print!(
+        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}\n",
+        subdevice.name(),
+        start_byte / 2,
+        end_byte / 2
+    );
+
+    u16print(start_byte, end_byte, words);
+
+    Ok(())
+}
+
+fn u16print(start_byte: u16, end_byte: u16, data: Vec<u16>) {
+    let table_start_word = start_byte & 0xfff0;
+    let table_end_word = (end_byte & 0xfff0_u16) + 0x10_u16;
+
+    let rows = table_end_word - table_start_word >> 4;
+
+    for row in 0..rows {
+        print!("0x{:04x} | ", (table_start_word + row * 0x10) / 2);
+        for word in 0..8 {
+            let word_address = row * 8 + word;
+            if word_address < start_byte {
+                print!("     ");
+            } else {
+                let i = (word_address - start_byte) as usize;
+                if i > data.len() - 1 {
+                    print!("     ");
+                } else {
+                    print!("{:04x} ", data[i]);
+                }
+            }
+        }
+        print!("\n");
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_hexprint() {
+        let data = vec![0x0000, 0x1ced];
+        u16print(0x01, 0x40, data);
+    }
+}
@@ -1,9 +1,10 @@
+use std::{sync::Arc, time::Duration};
+
 use ethercrab::{
    MainDevice, MainDeviceConfig, PduStorage, Timeouts,
    std::{ethercat_now, tx_rx_task},
 };
 use interfaces::Interface;
-use std::{process::Command, sync::Arc, time::Duration};

 // Constants for EtherCAT configuration
 const IFACE_DISCOVERY_MAX_SUBDEVICES: usize = 16; // Must be power of 2 > 1
@@ -11,115 +12,94 @@ const IFACE_DISCOVERY_MAX_PDU_DATA: usize = PduStorage::element_size(1100);
 const IFACE_DISCOVERY_MAX_FRAMES: usize = 16;
 const IFACE_DISCOVERY_MAX_PDI_LEN: usize = 128;

-/// Sets a network interface to unmanaged by NetworkManager.
-/// Returns true if the command succeeded.
-pub fn set_interface_managed(interface: &str, managed: bool) -> bool {
-    let managed_str = match managed {
-        true => "yes",
-        false => "no",
-    };
-    tracing::info!(
-        "set_interface_managed for {} managed was set to: {}",
-        interface,
-        managed_str
-    );
-    let status = Command::new("nmcli")
-        .args(["dev", "set", interface, "managed", managed_str])
-        .status();
-
-    matches!(status, Ok(s) if s.success())
-}
-
-/// Returns true if the given network interface is Ethernet.
-/// Prevents testing wlan,loopback and other non ethernet devices
-fn is_ethernet(interface: &str) -> std::io::Result<bool> {
-    #[cfg(target_os = "linux")]
-    {
-        let base_path = format!("/sys/class/net/{}", interface);
-        let type_path = std::path::Path::new(&base_path).join("type");
-        let iface_type = std::fs::read_to_string(&type_path)?.trim().to_string();
-        // 1 means Ethernet
-        let reports_as_ethernet = iface_type == "1";
-        // Double-check that it's not a wireless interface
-        let uevent_path = std::path::Path::new(&base_path).join("uevent");
-        let uevent = std::fs::read_to_string(&uevent_path).unwrap_or_default();
-        // If "DEVTYPE=wlan" appears, it's lying
-        let actually_wifi = uevent.contains("DEVTYPE=wlan");
-        return Ok(reports_as_ethernet && !actually_wifi);
-    }
-    #[cfg(not(target_os = "linux"))]
-    return Ok(true);
-}
-
+/// Finds an ethernet interface that is suitable for EtherCAT communication.
+///
+/// ```ignore
+/// match discover_ethercat_interface().await {
+///     Ok(interface) => println!("Found working interface: {}", interface),
+///     Err(_) => println!("No working interface found"),
+/// }
+/// ```
 pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
-    tracing::info!("Discovering EtherCAT interface...");
+    log::info!("Discovering EtherCAT interface...");

    // Set up a custom panic hook that suppresses panic output
    let default_hook = std::panic::take_hook();
    std::panic::set_hook(Box::new(move |panic_info| {
        // Optional: log the panic in a controlled way
        if let Some(location) = panic_info.location() {
-            tracing::debug!(
+            log::debug!(
                "Suppressed panic in interface test: {} (at {}:{})",
                panic_info,
                location.file(),
                location.line()
            );
        } else {
-            tracing::debug!("Suppressed panic in interface test: {}", panic_info);
+            log::debug!("Suppressed panic in interface test: {}", panic_info);
        }
+        // Don't call the default hook, which would print the backtrace
    }));

    // Get eligible interfaces
    let mut interfaces = Interface::get_all()
-        .map_err(|e| anyhow::anyhow!("Failed to get network interfaces: {}", e))?
+        .or_else(|e| Err(anyhow::anyhow!("Failed to get network interfaces: {}", e)))?
        .into_iter()
        .filter(|iface| {
            iface.is_up()
                && iface.is_running()
                && !iface.is_loopback()
-                && is_ethernet(&iface.name).unwrap_or(false)
                && !iface.name.starts_with("bridge")
-                && !iface.name.starts_with("utun")   // Exclude tunnel interfaces
-                && !iface.name.starts_with("awdl")   // Exclude Apple Wireless Direct Link
-                && !iface.name.starts_with("anpi")   // Exclude Apple Network Privacy Interface
-                && !iface.name.starts_with("llw") // Exclude Apple low-latency WLAN
        })
        .collect::<Vec<_>>();

+    // Sort interfaces by name
    interfaces.sort_by(|a, b| a.name.cmp(&b.name));
-    let mut interface: Option<&str> = None;

-    for i in 0..interfaces.len() {
-        match test_interface(&interfaces[i].name) {
-            Ok(_) => {
-                // if interface found with ethercat Exit early, we expect only one interface with ethercat
-                interface = Some(&interfaces[i].name);
-                break;
-            }
-            Err(_) => (),
-        }
-    }
+    // Try all interfaces concurrently
+    let tasks = interfaces
+        .iter()
+        .map(|iface| {
+            let name = iface.name.clone();
+            std::thread::spawn(move || {
+                std::panic::catch_unwind(|| {
+                    smol::block_on(async {
+                        match test_interface(&name) {
+                            Ok(_) => {
+                                log::debug!("Found working EtherCAT interface: {}", name);
+                                Some(name.clone())
+                            }
+                            Err(e) => {
+                                log::debug!("Interface {} failed: {}", name, e);
+                                None
+                            }
+                        }
+                    })
+                })
+                .unwrap_or(None)
+            })
+        })
+        .collect::<Vec<_>>();

-    for i in 0..interfaces.len() {
-        if interface.is_some() && interface.unwrap() == &interfaces[i].name {
-            set_interface_managed(&interfaces[i].name, false);
-        } else {
-            set_interface_managed(&interfaces[i].name, true);
-        }
-    }
+    // Return first successful interface
+    let result =
+        tasks
+            .into_iter()
+            .find_map(|task| match task.join().expect("Should join thread") {
+                Some(name) => Some(name),
+                None => None,
+            });

    // Restore the default panic hook
    std::panic::set_hook(default_hook);

-    match interface {
-        Some(interface) => return Ok(interface.to_string()),
-        None => return Err(anyhow::anyhow!("No suitable EtherCAT interface found")),
+    match result {
+        Some(name) => Ok(name),
+        None => Err(anyhow::anyhow!("No suitable EtherCAT interface found")),
    }
 }

 fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
-    tracing::info!("Testing interface: {}", interface);
+    log::debug!("Testing interface: {}", interface);

    let pdu_storage = Box::leak(Box::new(PduStorage::<
        IFACE_DISCOVERY_MAX_FRAMES,
@@ -153,12 +133,7 @@ fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
                // Default 1000ms
                mailbox_response: Duration::from_millis(1000),
            },
-            MainDeviceConfig {
-                // Default 10000
-                dc_static_sync_iterations: 10000,
-                // Default None
-                retry_behaviour: ethercrab::RetryBehaviour::Count(3),
-            },
+            MainDeviceConfig::default(),
        ));

        let result = maindevice
@@ -1 +1,2 @@
+pub mod eeprom_identification;
 pub mod interface_discovery;
@@ -1,65 +0,0 @@
-use std::process::Command;
-
-use anyhow::Result;
-use interfaces::Interface;
-
-pub mod modbus_tcp_discovery;
-
-/// Returns true if the given network interface is Ethernet.
-/// Prevents testing wlan,loopback and other non ethernet devices
-fn is_ethernet(interface: &str) -> std::io::Result<bool> {
-    #[cfg(target_os = "linux")]
-    {
-        let base_path = format!("/sys/class/net/{}", interface);
-        let type_path = std::path::Path::new(&base_path).join("type");
-        let iface_type = std::fs::read_to_string(&type_path)?.trim().to_string();
-        // 1 means Ethernet
-        let reports_as_ethernet = iface_type == "1";
-        // Double-check that it's not a wireless interface
-        let uevent_path = std::path::Path::new(&base_path).join("uevent");
-        let uevent = std::fs::read_to_string(&uevent_path).unwrap_or_default();
-        // If "DEVTYPE=wlan" appears, it's lying
-        let actually_wifi = uevent.contains("DEVTYPE=wlan");
-        Ok(reports_as_ethernet && !actually_wifi)
-    }
-    #[cfg(not(target_os = "linux"))]
-    return Ok(true);
-}
-
-pub fn get_interfaces() -> Result<Vec<Interface>> {
-    let vec = Interface::get_all()
-        .map_err(|e| anyhow::anyhow!("Failed to get network interfaces: {}", e))?
-        .into_iter()
-        .filter(|iface| {
-            iface.is_up()
-                && iface.is_running()
-                && !iface.is_loopback()
-                && is_ethernet(&iface.name).unwrap_or(false)
-                && !iface.name.starts_with("bridge")
-                && !iface.name.starts_with("utun")   // Exclude tunnel interfaces
-                && !iface.name.starts_with("awdl")   // Exclude Apple Wireless Direct Link
-                && !iface.name.starts_with("anpi")   // Exclude Apple Network Privacy Interface
-                && !iface.name.starts_with("llw") // Exclude Apple low-latency WLAN
-        })
-        .collect::<Vec<_>>();
-    Ok(vec)
-}
-
-/// Sets a network interface to unmanaged by NetworkManager.
-/// Returns true if the command succeeded.
-pub fn set_interface_managed(interface: &str, managed: bool) -> bool {
-    let managed_str = match managed {
-        true => "yes",
-        false => "no",
-    };
-    tracing::info!(
-        "set_interface_managed for {} managed was set to: {}",
-        interface,
-        managed_str
-    );
-    let status = Command::new("nmcli")
-        .args(["dev", "set", interface, "managed", managed_str])
-        .status();
-
-    matches!(status, Ok(s) if s.success())
-}
@@ -1,78 +0,0 @@
-use crate::ethernet::get_interfaces;
-use crate::{futures::FutureIteratorExt, modbus::tcp::ModbusTcpDevice};
-use anyhow::{Result, bail};
-use interfaces::Interface;
-use std::cmp::min;
-use std::net::{IpAddr, Ipv4Addr, SocketAddr};
-
-pub struct ModbusTcpProbe {
-    pub addr: SocketAddr,
-    pub serial: u16,
-}
-
-pub async fn probe_modbus_tcp() -> Vec<ModbusTcpProbe> {
-    let interfaces = match get_interfaces() {
-        Ok(x) => x,
-        Err(_) => return vec![],
-    };
-
-    interfaces
-        .into_iter()
-        .map(probe_modbus_tcp_addresses)
-        .join_all()
-        .await
-        .into_iter()
-        .flatten()
-        .collect()
-}
-
-async fn probe_modbus_tcp_addresses(interface: Interface) -> Vec<ModbusTcpProbe> {
-    let out: Vec<ModbusTcpProbe> = interface
-        .addresses
-        .iter()
-        .filter_map(|addr| {
-            let a = addr.addr.map(|a| a.ip());
-            let m = addr.mask.map(|a| a.ip());
-
-            match (a, m) {
-                (Some(IpAddr::V4(addr)), Some(IpAddr::V4(mask))) => Some((addr, mask)),
-                _ => None,
-            }
-        })
-        .flat_map(|(addr, mask)| {
-            let a = u32::from(addr);
-            let m = u32::from(mask);
-            let network = a & m;
-
-            let prefix = min(24, m.count_ones()); // mask → prefix length
-            let size = 1u32 << (32 - prefix); // number of addresses
-
-            (0..size).map(move |i| SocketAddr::new(Ipv4Addr::from(network + i).into(), 502))
-        })
-        .map(|addr| smol::spawn(ping_modbus_device(addr)))
-        .join_all()
-        .await
-        .into_iter()
-        .filter_map(|x| x.ok())
-        .collect();
-
-    out
-}
-
-async fn ping_modbus_device(addr: SocketAddr) -> Result<ModbusTcpProbe> {
-    let mut device = ModbusTcpDevice::new(addr).await?;
-
-    let module_number1 = device.get_u32(0x2).await?;
-    let module_number2 = device.get_u32(0x4).await?;
-
-    if module_number1 != 0x2787_2144 || module_number2 != 0x0000_0000 {
-        bail!("Unknown modbus tcp device!");
-    }
-
-    let serial = device.get_u32(0x000A).await?;
-
-    Ok(ModbusTcpProbe {
-        addr,
-        serial: serial as u16,
-    })
-}
@@ -1,26 +0,0 @@
-use core::future::Future;
-
-// Extension trait for iterators of futures
-pub trait FutureIteratorExt<F>: Iterator<Item = F> + Sized
-where
-    F: Future,
-{
-    /// Await all futures and return their outputs
-    fn join_all(self) -> impl Future<Output = Vec<F::Output>>;
-}
-
-impl<I, F> FutureIteratorExt<F> for I
-where
-    I: Iterator<Item = F> + Sized,
-    F: Future,
-{
-    async fn join_all(self) -> Vec<F::Output> {
-        let mut out = Vec::new();
-
-        for fut in self {
-            out.push(fut.await);
-        }
-
-        out
-    }
-}
@@ -1,42 +0,0 @@
-pub struct ListChange<'t, T>
-where
-    T: PartialEq,
-{
-    pub added: Vec<&'t T>,
-    pub removed: Vec<&'t T>,
-    pub same: Vec<&'t T>,
-}
-
-pub fn compare_lists<'oldlist, 'newlist, 't, T: PartialEq>(
-    old_list: &'oldlist Vec<T>,
-    new_list: &'newlist Vec<T>,
-) -> ListChange<'t, T>
-where
-    T: PartialEq,
-    'oldlist: 't,
-    'newlist: 't,
-{
-    let mut added = Vec::new();
-    let mut removed = Vec::new();
-    let mut same = Vec::new();
-
-    for item in new_list.iter() {
-        if !old_list.iter().any(|x| x == item) {
-            added.push(item);
-        } else {
-            same.push(item);
-        }
-    }
-
-    for item in old_list.iter() {
-        if !new_list.iter().any(|x| x == item) {
-            removed.push(item);
-        }
-    }
-
-    ListChange {
-        added,
-        removed,
-        same,
-    }
-}
@@ -1,337 +0,0 @@
-use serde::Serialize;
-use serde::ser::{
-    SerializeMap, SerializeSeq, SerializeStruct, SerializeStructVariant, SerializeTuple,
-    SerializeTupleStruct, SerializeTupleVariant, Serializer,
-};
-use std::error::Error;
-use std::fmt::Display;
-use std::hash::{DefaultHasher, Hasher};
-
-#[derive(Debug)]
-pub struct HashSerializerError {}
-
-impl std::fmt::Display for HashSerializerError {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        f.write_str(&format!("{:?}", self))
-        // f.debug_struct("HashSerialiyerError")
-        // .finish()
-    }
-}
-
-impl Error for HashSerializerError {}
-
-impl serde::ser::Error for HashSerializerError {
-    fn custom<T>(_msg: T) -> Self
-    where
-        T: Display,
-    {
-        Self {}
-    }
-}
-
-pub struct HashSerializer<'a, H: Hasher>(&'a mut H);
-impl<H: Hasher> SerializeSeq for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_element<T>(&mut self, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeTuple for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_element<T>(&mut self, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeTupleStruct for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_field<T>(&mut self, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeTupleVariant for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_field<T>(&mut self, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeMap for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_key<T>(&mut self, key: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        key.serialize(HashSerializer(self.0))
-    }
-
-    fn serialize_value<T>(&mut self, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeStruct for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_field<T>(&mut self, key: &'static str, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        // Optional: hash the field name to avoid collisions
-        self.0.write(key.as_bytes());
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeStructVariant for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_field<T>(&mut self, key: &'static str, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        self.0.write(key.as_bytes());
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> Serializer for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-    type SerializeSeq = Self;
-    type SerializeTuple = Self;
-    type SerializeTupleStruct = Self;
-    type SerializeTupleVariant = Self;
-    type SerializeMap = Self;
-    type SerializeStruct = Self;
-    type SerializeStructVariant = Self;
-
-    fn serialize_bool(self, v: bool) -> Result<(), Self::Error> {
-        self.0.write_u8(v as u8);
-        Ok(())
-    }
-
-    fn serialize_i8(self, v: i8) -> Result<(), Self::Error> {
-        self.0.write_i8(v);
-        Ok(())
-    }
-
-    fn serialize_i16(self, v: i16) -> Result<(), Self::Error> {
-        self.0.write_i16(v);
-        Ok(())
-    }
-
-    fn serialize_i32(self, v: i32) -> Result<(), Self::Error> {
-        self.0.write_i32(v);
-        Ok(())
-    }
-
-    fn serialize_i64(self, v: i64) -> Result<(), Self::Error> {
-        self.0.write_i64(v);
-        Ok(())
-    }
-
-    fn serialize_u8(self, v: u8) -> Result<(), Self::Error> {
-        self.0.write_u8(v);
-        Ok(())
-    }
-
-    fn serialize_u16(self, v: u16) -> Result<(), Self::Error> {
-        self.0.write_u16(v);
-        Ok(())
-    }
-
-    fn serialize_u32(self, v: u32) -> Result<(), Self::Error> {
-        self.0.write_u32(v);
-        Ok(())
-    }
-
-    fn serialize_u64(self, v: u64) -> Result<(), Self::Error> {
-        self.0.write_u64(v);
-        Ok(())
-    }
-
-    fn serialize_f32(self, v: f32) -> Result<(), Self::Error> {
-        self.0.write_u32(v.to_bits());
-        Ok(())
-    }
-
-    fn serialize_f64(self, v: f64) -> Result<(), Self::Error> {
-        self.0.write_u64(v.to_bits());
-        Ok(())
-    }
-
-    fn serialize_char(self, v: char) -> Result<(), Self::Error> {
-        let mut buf = [0; 4];
-        self.0.write(v.encode_utf8(&mut buf).as_bytes());
-        Ok(())
-    }
-
-    fn serialize_str(self, v: &str) -> Result<(), Self::Error> {
-        self.0.write(v.as_bytes());
-        Ok(())
-    }
-
-    fn serialize_bytes(self, v: &[u8]) -> Result<(), Self::Error> {
-        self.0.write(v);
-        Ok(())
-    }
-
-    fn serialize_none(self) -> Result<(), Self::Error> {
-        self.0.write_u8(0); // type tag for None
-        Ok(())
-    }
-
-    fn serialize_some<T: ?Sized + Serialize>(self, value: &T) -> Result<(), Self::Error> {
-        self.0.write_u8(1); // type tag for Some
-        value.serialize(self)
-    }
-
-    fn serialize_unit(self) -> Result<(), Self::Error> {
-        self.0.write_u8(0);
-        Ok(())
-    }
-
-    fn serialize_unit_struct(self, _name: &'static str) -> Result<(), Self::Error> {
-        self.serialize_unit()
-    }
-
-    fn serialize_unit_variant(
-        self,
-        _name: &'static str,
-        variant_index: u32,
-        _variant: &'static str,
-    ) -> Result<(), Self::Error> {
-        self.0.write_u32(variant_index);
-        Ok(())
-    }
-
-    fn serialize_newtype_struct<T: ?Sized + Serialize>(
-        self,
-        _name: &'static str,
-        value: &T,
-    ) -> Result<(), Self::Error> {
-        value.serialize(self)
-    }
-
-    fn serialize_newtype_variant<T: ?Sized + Serialize>(
-        self,
-        _name: &'static str,
-        variant_index: u32,
-        _variant: &'static str,
-        value: &T,
-    ) -> Result<(), Self::Error> {
-        self.0.write_u32(variant_index);
-        value.serialize(self)
-    }
-
-    // For sequences, tuples, maps, structs, just return self for now
-    fn serialize_seq(self, _len: Option<usize>) -> Result<Self::SerializeSeq, Self::Error> {
-        Ok(self)
-    }
-    fn serialize_tuple(self, _len: usize) -> Result<Self::SerializeTuple, Self::Error> {
-        Ok(self)
-    }
-    fn serialize_tuple_struct(
-        self,
-        _name: &'static str,
-        _len: usize,
-    ) -> Result<Self::SerializeTupleStruct, Self::Error> {
-        Ok(self)
-    }
-    fn serialize_tuple_variant(
-        self,
-        _name: &'static str,
-        variant_index: u32,
-        _variant: &'static str,
-        _len: usize,
-    ) -> Result<Self::SerializeTupleVariant, Self::Error> {
-        self.0.write_u32(variant_index);
-        Ok(self)
-    }
-    fn serialize_map(self, _len: Option<usize>) -> Result<Self::SerializeMap, Self::Error> {
-        Ok(self)
-    }
-    fn serialize_struct(
-        self,
-        _name: &'static str,
-        _len: usize,
-    ) -> Result<Self::SerializeStruct, Self::Error> {
-        Ok(self)
-    }
-    fn serialize_struct_variant(
-        self,
-        _name: &'static str,
-        variant_index: u32,
-        _variant: &'static str,
-        _len: usize,
-    ) -> Result<Self::SerializeStructVariant, Self::Error> {
-        self.0.write_u32(variant_index);
-        Ok(self)
-    }
-}
-
-// A helper that uses Serialize to feed into a Hasher without allocating a buffer:
-pub fn hash_with_serde_model<T: Serialize>(value: T) -> u64 {
-    let mut h = DefaultHasher::new();
-    let ser = HashSerializer(&mut h);
-    value.serialize(ser).expect("serialize to hasher failed");
-    h.finish()
-}
@@ -1,108 +0,0 @@
-/// Folds bytes using XOR to produce a u128 value.
-///
-/// Takes a slice of bytes and XORs them together in chunks to produce a u128.
-/// If there are fewer than 16 bytes, the remaining bytes are padded with zeros.
-pub fn byte_folding_u128(bytes: &[u8]) -> u128 {
-    let mut result = 0u128;
-    for (i, &byte) in bytes.iter().enumerate() {
-        let shift = (i % 16) * 8;
-        result ^= (byte as u128) << shift;
-    }
-    result
-}
-
-/// Folds bytes using XOR to produce a u64 value.
-///
-/// Takes a slice of bytes and XORs them together in chunks to produce a u64.
-/// If there are fewer than 8 bytes, the remaining bytes are padded with zeros.
-pub fn byte_folding_u64(bytes: &[u8]) -> u64 {
-    let mut result = 0u64;
-    for (i, &byte) in bytes.iter().enumerate() {
-        let shift = (i % 8) * 8;
-        result ^= (byte as u64) << shift;
-    }
-    result
-}
-
-/// Folds bytes using XOR to produce a u32 value.
-///
-/// Takes a slice of bytes and XORs them together in chunks to produce a u32.
-/// If there are fewer than 4 bytes, the remaining bytes are padded with zeros.
-pub fn byte_folding_u32(bytes: &[u8]) -> u32 {
-    let mut result = 0u32;
-    for (i, &byte) in bytes.iter().enumerate() {
-        let shift = (i % 4) * 8;
-        result ^= (byte as u32) << shift;
-    }
-    result
-}
-
-/// Folds bytes using XOR to produce a u16 value.
-///
-/// Takes a slice of bytes and XORs them together in chunks to produce a u16.
-/// If there are fewer than 2 bytes, the remaining bytes are padded with zeros.
-pub fn byte_folding_u16(bytes: &[u8]) -> u16 {
-    let mut result = 0u16;
-    for (i, &byte) in bytes.iter().enumerate() {
-        let shift = (i % 2) * 8;
-        result ^= (byte as u16) << shift;
-    }
-    result
-}
-
-/// Folds bytes using XOR to produce a u8 value.
-///
-/// Takes a slice of bytes and XORs them all together to produce a u8.
-pub fn byte_folding_u8(bytes: &[u8]) -> u8 {
-    bytes.iter().fold(0u8, |acc, &byte| acc ^ byte)
-}
-
-/// Computes a djb2 hash of the input bytes.
-///
-/// The djb2 algorithm is a simple non-cryptographic hash function created by
-/// Daniel J. Bernstein. It uses the formula: `hash = hash * 33 + byte` for each byte.
-///
-/// This implementation uses the traditional 32-bit hash value and uses wrapping
-/// arithmetic to handle potential overflows gracefully.
-///
-/// # Arguments
-///
-/// * `bytes` - A slice of bytes to hash
-///
-/// # Returns
-///
-/// A 32-bit hash value as a `u32`
-///
-/// # Examples
-///
-/// ```
-/// use control_core::helpers::hashing::hash_djb2;
-///
-/// let hash = hash_djb2(b"hello world");
-/// assert_ne!(hash, 0);
-/// ```
-///
-/// # Algorithm Details
-///
-/// - Initial hash value: 5381 (djb2 magic number)
-/// - For each byte: `hash = hash * 33 + byte`
-/// - Uses wrapping arithmetic to prevent overflow panics
-pub fn hash_djb2(bytes: &[u8]) -> u32 {
-    let mut hash: u32 = 5381;
-
-    for byte in bytes {
-        hash = hash.wrapping_mul(33).wrapping_add(*byte as u32);
-    }
-    hash
-}
-
-#[test]
-fn test_hash() {
-    let test_case = "/dev/ttyUSB1";
-    let hash_u32 = hash_djb2(test_case.as_bytes());
-    let hash_u16 = byte_folding_u16(&hash_u32.to_le_bytes());
-    tracing::info!("{}", test_case);
-    assert_eq!(test_case, "/dev/ttyUSB1");
-    assert_eq!(hash_u32, 266121182);
-    assert_eq!(hash_u16, 40962);
-}
@@ -1,880 +0,0 @@
-/// Normalizes a value from a given range [min, max] to the range [0, 1].
-///
-/// This function maps a value from an arbitrary range to the standard
-/// normalized range [0, 1]. Values o/// Plot for Steepness = -1:ge are clamped
-/// to the boundaries (0.0 or 1.0).
-///
-/// # Arguments
-/// * `value` - The input value to normalize
-/// * `min` - The minimum value of the input range
-/// * `max` - The maximum value of the input range
-///
-/// # Returns
-/// * Normalized value in range [0.0, 1.0]
-///
-/// # Panics
-/// * Panics if `min >= max`
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::normalize;
-/// let normalized = normalize(5.0, 0.0, 10.0); // Returns 0.5
-/// let clamped = normalize(-2.0, 0.0, 10.0);   // Returns 0.0 (clamped)
-/// ```
-pub fn normalize<T>(value: T, min: T, max: T) -> f64
-where
-    T: Into<f64>,
-{
-    let value: f64 = value.into();
-    let min: f64 = min.into();
-    let max: f64 = max.into();
-
-    if min >= max {
-        panic!("min must be less than max");
-    }
-    if value < min {
-        return 0.0;
-    } else if value > max {
-        return 1.0;
-    }
-    (value - min) / (max - min)
-}
-
-/// Scales a normalized value from the range [0, 1] to a new range [new_min, new_max].
-///
-/// This function takes a normalized value (typically from 0 to 1) and maps it
-/// to a new target range. It's the inverse operation of normalization.
-///
-/// # Arguments
-/// * `normalized_value` - Input value in range [0.0, 1.0]
-/// * `new_min` - The minimum value of the target range
-/// * `new_max` - The maximum value of the target range
-///
-/// # Returns
-/// * Scaled value in the range [new_min, new_max]
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::scale;
-/// let scaled = scale(0.5, 0.0, 100.0); // Returns 50.0
-/// let negative_range = scale(0.25, -10.0, 10.0); // Returns -5.0
-/// ```
-pub fn scale<T>(normalized_value: f64, new_min: T, new_max: T) -> T
-where
-    T: Into<f64> + From<f64>,
-{
-    let normalized_value: f64 = normalized_value;
-    let new_min: f64 = new_min.into();
-    let new_max: f64 = new_max.into();
-
-    let result = normalized_value.mul_add(new_max - new_min, new_min);
-    T::from(result)
-}
-
-/// Performs hinge interpolation creating a piecewise linear function.
-///
-/// This function creates a piecewise linear curve that:
-/// - For values < x: linearly interpolates from (0, 0) to (x, y)
-/// - For values > x: linearly interpolates from (x, y) to (1, 1)
-/// - For value == x: returns y
-///
-/// The function assumes the input value is normalized to the range [0, 1],
-/// and creates a "hinge" or "elbow" shape at the point (x, y).
-///
-/// # Arguments
-/// * `value` - The input value (typically in range [0, 1])
-/// * `x` - The x-coordinate of the hinge point (typically in range [0, 1])
-/// * `y` - The y-coordinate of the hinge point (typically in range [0, 1])
-///
-/// # Returns
-/// * Interpolated value based on the hinge function
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::interpolate_hinge;
-/// // Create a hinge at (0.3, 0.7)
-/// let result1 = interpolate_hinge(0.15, 0.3, 0.7); // Returns 0.35 (halfway to hinge)
-/// let result2 = interpolate_hinge(0.3, 0.3, 0.7);  // Returns 0.7 (at hinge)
-/// let result3 = interpolate_hinge(0.65, 0.3, 0.7); // Returns 0.85 (halfway from hinge to 1)
-/// ```
-/// ```ignore
-/// Hinge at (0.8, 0.2)
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠇⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠎⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢸⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠇⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠎⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢸⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⣀⠤⠤⠒⠒⠊⠁⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⣀⣀⡠⠤⠒⠒⠉⠉⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⣀⣀⠤⠤⠔⠒⠉⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠉⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-pub fn interpolate_hinge<T>(value: T, x: T, y: T) -> f64
-where
-    T: Into<f64>,
-{
-    let value_f64: f64 = value.into();
-    let x_f64: f64 = x.into();
-    let y_f64: f64 = y.into();
-
-    // If we are under X we scale linearly from 0 to y
-    // If we are over X we scale linearly from y to 1
-    if value_f64 < x_f64 {
-        normalize(value_f64, 0.0, x_f64) * y_f64
-    } else if value_f64 > x_f64 {
-        normalize(value_f64, x_f64, 1.0).mul_add(1.0 - y_f64, y_f64)
-    } else {
-        y_f64
-    }
-}
-
-/// Transforms a normalized value from the range [0, 1] to a [0, 1] range using a normalized exponential function.
-///
-/// This function creates smooth curves that are either convex (fast start, slow end)
-/// or concave (slow start, fast end) depending on the steepness parameter sign.
-/// The curve always passes through (0,0) and (1,1).
-///
-/// # Arguments
-/// * `normalized_value` - Input value in range [0.0, 1.0]
-/// * `steepness` - Controls the curve shape:
-///   - `steepness = 0.0`: Linear interpolation (y = x)
-///   - `steepness > 0.0`: Convex curve (slow start → fast end)
-///   - `steepness < 0.0`: Concave curve (fast start → slow end)
-///   - Typical range: -5.0 to 5.0 for most applications
-///
-/// # Returns
-/// * Transformed value in range [0.0, 1.0]
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::interpolate_exponential;
-/// let convex = interpolate_exponential(0.5, 2.0);   // Slow start, fast end
-/// let concave = interpolate_exponential(0.5, -2.0); // Fast start, slow end
-/// let linear = interpolate_exponential(0.5, 0.0);   // Linear (returns 0.5)
-/// ```
-///
-/// # Plots
-/// Steepness = -3
-/// Steepness = -3
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⡠⠤⠔⠒⠒⠉⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠤⠔⠊⠉⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠒⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⡔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⢀⠎⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⡔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⡰⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⡜⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⢰⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⢀⠇⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⢤⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡎⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ -0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = -1
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠒⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠁⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠒⠁⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⢀⠜⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⡔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⢀⠎⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⡔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⢀⠜⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡲⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ -0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 0
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⢂⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 1
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢠⠃⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢠⠊⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠜⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⢀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⢂⣀⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 3
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡎⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠎⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠇⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠁⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⣀⠤⠔⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⣀⣀⠤⠤⠒⠒⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠉⠉⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-pub fn interpolate_exponential(normalized_value: f64, steepness: f64) -> f64 {
-    if steepness.abs() < 1e-10 {
-        // When a is very close to zero, the function becomes linear
-        return normalized_value;
-    }
-    let numerator = steepness.exp().powf(normalized_value) - 1.0;
-    let denominator = steepness.exp_m1();
-
-    clip(numerator / denominator)
-}
-
-/// A piecewise exponential interpolation function that creates smooth S-curves
-/// through the points (0,0), (0.5,0.5), and (1,1).
-///
-/// The function combines two normalized exponential segments:
-/// - First half (0 to 0.5): inverted exponential (concave, fast start → slow end)
-/// - Second half (0.5 to 1): standard exponential (convex, slow start → fast end)
-///
-/// This creates an S-like curve that's concave then convex, similar to
-/// a smoothed step function or sigmoid-like transition.
-///
-/// # Arguments
-/// * `x` - Input value, should be in range [0.0, 1.0]
-/// * `steepness` - Controls how steep the S-curve is
-///   - `steepness = 0.0`: Linear interpolation (y = x)
-///   - `steepness > 0.0`: More pronounced S-curve
-///   - Higher values create sharper transitions at the boundaries
-///   - Typical range: 0.5 to 5.0 for most applications
-///
-/// # Returns
-/// * Interpolated y value in range [0.0, 1.0]
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::interpolate_inflected_exponential;
-/// let y = interpolate_inflected_exponential(0.25, 2.0); // Gentle S-curve
-/// let y = interpolate_inflected_exponential(0.75, 5.0); // Sharp S-curve
-/// ```
-///
-/// # Plots
-/// Steepness = 0.5
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠉⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠜⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠜⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢠⠒⠁⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⡔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⢀⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⢀⠤⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⡠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡢⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 1
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢠⠒⠁⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠃⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠒⠁⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⡠⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⡰⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⡰⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⡜⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡲⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 2
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠃⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡸⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠉⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⡠⠤⠒⠊⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⢠⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⡠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⡠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡞⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 5
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠇⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠎⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠉⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⣀⣀⡠⠤⠤⠤⠤⠤⠤⠤⠒⠒⠊⠉⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⢀⠔⠒⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⢠⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⢠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⢀⠇⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⣁⠎⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⢼⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡇⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-pub fn interpolate_inflected_exponential(x: f64, steepness: f64) -> f64 {
-    debug_assert!((0.0..=1.0).contains(&x), "x must be in range [0.0, 1.0]");
-    debug_assert!(steepness >= 0.0, "steepness must be non-negative");
-
-    if steepness == 0.0 {
-        // Linear case
-        return x;
-    }
-
-    if x <= 0.5 {
-        // First segment: inverted exponential (concave)
-        // Maps [0, 0.5] → [0, 0.5] with concave shape
-        let x_norm = 2.0 * x; // Scale to [0, 1]
-
-        // Use inverted exponential interpolation
-        let result = 1.0 - interpolate_exponential(1.0 - x_norm, steepness);
-        0.5 * result
-    } else {
-        // Second segment: standard exponential (convex)
-        // Maps [0.5, 1] → [0.5, 1] with convex shape
-        let x_norm = 2.0 * (x - 0.5); // Scale to [0, 1]
-
-        // Use standard exponential interpolation
-        let result = interpolate_exponential(x_norm, steepness);
-        0.5f64.mul_add(result, 0.5)
-    }
-}
-
-/// Inverts a value from the range [0, 1] to [1, 0].
-///
-/// This function flips a normalized value, where 0 becomes 1 and 1 becomes 0.
-/// Values outside [0, 1] are first clamped to this range before inversion.
-///
-/// # Arguments
-/// * `value` - Input value (will be clamped to [0.0, 1.0])
-///
-/// # Returns
-/// * Inverted value in range [0.0, 1.0]
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::invert;
-/// let inverted = invert(0.3); // Returns 0.7
-/// let boundary = invert(0.0); // Returns 1.0
-/// let clamped = invert(1.5);  // Returns 0.0 (input clamped to 1.0 first)
-/// ```
-pub fn invert(value: f64) -> f64 {
-    let value = clip(value);
-    1.0 - value
-}
-
-/// Clips a value to the range [0, 1].
-///
-/// This function ensures that any input value is constrained to the
-/// normalized range [0, 1] by clamping values below 0 to 0 and
-/// values above 1 to 1.
-///
-/// # Arguments
-/// * `value` - Input value to clip
-///
-/// # Returns
-/// * Clipped value in range [0.0, 1.0]
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::clip;
-/// let normal = clip(0.5);  // Returns 0.5
-/// let low = clip(-0.3);    // Returns 0.0
-/// let high = clip(1.7);    // Returns 1.0
-/// ```
-pub fn clip(value: f64) -> f64 {
-    if value < 0.0 {
-        return 0.0;
-    } else if value > 1.0 {
-        return 1.0;
-    }
-    value
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use approx::assert_relative_eq;
-
-    const EPSILON: f64 = 1e-10;
-
-    #[test]
-    fn test_scale() {
-        // Basic normalization with same types
-        assert_relative_eq!(normalize(5.0f64, 0.0f64, 10.0f64), 0.5, epsilon = EPSILON);
-        assert_relative_eq!(normalize(5.0f32, 0.0f32, 10.0f32), 0.5, epsilon = EPSILON);
-        assert_relative_eq!(normalize(5i32, 0i32, 10i32), 0.5, epsilon = EPSILON);
-        assert_relative_eq!(normalize(5u8, 0u8, 10u8), 0.5, epsilon = EPSILON);
-
-        // Edge cases
-        assert_relative_eq!(normalize(0.0, 0.0, 10.0), 0.0, epsilon = EPSILON);
-        assert_relative_eq!(normalize(10.0, 0.0, 10.0), 1.0, epsilon = EPSILON);
-
-        // Out of range (should clamp)
-        assert_relative_eq!(normalize(-5.0, 0.0, 10.0), 0.0, epsilon = EPSILON);
-        assert_relative_eq!(normalize(15.0, 0.0, 10.0), 1.0, epsilon = EPSILON);
-
-        // Different ranges
-        assert_relative_eq!(normalize(0.0, -10.0, 10.0), 0.5, epsilon = EPSILON);
-        assert_relative_eq!(normalize(5.0, -5.0, 5.0), 1.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_interpolate_linear() {
-        // Basic interpolation - f64
-        let result_f64: f64 = scale(0.5, 0.0, 10.0);
-        assert_relative_eq!(result_f64, 5.0, epsilon = EPSILON);
-
-        // For non-f64 return types, we need to use a separate implementation
-        // that uses `as` for the conversion
-
-        // For testing f32 output with f32 input - use direct calculation
-        let normalized_value = 0.5;
-        let new_min_f32 = 0.0f32;
-        let new_max_f32 = 10.0f32;
-        let expected_f32 = (normalized_value * (new_max_f32 as f64 - new_min_f32 as f64)
-            + new_min_f32 as f64) as f32;
-        assert_relative_eq!(expected_f32, 5.0f32, epsilon = EPSILON as f32);
-
-        // Testing i32 return type with direct calculation
-        let new_min_i32 = 0i32;
-        let new_max_i32 = 10i32;
-        let expected_i32 = (normalized_value * (new_max_i32 as f64 - new_min_i32 as f64)
-            + new_min_i32 as f64) as i32;
-        assert_eq!(expected_i32, 5i32);
-
-        // Edge cases
-        assert_relative_eq!(scale(0.0, 0.0, 10.0), 0.0, epsilon = EPSILON);
-        assert_relative_eq!(scale(1.0, 0.0, 10.0), 10.0, epsilon = EPSILON);
-
-        // Negative ranges
-        assert_relative_eq!(scale(0.5, -10.0, 10.0), 0.0, epsilon = EPSILON);
-        assert_relative_eq!(scale(0.5, -20.0, -10.0), -15.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_interpolate_exponential() {
-        // Test boundary points (0,0) and (1,1) for various values of a
-        for a in [-10.0, -5.0, -1.0, -0.1, 0.1, 1.0, 5.0, 10.0].iter() {
-            assert_relative_eq!(interpolate_exponential(0.0, *a), 0.0, epsilon = EPSILON);
-            assert_relative_eq!(interpolate_exponential(1.0, *a), 1.0, epsilon = EPSILON);
-        }
-
-        // Test behavior for x outside [0,1]
-        let a = 2.0;
-        assert_relative_eq!(interpolate_exponential(-0.1, a), 0.0, epsilon = EPSILON);
-        assert_relative_eq!(interpolate_exponential(1.1, a), 1.0, epsilon = EPSILON);
-
-        // Test monotonicity - function should be strictly increasing for any a
-        for a in [-10.0, -1.0, 0.0, 1.0, 10.0].iter() {
-            let mut prev = interpolate_exponential(0.0, *a);
-            for i in 1..=10 {
-                let x = i as f64 / 10.0;
-                let current = interpolate_exponential(x, *a);
-                assert!(
-                    current > prev,
-                    "Failed monotonicity test at x={}, a={}",
-                    x,
-                    a
-                );
-                prev = current;
-            }
-        }
-
-        // Test symmetry property: f(x, a) + f(1-x, -a) ≈ 1
-        for x in [0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9].iter() {
-            for a in [0.5, 1.0, 2.0, 5.0].iter() {
-                let sum = interpolate_exponential(*x, *a) + interpolate_exponential(1.0 - *x, -*a);
-                assert_relative_eq!(sum, 1.0, epsilon = 1e-8);
-            }
-        }
-    }
-
-    #[test]
-    fn test_invert() {
-        assert_relative_eq!(invert(0.0), 1.0, epsilon = EPSILON);
-        assert_relative_eq!(invert(1.0), 0.0, epsilon = EPSILON);
-        assert_relative_eq!(invert(0.3), 0.7, epsilon = EPSILON);
-        assert_relative_eq!(invert(0.5), 0.5, epsilon = EPSILON);
-
-        // Test clipping instead of panicking
-        assert_relative_eq!(invert(-0.1), 1.0, epsilon = EPSILON);
-        assert_relative_eq!(invert(1.1), 0.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_clip() {
-        assert_relative_eq!(clip(0.5), 0.5, epsilon = EPSILON);
-        assert_relative_eq!(clip(0.0), 0.0, epsilon = EPSILON);
-        assert_relative_eq!(clip(1.0), 1.0, epsilon = EPSILON);
-        assert_relative_eq!(clip(-0.5), 0.0, epsilon = EPSILON);
-        assert_relative_eq!(clip(1.5), 1.0, epsilon = EPSILON);
-    }
-
-    #[test]
-    fn test_interpolate_inflected_exponential() {
-        // Test boundary points (0,0), (0.5,0.5), and (1,1) for various steepness values
-        for steepness in [0.0, 0.5, 1.0, 2.0, 5.0].iter() {
-            assert_relative_eq!(
-                interpolate_inflected_exponential(0.0, *steepness),
-                0.0,
-                epsilon = EPSILON
-            );
-            assert_relative_eq!(
-                interpolate_inflected_exponential(0.5, *steepness),
-                0.5,
-                epsilon = EPSILON
-            );
-            assert_relative_eq!(
-                interpolate_inflected_exponential(1.0, *steepness),
-                1.0,
-                epsilon = EPSILON
-            );
-        }
-
-        // Test linear case (steepness = 0)
-        for x in [0.0, 0.25, 0.5, 0.75, 1.0].iter() {
-            assert_relative_eq!(
-                interpolate_inflected_exponential(*x, 0.0),
-                *x,
-                epsilon = EPSILON
-            );
-        }
-
-        // Test monotonicity - function should be strictly increasing
-        for steepness in [0.5, 1.0, 2.0, 5.0].iter() {
-            let mut prev = interpolate_inflected_exponential(0.0, *steepness);
-            for i in 1..=20 {
-                let x = i as f64 / 20.0;
-                let current = interpolate_inflected_exponential(x, *steepness);
-                assert!(
-                    current >= prev,
-                    "Failed monotonicity test at x={}, steepness={}, prev={}, current={}",
-                    x,
-                    steepness,
-                    prev,
-                    current
-                );
-                prev = current;
-            }
-        }
-
-        // Test S-curve property: first half should be concave, second half convex
-        let steepness = 2.0;
-
-        // First half: check concave property (derivative decreasing)
-        let x1 = 0.1;
-        let x2 = 0.2;
-        let x3 = 0.3;
-        let y1 = interpolate_inflected_exponential(x1, steepness);
-        let y2 = interpolate_inflected_exponential(x2, steepness);
-        let y3 = interpolate_inflected_exponential(x3, steepness);
-
-        let slope1 = (y2 - y1) / (x2 - x1);
-        let slope2 = (y3 - y2) / (x3 - x2);
-        assert!(
-            slope1 > slope2,
-            "First half should be concave (decreasing slope)"
-        );
-
-        // Second half: check convex property (derivative increasing)
-        let x1 = 0.7;
-        let x2 = 0.8;
-        let x3 = 0.9;
-        let y1 = interpolate_inflected_exponential(x1, steepness);
-        let y2 = interpolate_inflected_exponential(x2, steepness);
-        let y3 = interpolate_inflected_exponential(x3, steepness);
-
-        let slope1 = (y2 - y1) / (x2 - x1);
-        let slope2 = (y3 - y2) / (x3 - x2);
-        assert!(
-            slope1 < slope2,
-            "Second half should be convex (increasing slope)"
-        );
-
-        // Test that output is always in [0, 1] range
-        for steepness in [0.0, 1.0, 5.0, 10.0].iter() {
-            for i in 0..=100 {
-                let x = i as f64 / 100.0;
-                let y = interpolate_inflected_exponential(x, *steepness);
-                assert!(
-                    y >= 0.0 && y <= 1.0,
-                    "Output {} out of range [0,1] for x={}, steepness={}",
-                    y,
-                    x,
-                    steepness
-                );
-            }
-        }
-    }
-
-    #[test]
-    fn test_interpolate_hinge() {
-        // Test basic functionality with hinge at (0.3, 0.7)
-        let x_hinge = 0.3;
-        let y_hinge = 0.7;
-
-        // Test exact hinge point
-        assert_relative_eq!(
-            interpolate_hinge(x_hinge, x_hinge, y_hinge),
-            y_hinge,
-            epsilon = EPSILON
-        );
-
-        // Test left segment (value < x): should interpolate from (0,0) to (x,y)
-        assert_relative_eq!(
-            interpolate_hinge(0.0, x_hinge, y_hinge),
-            0.0,
-            epsilon = EPSILON
-        );
-        assert_relative_eq!(
-            interpolate_hinge(0.15, x_hinge, y_hinge),
-            0.35, // 0.15/0.3 * 0.7 = 0.5 * 0.7 = 0.35
-            epsilon = EPSILON
-        );
-
-        // Test right segment (value > x): should interpolate from (x,y) to (1,1)
-        assert_relative_eq!(
-            interpolate_hinge(1.0, x_hinge, y_hinge),
-            1.0,
-            epsilon = EPSILON
-        );
-        assert_relative_eq!(
-            interpolate_hinge(0.65, x_hinge, y_hinge),
-            0.85, // y + ((0.65-0.3)/(1.0-0.3)) * (1.0-0.7) = 0.7 + 0.5 * 0.3 = 0.85
-            epsilon = EPSILON
-        );
-
-        // Test with different hinge points
-        // Hinge at (0.5, 0.5) - should be linear
-        assert_relative_eq!(interpolate_hinge(0.25, 0.5, 0.5), 0.25, epsilon = EPSILON);
-        assert_relative_eq!(interpolate_hinge(0.75, 0.5, 0.5), 0.75, epsilon = EPSILON);
-
-        // Hinge at (0.2, 0.9) - steep left, shallow right
-        assert_relative_eq!(
-            interpolate_hinge(0.1, 0.2, 0.9),
-            0.45, // 0.1/0.2 * 0.9 = 0.5 * 0.9 = 0.45
-            epsilon = EPSILON
-        );
-        assert_relative_eq!(
-            interpolate_hinge(0.6, 0.2, 0.9),
-            0.95, // 0.9 + ((0.6-0.2)/(1.0-0.2)) * (1.0-0.9) = 0.9 + 0.5 * 0.1 = 0.95
-            epsilon = EPSILON
-        );
-
-        // Test edge cases
-        // Hinge at (0, 0)
-        assert_relative_eq!(interpolate_hinge(0.0, 0.0, 0.0), 0.0, epsilon = EPSILON);
-        assert_relative_eq!(
-            interpolate_hinge(0.5, 0.0, 0.0),
-            0.5, // Should interpolate from (0,0) to (1,1)
-            epsilon = EPSILON
-        );
-
-        // Hinge at (1, 1)
-        assert_relative_eq!(
-            interpolate_hinge(0.5, 1.0, 1.0),
-            0.5, // Should interpolate from (0,0) to (1,1)
-            epsilon = EPSILON
-        );
-        assert_relative_eq!(interpolate_hinge(1.0, 1.0, 1.0), 1.0, epsilon = EPSILON);
-
-        // Test with different numeric types
-        assert_relative_eq!(
-            interpolate_hinge(0.5f32, 0.3f32, 0.7f32),
-            0.7857142857142857, // 0.7 + ((0.5-0.3)/(1.0-0.3)) * (1.0-0.7) = 0.7 + (2/7) * 0.3
-            epsilon = 1e-7      // Relaxed epsilon for f32 precision
-        );
-        assert_relative_eq!(
-            interpolate_hinge(1u8, 0u8, 1u8), // 1.0, 0.0, 1.0 - should return 1.0
-            1.0,
-            epsilon = EPSILON
-        );
-
-        // Test monotonicity - function should be non-decreasing
-        let test_x = 0.4;
-        let test_y = 0.6;
-        let mut prev = interpolate_hinge(0.0, test_x, test_y);
-
-        for i in 1..=20 {
-            let value = i as f64 / 20.0;
-            let current = interpolate_hinge(value, test_x, test_y);
-            assert!(
-                current >= prev,
-                "Failed monotonicity test at value={}, x={}, y={}, prev={}, current={}",
-                value,
-                test_x,
-                test_y,
-                prev,
-                current
-            );
-            prev = current;
-        }
-    }
-
-    #[test]
-    fn test_interpolate_exponential_graph() {
-        use textplots::{Chart, Plot, Shape};
-
-        println!("\n=== Exponential Interpolation Examples ===");
-
-        // Test different steepness values (both positive and negative)
-        let steepness_values = [-3.0, -1.0, 0.0, 1.0, 3.0];
-
-        for steepness in steepness_values.iter() {
-            println!("\nSteepness = {}", steepness);
-
-            // Generate data points
-            let points: Vec<(f32, f32)> = (0..=50)
-                .map(|i| {
-                    let x = i as f64 / 50.0;
-                    let y = interpolate_exponential(x, *steepness);
-                    (x as f32, y as f32)
-                })
-                .collect();
-
-            // Create and display chart
-            Chart::new(60, 60, 0.0, 1.0)
-                .lineplot(&Shape::Lines(&points))
-                .display();
-        }
-    }
-
-    #[test]
-    fn test_interpolate_hinge_graph() {
-        use textplots::{Chart, Plot, Shape};
-
-        println!("\n=== hinge Interpolation Examples ===");
-
-        // Test different hinge points
-        let hinges = [(0.3, 0.7), (0.5, 0.5), (0.2, 0.9), (0.8, 0.2)];
-
-        for &(x_hinge, y_hinge) in hinges.iter() {
-            println!("\nHinge at ({}, {})", x_hinge, y_hinge);
-
-            // Generate data points
-            let points: Vec<(f32, f32)> = (0..=50)
-                .map(|i| {
-                    let x = i as f64 / 50.0;
-                    let y = interpolate_hinge(x, x_hinge, y_hinge);
-                    (x as f32, y as f32)
-                })
-                .collect();
-
-            // Create and display chart
-            Chart::new(60, 60, 0.0, 1.0)
-                .lineplot(&Shape::Lines(&points))
-                .display();
-        }
-    }
-
-    #[test]
-    fn test_interpolate_inflected_exponential_graph() {
-        use textplots::{Chart, Plot, Shape};
-
-        // Test different steepness values
-        let steepness_values = [0.5, 1.0, 2.0, 5.0];
-
-        for steepness in steepness_values.iter() {
-            println!("\nSteepness = {}", steepness);
-
-            // Generate data points
-            let points: Vec<(f32, f32)> = (0..=50)
-                .map(|i| {
-                    let x = i as f64 / 50.0;
-                    let y = interpolate_inflected_exponential(x, *steepness);
-                    (x as f32, y as f32)
-                })
-                .collect();
-
-            // Create and display chart
-            Chart::new(60, 60, 0.0, 1.0)
-                .lineplot(&Shape::Lines(&points))
-                .display();
-        }
-    }
-
-    #[test]
-    #[should_panic]
-    fn test_normalize_invalid_range() {
-        normalize(5.0, 10.0, 5.0); // min >= max should panic
-    }
-}
@@ -1,6 +0,0 @@
-pub mod compare_lists;
-pub mod hasher_serializer;
-pub mod hashing;
-pub mod interpolation;
-pub mod moving_time_window;
-pub mod retry;
@@ -1,243 +0,0 @@
-use std::{
-    collections::VecDeque,
-    iter::Sum,
-    time::{Duration, Instant},
-};
-
-/// A helper trait to handle division for averaging
-pub trait DivideByCount {
-    fn divide_by_count(self, count: usize) -> Self;
-}
-
-impl DivideByCount for f64 {
-    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
-    }
-}
-
-impl DivideByCount for f32 {
-    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
-    }
-}
-
-impl DivideByCount for i32 {
-    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
-    }
-}
-
-impl DivideByCount for i64 {
-    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
-    }
-}
-
-impl DivideByCount for u32 {
-    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
-    }
-}
-
-impl DivideByCount for u64 {
-    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
-    }
-}
-
-// Type aliases for common use cases
-pub type F64Window = MovingTimeWindow<f64>;
-pub type F32Window = MovingTimeWindow<f32>;
-pub type I32Window = MovingTimeWindow<i32>;
-pub type I64Window = MovingTimeWindow<i64>;
-
-#[derive(Debug)]
-pub struct MovingTimeWindow<T>
-where
-    T: Copy + PartialOrd + Sum + DivideByCount + std::fmt::Debug + Default,
-{
-    max_samples: usize,
-    samples: VecDeque<(T, Instant)>,
-    last_sample: Option<(T, Instant)>,
-    sample_time: Duration,
-    cached_average: Option<T>,
-    cached_max: Option<T>,
-    cached_min: Option<T>,
-}
-
-/// A time-based moving window that maintains samples within a specified duration and count limit.
-///
-/// This structure efficiently tracks values over time, automatically removing samples that fall
-/// outside the configured time window or exceed the maximum sample count. It provides cached
-/// average calculation to avoid redundant computations.
-impl<T> MovingTimeWindow<T>
-where
-    T: Copy + PartialOrd + Sum + DivideByCount + std::fmt::Debug + Default,
-{
-    /// Creates a new moving time window with the specified duration and maximum sample count.
-    ///
-    /// # Arguments
-    ///
-    /// * `duration` - The time window duration; samples older than this will be automatically removed
-    /// * `samples` - Maximum number of samples to retain, regardless of their age
-    ///
-    /// # Returns
-    ///
-    /// A new `MovingTimeWindow` instance with empty sample collection and initialized cache
-    pub fn new(duration: Duration, max_samples: usize) -> Self {
-        Self {
-            max_samples,
-            samples: VecDeque::with_capacity(max_samples),
-            last_sample: None,
-            sample_time: duration / (max_samples as u32),
-            cached_average: None,
-            cached_max: None,
-            cached_min: None,
-        }
-    }
-
-    /// Updates the window with a new sample value at the given timestamp.
-    ///
-    /// This method adds the new sample to the window and automatically removes samples that:
-    /// - Are older than the configured duration from the current timestamp
-    /// - Exceed the maximum sample count limit
-    ///
-    /// The cached average is invalidated after this operation.
-    ///
-    /// # Arguments
-    ///
-    /// * `value` - The numeric value to add to the window
-    /// * `timestamp` - The time at which this sample was taken
-    pub fn update(&mut self, value: T, timestamp: Instant) {
-        // Chekc if we should add a new sample based on the sample time and the last sample
-        if let Some((_, last_timestamp)) = self.last_sample {
-            if timestamp.duration_since(last_timestamp) < self.sample_time {
-                // If the new sample is too close to the last one, we skip adding it
-                return;
-            }
-        }
-
-        // If we have reached the maximum sample count, remove the oldest sample
-        if self.samples.len() >= self.max_samples {
-            self.samples.pop_back();
-        }
-
-        // Add the new sample
-        self.samples.push_front((value, timestamp));
-        self.last_sample = Some((value, timestamp));
-
-        // Invalidate all cached values since we added a new sample
-        self.cached_average = None;
-        self.cached_max = None;
-        self.cached_min = None;
-    }
-
-    /// Calculates and returns the average of all samples currently in the window.
-    ///
-    /// This method uses caching to avoid redundant calculations. The average is only
-    /// recalculated when the window contents have changed since the last call.
-    ///
-    /// # Returns
-    ///
-    /// The arithmetic mean of all current samples, or T::default() if the window is empty
-    pub fn average(&mut self) -> T {
-        // Return cached value if available
-        if let Some(cached) = self.cached_average {
-            return cached;
-        }
-
-        let sum: T = self.samples.iter().map(|(v, _)| *v).sum();
-        let count = self.samples.len();
-
-        let avg = if count > 0 {
-            sum.divide_by_count(count)
-        } else {
-            T::default()
-        };
-
-        // Cache the calculated value
-        self.cached_average = Some(avg);
-        avg
-    }
-
-    /// Calculates and returns the maximum value of all samples currently in the window.
-    ///
-    /// This method uses caching to avoid redundant calculations. The maximum is only
-    /// recalculated when the window contents have changed since the last call.
-    ///
-    /// # Returns
-    ///
-    /// The maximum value of all current samples, or T::default() if the window is empty
-    pub fn max(&mut self) -> T {
-        // Return cached value if available
-        if let Some(cached) = self.cached_max {
-            return cached;
-        }
-
-        let result = self
-            .samples
-            .iter()
-            .map(|(v, _)| *v)
-            .fold(None, |acc, val| {
-                acc.map_or(Some(val), |current_max| {
-                    if val > current_max {
-                        Some(val)
-                    } else {
-                        Some(current_max)
-                    }
-                })
-            })
-            .unwrap_or_default();
-
-        // Cache the calculated value
-        self.cached_max = Some(result);
-        result
-    }
-
-    /// Calculates and returns the minimum value of all samples currently in the window.
-    ///
-    /// This method uses caching to avoid redundant calculations. The minimum is only
-    /// recalculated when the window contents have changed since the last call.
-    ///
-    /// # Returns
-    ///
-    /// The minimum value of all current samples, or T::default() if the window is empty
-    pub fn min(&mut self) -> T {
-        // Return cached value if available
-        if let Some(cached) = self.cached_min {
-            return cached;
-        }
-
-        let result = self
-            .samples
-            .iter()
-            .map(|(v, _)| *v)
-            .fold(None, |acc, val| {
-                acc.map_or(Some(val), |current_min| {
-                    if val < current_min {
-                        Some(val)
-                    } else {
-                        Some(current_min)
-                    }
-                })
-            })
-            .unwrap_or_default();
-
-        // Cache the calculated value
-        self.cached_min = Some(result);
-        result
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_generic() {
-        // Test that the struct compiles with basic numeric types
-        let _: MovingTimeWindow<f64> = MovingTimeWindow::new(Duration::from_secs(1), 1);
-        let _: MovingTimeWindow<f32> = MovingTimeWindow::new(Duration::from_secs(1), 1);
-        let _: MovingTimeWindow<i32> = MovingTimeWindow::new(Duration::from_secs(1), 1);
-    }
-}
@@ -1,427 +0,0 @@
-use std::future::Future;
-
-/// Retries a fallible operation up to `n` times synchronously.
-///
-/// This function executes the provided closure `f` repeatedly until either:
-/// - The operation succeeds (returns `Ok(T)`)
-/// - All retry attempts are exhausted
-///
-/// # Arguments
-///
-/// * `n` - The maximum number of retry attempts (0 means only one attempt)
-/// * `f` - A mutable closure that returns a `Result<T, E>`
-///
-/// # Returns
-///
-/// Returns `Ok(T)` if any attempt succeeds, or `Err(E)` containing the error
-/// from the last failed attempt if all retries are exhausted.
-///
-/// # Examples
-///
-/// ```rust
-/// use control_core::helpers::retry::retry_n_times;
-///
-/// let mut attempt = 0;
-/// let result = retry_n_times(3, || {
-///     attempt += 1;
-///     if attempt < 3 {
-///         Err("failed")
-///     } else {
-///         Ok("success")
-///     }
-/// });
-/// assert_eq!(result, Ok("success"));
-/// ```
-pub fn retry_n_times<T, E, F>(n: usize, mut f: F) -> Result<T, E>
-where
-    F: FnMut() -> Result<T, E>,
-{
-    let mut last_err: Option<E> = None;
-    for _ in 0..=n {
-        match f() {
-            Ok(value) => return Ok(value),
-            Err(err) => last_err = Some(err),
-        }
-    }
-    Err(last_err.unwrap())
-}
-
-/// Retries a fallible async operation up to `n` times.
-///
-/// This function executes the provided async closure `f` repeatedly until either:
-/// - The operation succeeds (returns `Ok(T)`)
-/// - All retry attempts are exhausted
-///
-/// Each attempt is awaited before proceeding to the next retry or returning.
-///
-/// # Arguments
-///
-/// * `n` - The maximum number of retry attempts (0 means only one attempt)
-/// * `f` - A mutable closure that returns a `Future<Output = Result<T, E>>`
-///
-/// # Returns
-///
-/// Returns `Ok(T)` if any attempt succeeds, or `Err(E)` containing the error
-/// from the last failed attempt if all retries are exhausted.
-///
-/// # Examples
-///
-/// ```rust
-/// use control_core::helpers::retry::retry_n_times_async;
-/// use std::sync::Arc;
-/// use std::sync::atomic::{AtomicUsize, Ordering};
-///
-/// async fn example() {
-///     let attempt = Arc::new(AtomicUsize::new(0));
-///     let attempt_clone = attempt.clone();
-///     let result = retry_n_times_async(3, move || {
-///         let attempt = attempt_clone.clone();
-///         async move {
-///             let current = attempt.fetch_add(1, Ordering::SeqCst) + 1;
-///             if current < 3 {
-///                 Err("failed")
-///             } else {
-///                 Ok("success")
-///             }
-///         }
-///     }).await;
-///     assert_eq!(result, Ok("success"));
-/// }
-/// ```
-pub async fn retry_n_times_async<T, E, F, Fut>(n: usize, mut f: F) -> Result<T, E>
-where
-    F: FnMut() -> Fut,
-    Fut: Future<Output = Result<T, E>>,
-{
-    let mut last_err: Option<E> = None;
-    for _ in 0..=n {
-        match f().await {
-            Ok(value) => return Ok(value),
-            Err(err) => last_err = Some(err),
-        }
-    }
-    Err(last_err.unwrap())
-}
-
-/// Retries a fallible operation until a closure decides to stop retrying.
-///
-/// This function executes the provided closure `f` repeatedly until either:
-/// - The operation succeeds (returns `Ok(T)`)
-/// - The retry condition returns false
-///
-/// # Arguments
-///
-/// * `f` - A mutable closure that returns a `Result<T, E>`
-/// * `should_retry` - A closure that takes `&E` and returns `bool` to decide if retry should continue
-///
-/// # Returns
-///
-/// Returns `Ok(T)` if any attempt succeeds, or `Err(E)` containing the error
-/// from the last failed attempt when retries stop.
-///
-/// # Examples
-///
-/// ```rust
-/// use control_core::helpers::retry::retry_conditionally;
-///
-/// let mut attempt = 0;
-/// let result = retry_conditionally(
-///     || {
-///         attempt += 1;
-///         if attempt < 3 {
-///             Err(format!("failed attempt {}", attempt))
-///         } else {
-///             Ok("success")
-///         }
-///     },
-///     |err| {
-///         // Retry up to 3 times
-///         !err.contains("attempt 3")
-///     }
-/// );
-/// assert_eq!(result, Ok("success"));
-/// ```
-pub fn retry_conditionally<T, E, F, R>(mut f: F, mut should_retry: R) -> Result<T, E>
-where
-    F: FnMut() -> Result<T, E>,
-    R: FnMut(&E) -> bool,
-{
-    loop {
-        match f() {
-            Ok(value) => return Ok(value),
-            Err(err) => {
-                if !should_retry(&err) {
-                    return Err(err);
-                }
-            }
-        }
-    }
-}
-
-/// Retries a fallible async operation until a closure decides to stop retrying.
-///
-/// This function executes the provided async closure `f` repeatedly until either:
-/// - The operation succeeds (returns `Ok(T)`)
-/// - The retry condition returns false
-///
-/// # Arguments
-///
-/// * `f` - A mutable closure that returns a `Future<Output = Result<T, E>>`
-/// * `should_retry` - A closure that takes `&E` and returns `bool` to decide if retry should continue
-///
-/// # Returns
-///
-/// Returns `Ok(T)` if any attempt succeeds, or `Err(E)` containing the error
-/// from the last failed attempt when retries stop.
-///
-/// # Examples
-///
-/// ```rust
-/// use control_core::helpers::retry::retry_conditionally_async;
-/// use std::sync::Arc;
-/// use std::sync::atomic::{AtomicUsize, Ordering};
-///
-/// async fn example() {
-///     let attempt = Arc::new(AtomicUsize::new(0));
-///     let attempt_clone = attempt.clone();
-///     let result = retry_conditionally_async(
-///         move || {
-///             let attempt = attempt_clone.clone();
-///             async move {
-///                 let current = attempt.fetch_add(1, Ordering::SeqCst) + 1;
-///                 if current < 3 {
-///                     Err(format!("failed attempt {}", current))
-///                 } else {
-///                     Ok("success")
-///                 }
-///             }
-///         },
-///         |err| {
-///             // Retry up to 3 times
-///             !err.contains("attempt 3")
-///         }
-///     ).await;
-///     assert_eq!(result, Ok("success"));
-/// }
-/// ```
-pub async fn retry_conditionally_async<T, E, F, Fut, R>(
-    mut f: F,
-    mut should_retry: R,
-) -> Result<T, E>
-where
-    F: FnMut() -> Fut,
-    Fut: Future<Output = Result<T, E>>,
-    R: FnMut(&E) -> bool,
-{
-    loop {
-        match f().await {
-            Ok(value) => return Ok(value),
-            Err(err) => {
-                if !should_retry(&err) {
-                    return Err(err);
-                }
-            }
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use std::cell::RefCell;
-    use std::rc::Rc;
-
-    // Simple blocking executor for async functions in tests
-    fn block_on<F: std::future::Future>(future: F) -> F::Output {
-        use std::sync::Arc;
-        use std::task::{Context, Poll, Waker};
-        use std::thread;
-
-        struct DummyWaker;
-        impl std::task::Wake for DummyWaker {
-            fn wake(self: Arc<Self>) {}
-        }
-
-        let waker = Waker::from(Arc::new(DummyWaker));
-        let mut context = Context::from_waker(&waker);
-        let mut future = Box::pin(future);
-
-        loop {
-            match future.as_mut().poll(&mut context) {
-                Poll::Ready(result) => return result,
-                Poll::Pending => {
-                    thread::yield_now();
-                }
-            }
-        }
-    }
-
-    #[test]
-    fn test_retry_success_first_attempt() {
-        let result = retry_n_times(3, || Ok::<i32, &str>(42));
-        assert_eq!(result, Ok(42));
-    }
-
-    #[test]
-    fn test_retry_success_after_failures() {
-        let mut attempt = 0;
-        let result = retry_n_times(3, || {
-            attempt += 1;
-            if attempt < 3 { Err("failed") } else { Ok(42) }
-        });
-        assert_eq!(result, Ok(42));
-        assert_eq!(attempt, 3);
-    }
-
-    #[test]
-    fn test_retry_all_attempts_fail() {
-        let mut attempt = 0;
-        let result: Result<i32, &str> = retry_n_times(2, || {
-            attempt += 1;
-            Err("always fails")
-        });
-        assert_eq!(result, Err("always fails"));
-        assert_eq!(attempt, 3); // 0..=2 means 3 attempts
-    }
-
-    #[test]
-    fn test_retry_zero_retries() {
-        let mut attempt = 0;
-        let result: Result<i32, &str> = retry_n_times(0, || {
-            attempt += 1;
-            Err("failed")
-        });
-        assert_eq!(result, Err("failed"));
-        assert_eq!(attempt, 1); // Only one attempt
-    }
-
-    #[test]
-    fn test_retry_async_success_first_attempt() {
-        let result = block_on(retry_n_times_async(3, || async { Ok::<i32, &str>(42) }));
-        assert_eq!(result, Ok(42));
-    }
-
-    #[test]
-    fn test_retry_async_success_after_failures() {
-        let attempt = Rc::new(RefCell::new(0));
-        let attempt_clone = attempt.clone();
-        let result = block_on(retry_n_times_async(3, move || {
-            let attempt = attempt_clone.clone();
-            async move {
-                let mut a = attempt.borrow_mut();
-                *a += 1;
-                if *a < 3 { Err("failed") } else { Ok(42) }
-            }
-        }));
-        assert_eq!(result, Ok(42));
-        assert_eq!(*attempt.borrow(), 3);
-    }
-
-    #[test]
-    fn test_retry_async_all_attempts_fail() {
-        let attempt = Rc::new(RefCell::new(0));
-        let attempt_clone = attempt.clone();
-        let result: Result<i32, &str> = block_on(retry_n_times_async(2, move || {
-            let attempt = attempt_clone.clone();
-            async move {
-                let mut a = attempt.borrow_mut();
-                *a += 1;
-                Err("always fails")
-            }
-        }));
-        assert_eq!(result, Err("always fails"));
-        assert_eq!(*attempt.borrow(), 3); // 0..=2 means 3 attempts
-    }
-
-    #[test]
-    fn test_retry_and_success_with_condition() {
-        let mut attempt = 0;
-        let result: Result<i32, String> = retry_conditionally(
-            || {
-                attempt += 1;
-                if attempt < 3 {
-                    Err(format!("failed attempt {}", attempt))
-                } else {
-                    Ok(42)
-                }
-            },
-            |err| {
-                // Retry as long as it's not the 3rd attempt
-                !err.contains("attempt 3")
-            },
-        );
-
-        assert_eq!(result, Ok(42));
-        assert_eq!(attempt, 3);
-    }
-
-    #[test]
-    fn test_retry_and_stop_early() {
-        let mut attempt = 0;
-        let result: Result<i32, String> = retry_conditionally(
-            || {
-                attempt += 1;
-                Err(format!("failed attempt {}", attempt))
-            },
-            |_err| {
-                // Stop after first failure
-                false
-            },
-        );
-
-        assert!(result.is_err());
-        assert_eq!(attempt, 1);
-        assert_eq!(result.unwrap_err(), "failed attempt 1");
-    }
-
-    #[test]
-    fn test_retry_async_success_with_condition() {
-        let attempt = Rc::new(RefCell::new(0));
-        let attempt_clone = attempt.clone();
-        let result: Result<i32, String> = block_on(retry_conditionally_async(
-            move || {
-                let attempt = attempt_clone.clone();
-                async move {
-                    let mut a = attempt.borrow_mut();
-                    *a += 1;
-                    if *a < 3 {
-                        Err(format!("failed attempt {}", *a))
-                    } else {
-                        Ok(42)
-                    }
-                }
-            },
-            |err| {
-                // Retry as long as it's not the 3rd attempt
-                !err.contains("attempt 3")
-            },
-        ));
-
-        assert_eq!(result, Ok(42));
-        assert_eq!(*attempt.borrow(), 3);
-    }
-
-    #[test]
-    fn test_retry_async_stop_early() {
-        let attempt = Rc::new(RefCell::new(0));
-        let attempt_clone = attempt.clone();
-        let result: Result<i32, String> = block_on(retry_conditionally_async(
-            move || {
-                let attempt = attempt_clone.clone();
-                async move {
-                    let mut a = attempt.borrow_mut();
-                    *a += 1;
-                    Err(format!("failed attempt {}", *a))
-                }
-            },
-            |_err| {
-                // Stop after first failure
-                false
-            },
-        ));
-
-        assert!(result.is_err());
-        assert_eq!(*attempt.borrow(), 1);
-        assert_eq!(result.unwrap_err(), "failed attempt 1");
-    }
-}
@@ -1,113 +0,0 @@
-#[cfg(target_os = "linux")]
-use libc;
-use std::ffi::CString;
-use std::io;
-use std::str;
-
-#[cfg(target_os = "linux")]
-fn read_proc_interrupts() -> Result<String, io::Error> {
-    let path = CString::new("/proc/interrupts").unwrap();
-    // O_RDONLY
-    let fd = unsafe { libc::open(path.as_ptr(), libc::O_RDONLY) };
-    if fd < 0 {
-        return Err(io::Error::from_raw_os_error(-fd));
-    }
-
-    let mut buf: Vec<u8> = Vec::new();
-    let mut chunk = [0u8; 8192];
-
-    loop {
-        let n = unsafe { libc::read(fd, chunk.as_mut_ptr() as *mut _, chunk.len()) };
-        if n < 0 {
-            let e = io::Error::from_raw_os_error(-n as i32);
-            unsafe { libc::close(fd) };
-            return Err(e);
-        } else if n == 0 {
-            break;
-        } else {
-            buf.extend_from_slice(&chunk[..n as usize]);
-        }
-    }
-    unsafe { libc::close(fd) };
-    Ok(String::from_utf8_lossy(&buf).into_owned())
-}
-
-#[cfg(target_os = "linux")]
-fn get_interface_irq(proc_content: &str, interface_name: &str) -> Option<u32> {
-    for line in proc_content.lines() {
-        if line.contains(interface_name) {
-            if let Some(colon_pos) = line.find(':') {
-                let head = &line[..colon_pos].trim();
-                // try parse head as integer IRQ number
-                if let Ok(irq) = head.parse::<u32>() {
-                    return Some(irq);
-                }
-            }
-        }
-    }
-    None
-}
-
-/// Since kernel 3.0 it’s possible to use the /proc/irq/<IRQ-NUMBER>/smp_affinity_list
-/// With comma seperated values
-/// This function takes the irq identifier and writes the cpu string
-/// into /proc/irq/irq_number/smp_affinity_list
-#[cfg(target_os = "linux")]
-fn set_irq_affinity_raw(irq: u32, cpu: &str) -> Result<(), io::Error> {
-    let path: String = format!("/proc/irq/{}/smp_affinity_list", irq);
-    let cpath = CString::new(path.clone()).unwrap();
-    // We want to completely overwrite the smp affinities, so that we guarentee execution on the specified cores
-    let file_descriptor = unsafe { libc::open(cpath.as_ptr(), libc::O_WRONLY) };
-
-    if file_descriptor < 0 {
-        tracing::info!("Permission denied to write: {}", path);
-        return Err(io::Error::new(
-            io::ErrorKind::PermissionDenied,
-            format!("failed to open {}: errno {}", path, -file_descriptor),
-        ));
-    }
-    // convert to "raw bytes"
-    // cpu needs to be a string because we need the raw ascii code 48 = '0' and so on as bytes
-    let bytes = cpu.as_bytes();
-    let mut bytes_written_total = 0usize;
-
-    while bytes_written_total < bytes.len() {
-        let to_write = &bytes[bytes_written_total..];
-        let bytes_written = unsafe {
-            libc::write(
-                file_descriptor,
-                to_write.as_ptr() as *const _,
-                to_write.len(),
-            )
-        };
-        if bytes_written < 0 {
-            let e = io::Error::from_raw_os_error(-bytes_written as i32);
-            unsafe { libc::close(file_descriptor) };
-            return Err(e);
-        }
-        bytes_written_total += bytes_written as usize;
-    }
-    unsafe { libc::close(file_descriptor) };
-    Ok(())
-}
-
-/// This is used to make sure that a given irq handler runs on the expected cpu
-/// On Realtime systems this is the make or break fix for certain usecases like ethercrab
-/// On our machines the 99.99th percentile of cycle times was very bad ~5-11 ms while ethercat is supposed to be in the microseconds
-/// After pinning the ethernet irq to the core that the ethercat code ran on 99.99th percentile went down to ~200us (microseconds)
-/// Example input: irq_name: "eno1" , cpu: 2
-/// Remember that cpu cores are counted from 0
-#[cfg(target_os = "linux")]
-pub fn set_irq_affinity(irq_name: &str, cpu: u32) -> Result<(), anyhow::Error> {
-    let proc_contents = read_proc_interrupts()?;
-    let irq = get_interface_irq(&proc_contents, irq_name);
-    if irq.is_none() {
-        return Err(anyhow::anyhow!("Couldnt find irq number!"));
-    }
-    let res = set_irq_affinity_raw(irq.unwrap(), &cpu.to_string());
-    if res.is_err() {
-        return Err(anyhow::anyhow!("Couldnt write affinity list!"));
-    } else {
-        return Ok(());
-    }
-}
@@ -1,16 +1,8 @@
+pub mod actors;
 pub mod controllers;
 pub mod converters;
-pub mod downcast;
 pub mod ethercat;
-pub mod ethernet;
-pub mod futures;
-pub mod helpers;
-pub mod irq_handling;
+pub mod machines;
 pub mod modbus;
-pub mod realtime;
-pub mod serial;
+pub mod rest;
 pub mod socketio;
-pub mod transmission;
-
-#[cfg(feature = "video-streaming")]
-pub mod video_streaming;
@@ -0,0 +1,7 @@
+use crate::socketio::namespace::NamespaceInterface;
+use serde_json::Value;
+
+pub trait MachineApi {
+    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
+    fn api_event_namespace(&mut self) -> &mut dyn NamespaceInterface;
+}
@@ -0,0 +1,97 @@
+use serde::Deserialize;
+use serde::Serialize;
+
+/// Identifies a spacifi machine
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
+pub struct MachineIdentificationUnique {
+    pub machine_identification: MachineIdentification,
+    pub serial: u16,
+}
+
+impl MachineIdentificationUnique {
+    /// Check if values are non-zero
+    pub fn is_valid(&self) -> bool {
+        self.machine_identification.is_valid() && self.serial != 0
+    }
+}
+
+/// Identifies a machine
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
+pub struct MachineIdentification {
+    pub vendor: u16,
+    pub machine: u16,
+}
+
+impl MachineIdentification {
+    /// Check if values are non-zero
+    pub fn is_valid(&self) -> bool {
+        self.vendor != 0 && self.machine != 0
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceMachineIdentification {
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub role: u16,
+}
+
+impl DeviceMachineIdentification {
+    /// Check if values are non-zero
+    pub fn is_valid(&self) -> bool {
+        self.machine_identification_unique.is_valid()
+            && self
+                .machine_identification_unique
+                .machine_identification
+                .machine
+                != 0
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceIdentification {
+    pub device_machine_identification: Option<DeviceMachineIdentification>,
+    pub device_hardware_identification: DeviceHardwareIdentification,
+}
+
+impl From<DeviceIdentificationIdentified> for DeviceIdentification {
+    fn from(value: DeviceIdentificationIdentified) -> Self {
+        DeviceIdentification {
+            device_machine_identification: Some(value.device_machine_identification),
+            device_hardware_identification: value.device_hardware_identification,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceIdentificationIdentified {
+    pub device_machine_identification: DeviceMachineIdentification,
+    pub device_hardware_identification: DeviceHardwareIdentification,
+}
+
+impl TryFrom<DeviceIdentification> for DeviceIdentificationIdentified {
+    type Error = anyhow::Error;
+
+    fn try_from(value: DeviceIdentification) -> Result<Self, Self::Error> {
+        let device_machine_identification =
+            value.device_machine_identification.ok_or(anyhow::anyhow!(
+                "[{}::DeviceIdentificationIdentified::try_from] No device machine identification",
+                module_path!()
+            ))?;
+
+        Ok(DeviceIdentificationIdentified {
+            device_machine_identification,
+            device_hardware_identification: value.device_hardware_identification,
+        })
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub enum DeviceHardwareIdentification {
+    Ethercat(DeviceHardwareIdentificationEthercat),
+    // UsbDevice...,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceHardwareIdentificationEthercat {
+    pub subdevice_index: usize,
+}
@@ -0,0 +1,160 @@
+use smol::lock::Mutex;
+
+use crate::machines::{
+    identification::MachineIdentificationUnique,
+    new::{MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams},
+};
+use std::collections::HashMap;
+
+use super::{
+    Machine,
+    identification::{DeviceIdentification, DeviceIdentificationIdentified},
+    registry::MachineRegistry,
+};
+
+pub struct MachineManager {
+    pub ethercat_machines:
+        HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+    pub serial_machines:
+        HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+}
+
+impl MachineManager {
+    pub fn new() -> Self {
+        Self {
+            ethercat_machines: HashMap::new(),
+            serial_machines: HashMap::new(),
+        }
+    }
+
+    pub fn set_ethercat_devices<const MAX_SUBDEVICES: usize, const MAX_PDI: usize>(
+        &mut self,
+        device_identifications: &Vec<DeviceIdentification>,
+        machine_registry: &MachineRegistry,
+        hardware: &MachineNewHardwareEthercat,
+    ) {
+        // empty ethercat machines
+        self.ethercat_machines.clear();
+
+        // group devices by machine device identification
+        let device_grouping_result = group_devices_by_identification(device_identifications);
+
+        log::info!(
+            "[{}::set_ethercat_devices] Device Groups {:?}",
+            module_path!(),
+            device_grouping_result.device_groups.len()
+        );
+
+        let machine_new_hardware = MachineNewHardware::Ethercat(hardware);
+
+        // iterate over all identified device groups but ignore unaffected machines
+        for device_group in device_grouping_result.device_groups.iter() {
+            // get the machine identification
+            let machine_identification = match device_group.first() {
+                Some(device_identification) => &device_identification.device_machine_identification,
+                None => continue, // Skip this group if empty
+            };
+
+            // create the machine
+            let new_machine = machine_registry.new_machine(&MachineNewParams {
+                device_group,
+                hardware: &machine_new_hardware,
+            });
+
+            // insert the machine into the ethercat machines map
+            self.ethercat_machines.insert(
+                machine_identification.machine_identification_unique.clone(),
+                new_machine,
+            );
+        }
+    }
+
+    pub fn get(
+        &self,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<&Result<Box<Mutex<dyn Machine>>, anyhow::Error>> {
+        self.ethercat_machines
+            .get(machine_identification)
+            .or_else(|| self.serial_machines.get(machine_identification))
+    }
+}
+
+/// Groups devices by machine identification
+///
+/// Returns a DeviceGroupingResult containing:
+/// - device_groups: a vector of devices grouped by machine identification
+/// - unidentified_devices: a vector of devices that could not be identified
+pub fn group_devices_by_identification(
+    device_identifications: &Vec<DeviceIdentification>,
+) -> DeviceGroupingResult {
+    let mut device_groups: Vec<Vec<DeviceIdentificationIdentified>> = Vec::new();
+    let mut unidentified_devices: Vec<DeviceIdentification> = Vec::new();
+
+    for device_identification in device_identifications {
+        // if vendor or serial or machine is 0, it is not a valid machine device
+        if let Some(device_machine_identification) =
+            device_identification.device_machine_identification.as_ref()
+        {
+            if !device_machine_identification.is_valid() {
+                unidentified_devices.push(device_identification.clone());
+
+                continue;
+            }
+        } else {
+            unidentified_devices.push(device_identification.clone());
+            continue;
+        }
+
+        // scan over all deice groups
+        // get the first DeviceMachineIdentification
+        // compare and append to the group
+        let mut found = false;
+        for check_group in device_groups.iter_mut() {
+            // get first device in group
+            let first_device = check_group.first().expect("group to not be empty");
+            let first_device_machine_identification = &first_device
+                .device_machine_identification
+                .machine_identification_unique;
+
+            // chek if it has machine identification
+            if let Some(device_machine_identification) =
+                device_identification.device_machine_identification.as_ref()
+            {
+                // compare with the current device
+                if first_device_machine_identification
+                    == &device_machine_identification.machine_identification_unique
+                {
+                    let device_identification_identified = device_identification
+                        .clone()
+                        .try_into()
+                        .expect("should have Some(DeviceMachineIdentification)");
+                    check_group.push(device_identification_identified);
+                    found = true;
+                    break;
+                }
+            }
+        }
+
+        if !found {
+            let device_identification_identified = device_identification
+                .clone()
+                .try_into()
+                .expect("should have Some(DeviceMachineIdentification)");
+            device_groups.push(vec![device_identification_identified]);
+        }
+    }
+
+    DeviceGroupingResult {
+        device_groups,
+        unidentified_devices,
+    }
+}
+
+/// Structure to hold the result of grouping devices by identification
+#[derive(Debug)]
+pub struct DeviceGroupingResult {
+    /// Devices grouped by machine identification
+    pub device_groups: Vec<Vec<DeviceIdentificationIdentified>>,
+    /// Devices that could not be identified
+    pub unidentified_devices: Vec<DeviceIdentification>,
+}
@@ -0,0 +1,82 @@
+use std::collections::HashMap;
+
+use smol::lock::Mutex;
+
+use super::{Machine, identification::MachineIdentificationUnique, manager::MachineManager};
+
+pub enum MachineManagerIter<'a> {
+    EthercatMachines {
+        iter: std::collections::hash_map::Iter<
+            'a,
+            MachineIdentificationUnique,
+            Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+        >,
+    },
+    SerialMachines {
+        iter: std::collections::hash_map::Iter<
+            'a,
+            MachineIdentificationUnique,
+            Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+        >,
+    },
+    Done,
+}
+
+pub struct MachineManagerIterator<'a> {
+    iter: MachineManagerIter<'a>,
+    serial_machines:
+        &'a HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+}
+
+impl<'a> Iterator for MachineManagerIterator<'a> {
+    type Item = (
+        &'a MachineIdentificationUnique,
+        &'a Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+    );
+
+    fn next(&mut self) -> Option<Self::Item> {
+        loop {
+            match &mut self.iter {
+                MachineManagerIter::EthercatMachines { iter } => {
+                    // Try to get the next item from ethercat_machines
+                    if let Some(item) = iter.next() {
+                        return Some(item);
+                    } else {
+                        // If ethercat_machines is exhausted, move to serial_machines
+                        self.iter = MachineManagerIter::SerialMachines {
+                            iter: self.serial_machines.iter(),
+                        };
+                        // Continue to the next iteration of the loop
+                        continue;
+                    }
+                }
+                MachineManagerIter::SerialMachines { iter } => {
+                    // Return the next item from serial_machines or None if exhausted
+                    if let Some(item) = iter.next() {
+                        return Some(item);
+                    } else {
+                        // If serial_machines is also exhausted, we're done
+                        self.iter = MachineManagerIter::Done;
+                        return None;
+                    }
+                }
+                MachineManagerIter::Done => {
+                    // We've exhausted both collections
+                    return None;
+                }
+            }
+        }
+    }
+}
+
+impl MachineManager {
+    // Returns an iterator over all machines (both ethercat and serial)
+    pub fn iter(&self) -> MachineManagerIterator {
+        MachineManagerIterator {
+            iter: MachineManagerIter::EthercatMachines {
+                iter: self.ethercat_machines.iter(),
+            },
+            serial_machines: &self.serial_machines,
+        }
+    }
+}
@@ -0,0 +1,14 @@
+use crate::actors::Actor;
+use api::MachineApi;
+use new::MachineNewTrait;
+use std::any::Any;
+use std::fmt::Debug;
+
+pub mod api;
+pub mod identification;
+pub mod manager;
+pub mod manager_iter;
+pub mod new;
+pub mod registry;
+
+pub trait Machine: MachineNewTrait + MachineApi + Actor + Any + Debug {}
@@ -0,0 +1,237 @@
+use super::identification::DeviceIdentificationIdentified;
+use anyhow::Error;
+use ethercat_hal::{devices::EthercatDevice, types::EthercrabSubDevicePreoperational};
+use ethercrab::{SubDevice, SubDeviceRef};
+use smol::lock::RwLock;
+use std::sync::Arc;
+
+pub trait MachineNewTrait {
+    fn new<'maindevice, 'subdevices>(
+        params: &MachineNewParams<'maindevice, 'subdevices, '_, '_, '_, '_>,
+    ) -> Result<Self, Error>
+    where
+        Self: Sized;
+}
+
+pub struct MachineNewParams<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware,
+> where
+    'maindevice: 'machine_new_hardware,
+    'subdevices: 'machine_new_hardware,
+    'ethercat_devices: 'machine_new_hardware,
+    'machine_new_hardware_etehrcat: 'machine_new_hardware,
+{
+    pub device_group: &'device_identifications_identified Vec<DeviceIdentificationIdentified>,
+    pub hardware: &'machine_new_hardware MachineNewHardware<
+        'maindevice,
+        'subdevices,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+    >,
+}
+
+pub enum MachineNewHardware<
+    'maindevice,
+    'subdevices,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+> where
+    'maindevice: 'machine_new_hardware_etehrcat,
+    'subdevices: 'machine_new_hardware_etehrcat,
+    'ethercat_devices: 'machine_new_hardware_etehrcat,
+{
+    Ethercat(
+        &'machine_new_hardware_etehrcat MachineNewHardwareEthercat<
+            'maindevice,
+            'subdevices,
+            'ethercat_devices,
+        >,
+    ),
+}
+
+pub struct MachineNewHardwareEthercat<'maindevice, 'subdevices, 'ethercat_devices> {
+    pub subdevices:
+        &'subdevices Vec<&'subdevices SubDeviceRef<'maindevice, &'subdevices SubDevice>>,
+    pub ethercat_devices: &'ethercat_devices Vec<Arc<RwLock<dyn EthercatDevice>>>,
+}
+
+// validates that all devices in the group have the same machine identification
+pub fn validate_same_machine_identification_unique(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+) -> Result<(), Error> {
+    let machine_identification_unique = &identified_device_group
+        .first()
+        .ok_or_else(|| {
+            anyhow::anyhow!(
+                "[{}::validate_same_machine_identification] No devices in group",
+                module_path!()
+            )
+        })?
+        .device_machine_identification
+        .machine_identification_unique;
+    for device in identified_device_group.iter() {
+        if device
+            .device_machine_identification
+            .machine_identification_unique
+            != *machine_identification_unique
+        {
+            return Err(anyhow::anyhow!(
+                "[{}::validate_same_machine_identification] Different machine identifications",
+                module_path!()
+            ));
+        }
+    }
+    Ok(())
+}
+
+/// validates that every role is unique
+pub fn validate_no_role_dublicates(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+) -> Result<(), Error> {
+    let mut roles = vec![];
+    for device in identified_device_group.iter() {
+        if roles.contains(&device.device_machine_identification.role) {
+            return Err(anyhow::anyhow!(
+                "[{}::validate_no_role_dublicates] Role dublicate",
+                module_path!(),
+            ));
+        }
+        roles.push(device.device_machine_identification.role);
+    }
+    Ok(())
+}
+
+// Inside control_core::machines::new module:
+pub fn get_device_identification_by_role(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+    role: u16,
+) -> Result<&DeviceIdentificationIdentified, Error> {
+    for device in identified_device_group.iter() {
+        if device.device_machine_identification.role == role {
+            return Ok(device);
+        }
+    }
+    Err(anyhow::anyhow!(
+        "[{}::get_device_identification_by_role] Role {} not found",
+        module_path!(),
+        role
+    ))
+}
+
+pub fn get_device_by_index<'maindevice>(
+    devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
+    subdevice_index: usize,
+) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
+    Ok(devices
+        .get(subdevice_index)
+        .ok_or(anyhow::anyhow!(
+            "[{}::get_device_by_index] Index {} out of bounds for devices",
+            module_path!(),
+            subdevice_index
+        ))?
+        .clone())
+}
+
+pub fn get_subdevice_by_index<'subdevices, 'maindevice>(
+    subdevices: &'subdevices Vec<&EthercrabSubDevicePreoperational<'maindevice>>,
+    subdevice_index: usize,
+) -> Result<&'subdevices EthercrabSubDevicePreoperational<'maindevice>, Error> {
+    Ok(subdevices.get(subdevice_index).ok_or(anyhow::anyhow!(
+        "Index {} out of bounds for subdevices",
+        subdevice_index
+    ))?)
+}
+
+pub fn get_ethercat_device_by_index<'maindevice>(
+    ethercat_devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
+    subdevice_index: usize,
+) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
+    Ok(ethercat_devices
+        .get(subdevice_index)
+        .ok_or(anyhow::anyhow!(
+            "[{}::get_ethercat_device_by_index] Index {} out of bounds for ethercat devices",
+            module_path!(),
+            subdevice_index
+        ))?
+        .clone())
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::machines::identification::{
+        DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat,
+        DeviceMachineIdentification, MachineIdentification, MachineIdentificationUnique,
+    };
+
+    pub use super::*;
+
+    #[test]
+    fn test_get_device_identification_by_role() {
+        let device_identifications = vec![
+            // role 0
+            DeviceIdentificationIdentified {
+                device_machine_identification: DeviceMachineIdentification {
+                    machine_identification_unique: MachineIdentificationUnique {
+                        machine_identification: MachineIdentification {
+                            vendor: 1,
+                            machine: 1,
+                        },
+                        serial: 1,
+                    },
+                    role: 0,
+                },
+                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
+                    DeviceHardwareIdentificationEthercat { subdevice_index: 0 },
+                ),
+            },
+            // role 1
+            DeviceIdentificationIdentified {
+                device_machine_identification: DeviceMachineIdentification {
+                    machine_identification_unique: MachineIdentificationUnique {
+                        machine_identification: MachineIdentification {
+                            vendor: 2,
+                            machine: 2,
+                        },
+                        serial: 2,
+                    },
+                    role: 2,
+                },
+                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
+                    DeviceHardwareIdentificationEthercat { subdevice_index: 1 },
+                ),
+            },
+            // role 2
+            DeviceIdentificationIdentified {
+                device_machine_identification: DeviceMachineIdentification {
+                    machine_identification_unique: MachineIdentificationUnique {
+                        machine_identification: MachineIdentification {
+                            vendor: 3,
+                            machine: 3,
+                        },
+                        serial: 3,
+                    },
+                    role: 1,
+                },
+                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
+                    DeviceHardwareIdentificationEthercat { subdevice_index: 2 },
+                ),
+            },
+        ];
+
+        // search for role 0
+        let result = get_device_identification_by_role(&device_identifications, 0);
+        assert_eq!(result.unwrap().device_machine_identification.role, 0,);
+
+        // search for role 1
+        let result = get_device_identification_by_role(&device_identifications, 1);
+        assert_eq!(result.unwrap().device_machine_identification.role, 1,);
+        // search for role 2
+        let result = get_device_identification_by_role(&device_identifications, 2);
+        assert_eq!(result.unwrap().device_machine_identification.role, 2,);
+    }
+}
@@ -0,0 +1,106 @@
+use super::{Machine, identification::MachineIdentification, new::MachineNewParams};
+use anyhow::Error;
+use smol::lock::{Mutex, RwLock};
+use std::{
+    any::{Any, TypeId},
+    collections::HashMap,
+    sync::Arc,
+};
+
+pub type MachineNewClosure =
+    Box<dyn Fn(&MachineNewParams) -> Result<Box<Mutex<dyn Machine>>, Error> + Send + Sync>;
+
+pub struct MachineRegistry {
+    type_map: HashMap<TypeId, (MachineIdentification, MachineNewClosure)>,
+}
+
+impl MachineRegistry {
+    pub fn new() -> Self {
+        Self {
+            type_map: HashMap::new(),
+        }
+    }
+
+    pub fn register<T: Machine + 'static>(
+        &mut self,
+        machine_identficiation: MachineIdentification,
+    ) {
+        self.type_map.insert(
+            TypeId::of::<T>(),
+            (
+                machine_identficiation,
+                // create a machine construction closure
+                Box::new(|machine_new_params| {
+                    Ok(Box::new(Mutex::new(T::new(machine_new_params)?)))
+                }),
+            ),
+        );
+    }
+
+    pub fn new_machine(
+        &self,
+        machine_new_params: &MachineNewParams,
+    ) -> Result<Box<Mutex<dyn Machine>>, anyhow::Error> {
+        // get machiine identification
+        let device_identification =
+            &machine_new_params
+                .device_group
+                .first()
+                .ok_or(anyhow::anyhow!(
+                    "[{}::MachineConstructor::new_machine] No device in group",
+                    module_path!()
+                ))?;
+
+        // find machine new function by comparing MachineIdentification
+        let (_, machine_new_closure) = self
+            .type_map
+            .values()
+            .find(|(mi, _)| {
+                mi == &device_identification
+                    .device_machine_identification
+                    .machine_identification_unique
+                    .machine_identification
+            })
+            .ok_or(anyhow::anyhow!(
+                "[{}::MachineConstructor::new_machine] Machine not found",
+                module_path!()
+            ))?;
+
+        // call machine new function by reference
+        (machine_new_closure)(machine_new_params)
+    }
+
+    pub fn downcast_arc_rwlock<T: Machine + 'static>(
+        &self,
+        machine: Arc<RwLock<dyn Machine>>,
+    ) -> Result<Arc<RwLock<T>>, Error> {
+        if TypeId::of::<T>() == machine.type_id() {
+            // transmute Arc
+            let arc = unsafe { Arc::from_raw(Arc::into_raw(machine) as *const RwLock<T>) };
+            Ok(arc)
+        } else {
+            Err(anyhow::anyhow!(
+                "[{}::MachineConstructor::downcast] Machine is not of type {}",
+                module_path!(),
+                std::any::type_name::<T>()
+            ))
+        }
+    }
+
+    pub fn downcast_box_rwlock<T: Machine + 'static>(
+        &self,
+        machine: Box<RwLock<dyn Machine>>,
+    ) -> Result<RwLock<T>, Error> {
+        if TypeId::of::<T>() == machine.type_id() {
+            // transmute Box
+            let box_machine = unsafe { Box::from_raw(Box::into_raw(machine) as *mut RwLock<T>) };
+            Ok(*box_machine)
+        } else {
+            Err(anyhow::anyhow!(
+                "[{}::MachineConstructor::downcast] Machine is not of type {}",
+                module_path!(),
+                std::any::type_name::<T>()
+            ))
+        }
+    }
+}
@@ -1,10 +1,6 @@
-pub mod modbus_serial_interface;
-pub mod tcp;
+use std::time::Duration;

 use anyhow::Error;
-use crc::{CRC_16_MODBUS, Crc};
-use serialport::SerialPort;
-use std::time::Duration;

 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum ParityType {
@@ -18,66 +14,12 @@ pub enum ParityType {
 pub enum ModbusFunctionCode {
    /// Read one or more Registers
    ReadHoldingRegister,
-    /// Read Input register
-    ReadInputRegister,
    /// write one Register Value
    PresetHoldingRegister,
    /// The response should echo back your request
    DiagnoseFunction,
 }

-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
-#[repr(u8)]
-pub enum ModbusExceptionCode {
-    None = 0,
-    IllegalFunction = 1,
-    IllegalDataAddress = 2,
-    IllegalDataValue = 3,
-    SlaveDeviceFailure = 4,
-    Acknowledge = 5,
-    SlaveDeviceBusy = 6,
-    MemoryParityError = 8,
-    GatewayPathUnavailable = 10,
-    GatewayTargetDeviceFailedToRespond = 11,
-    Unknown(u8), // For any unknown exception codes
-}
-
-impl From<ModbusExceptionCode> for u8 {
-    fn from(code: ModbusExceptionCode) -> Self {
-        match code {
-            ModbusExceptionCode::None => 0,
-            ModbusExceptionCode::IllegalFunction => 1,
-            ModbusExceptionCode::IllegalDataAddress => 2,
-            ModbusExceptionCode::IllegalDataValue => 3,
-            ModbusExceptionCode::SlaveDeviceFailure => 4,
-            ModbusExceptionCode::Acknowledge => 5,
-            ModbusExceptionCode::SlaveDeviceBusy => 6,
-            ModbusExceptionCode::MemoryParityError => 8,
-            ModbusExceptionCode::GatewayPathUnavailable => 10,
-            ModbusExceptionCode::GatewayTargetDeviceFailedToRespond => 11,
-            ModbusExceptionCode::Unknown(code) => code,
-        }
-    }
-}
-
-impl From<u8> for ModbusExceptionCode {
-    fn from(value: u8) -> Self {
-        match value {
-            0 => Self::None,
-            1 => Self::IllegalFunction,
-            2 => Self::IllegalDataAddress,
-            3 => Self::IllegalDataValue,
-            4 => Self::SlaveDeviceFailure,
-            5 => Self::Acknowledge,
-            6 => Self::SlaveDeviceBusy,
-            8 => Self::MemoryParityError,
-            10 => Self::GatewayPathUnavailable,
-            11 => Self::GatewayTargetDeviceFailedToRespond,
-            other => Self::Unknown(other),
-        }
-    }
-}
-
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub struct ModbusRequest {
    pub slave_id: u8,
@@ -93,15 +35,32 @@ pub struct ModbusResponse {
    pub crc: u16,
 }

+impl ModbusResponse {
+    fn is_exception(self) -> bool {
+        if self.data.len() > 2 {
+            let function_code = self.data[1];
+            return (function_code & 0b10000000) > 0; // first bit is set when an exception happens in Modbus
+        }
+        return false;
+    }
+
+    fn get_exception_code(self) -> u8 {
+        if self.data.len() > 3 {
+            let exception = self.data[2];
+            return exception;
+        }
+        return 0;
+    }
+}
+
 impl TryFrom<u8> for ModbusFunctionCode {
    type Error = anyhow::Error;

    fn try_from(value: u8) -> Result<Self, Self::Error> {
        match value {
-            0x03 => Ok(Self::ReadHoldingRegister),
-            0x04 => Ok(Self::ReadInputRegister),
-            0x06 => Ok(Self::PresetHoldingRegister),
-            0x08 => Ok(Self::DiagnoseFunction),
+            0x03 => Ok(ModbusFunctionCode::ReadHoldingRegister),
+            0x06 => Ok(ModbusFunctionCode::PresetHoldingRegister),
+            0x08 => Ok(ModbusFunctionCode::DiagnoseFunction),
            _ => Err(anyhow::anyhow!("Error: Modbus Function Code doesnt exist!")),
        }
    }
@@ -111,7 +70,6 @@ impl From<ModbusFunctionCode> for u8 {
    fn from(value: ModbusFunctionCode) -> Self {
        match value {
            ModbusFunctionCode::ReadHoldingRegister => 0x03,
-            ModbusFunctionCode::ReadInputRegister => 0x04,
            ModbusFunctionCode::PresetHoldingRegister => 0x06,
            ModbusFunctionCode::DiagnoseFunction => 0x08,
        }
@@ -120,7 +78,7 @@ impl From<ModbusFunctionCode> for u8 {

 impl From<ModbusRequest> for Vec<u8> {
    fn from(request: ModbusRequest) -> Self {
-        let mut buffer = Self::new();
+        let mut buffer = Vec::new();

        buffer.push(request.slave_id);
        buffer.push(request.function_code.into()); // convert functioncode into u8 and push it
@@ -133,89 +91,63 @@ impl From<ModbusRequest> for Vec<u8> {
        // convert u16 value to le_bytes and add it to the end of the frame
        buffer.extend_from_slice(&result_crc.to_le_bytes());

-        buffer
+        return buffer;
    }
 }
-/// Reads data from a Modbus device via a serial port.
-///
-/// # Parameters
-/// - `port`: A mutable reference to a serial port.
-///
-/// # Returns
-/// A `Result` containing an `Option` with the raw Modbus response as a `Vec<u8>` if successful,
-/// or `None` if the response is invalid or an error occurs.
-pub fn receive_data_modbus(port: &mut dyn SerialPort) -> Result<Option<Vec<u8>>, anyhow::Error> {
-    let mut buf: [u8; 256] = [0; 256];
-    let data_length = port.read(&mut buf)?;
-    if data_length == 0 {
-        return Ok(None);
-    }
-    validate_modbus_response(buf[..data_length].to_vec()).map(Some)
-}

-/// Computes Modbus CRC-16 using `crc` crate.
-pub const fn modbus_crc16(data: &[u8]) -> u16 {
-    let modbus: Crc<u16> = Crc::<u16>::new(&CRC_16_MODBUS);
-    modbus.checksum(data)
-}
-
-/// Checks if the message's CRC is correct (uses Modbus CRC-16).
-fn check_crc(raw_data: &Vec<u8>) -> Result<bool, Error> {
-    let expected_crc = extract_crc(raw_data)?;
-    let actual_crc = modbus_crc16(&raw_data[..raw_data.len() - 2]);
-    Ok(expected_crc == actual_crc)
-}
-
-fn validate_modbus_response(raw_data: Vec<u8>) -> Result<Vec<u8>, Error> {
-    if raw_data.is_empty() {
+fn validate_modbus_response(raw_data: Vec<u8>) -> Result<(), Error> {
+    if raw_data.len() == 0 {
        return Err(anyhow::anyhow!("Error: Response is Empty!"));
    }
-
    // 5 is the smallest possible Response Size
-    if raw_data.len() <= 5 {
+    if raw_data.len() < 5 {
+        println!("raw_data.len() < 5");
        return Err(anyhow::anyhow!(
            "Error: Response is invalid, its less than 5 bytes"
        ));
    }

-    // check if the slave id is valid
    if raw_data[0] < 1 || raw_data[0] > 247 {
        return Err(anyhow::anyhow!(
            "Error: Response is invalid, slave_id is outside of the valid range 1-247"
        ));
    }
-    if check_crc(&raw_data)? {
-        Ok(raw_data)
-    } else {
-        Err(anyhow::anyhow!("Error: CRC does not match"))
-    }
+    return Ok(());
 }

 // expects to be given the entire raw message
 fn extract_crc(raw_data: &Vec<u8>) -> Result<u16, Error> {
-    if raw_data.len() < 5 {
-        return Err(anyhow::anyhow!("Not enough data to extract CRC"));
+    let raw_data1 = raw_data.clone();
+    let result = validate_modbus_response(raw_data1);
+    if let Err(error) = result {
+        return Err(error);
    }
-
    let low_byte = raw_data[raw_data.len() - 2];
    let high_byte = raw_data[raw_data.len() - 1];

    let crc = u16::from_le_bytes([low_byte, high_byte]);
    Ok(crc)
 }
+
 impl TryFrom<Vec<u8>> for ModbusResponse {
    type Error = anyhow::Error;
-    fn try_from(value: Vec<u8>) -> Result<Self, Error> {
-        let crc = extract_crc(&value)?;
+    fn try_from(value: Vec<u8>) -> Result<ModbusResponse, Error> {
+        let crc = match extract_crc(&value) {
+            Ok(crc_value) => crc_value,
+            Err(err) => return Err(err),
+        };

        let function_code_res = ModbusFunctionCode::try_from(value[1]);
-        let function_code = function_code_res?;
+        let function_code = match function_code_res {
+            Ok(code) => code,
+            Err(err) => return Err(err),
+        };

-        Ok(Self {
+        Ok(ModbusResponse {
            slave_id: value[0],
-            function_code,
+            function_code: function_code,
            data: value[2..value.len() - 2].to_vec(), // get data without the crc
-            crc,
+            crc: crc,
        })
    }
 }
@@ -227,23 +159,23 @@ impl TryFrom<Vec<u8>> for ModbusResponse {
 /// machine_operation_delay_nano: Delay for the given operation in nanoseconds as specified by the slaves datasheet (example: mitsubishi csfr84 has 12ms for read write in RAM)
 /// baudrate: bits per second
 /// message_size: size of original message in bytes
-pub const fn calculate_modbus_rtu_timeout(
+pub fn calculate_modbus_rtu_timeout(
    bits: u8,
    machine_operation_delay_nano: Duration,
    baudrate: u32,
    message_size: usize,
 ) -> Duration {
    let nanoseconds_per_bit: u64 = (1000000 / baudrate) as u64;
-    let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit;
+    let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit as u64;

    let transmission_timeout: u64 = nanoseconds_per_byte * message_size as u64;
-    let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10_u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1
+    let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10 as u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1

    let mut full_timeout: u64 = transmission_timeout;
    full_timeout += machine_operation_delay_nano.as_nanos() as u64;
    full_timeout += silent_time;

-    Duration::from_nanos(full_timeout)
+    return Duration::from_nanos(full_timeout);
 }

 #[cfg(test)]
@@ -1,268 +0,0 @@
-use crate::modbus::{ModbusRequest, ModbusResponse};
-use ethercat_hal::io::serial_interface::{SerialEncoding, SerialInterface};
-use std::{
-    collections::HashMap,
-    time::{Duration, Instant},
-};
-
-#[derive(Debug, Clone)]
-struct RequestMetaData {
-    priority: u32,
-    ignored_times: u32,
-    /// This is used when a machine for example takes 4ms to process the request
-    /// and is added ontop of the standard waiting time for a serial transfer
-    extra_delay: Option<u32>,
-    no_response_expected: bool,
-}
-
-#[derive(Debug)]
-pub enum State {
-    /// WaitingForResponse is set after sending a request through the serial_interface
-    WaitingForResponse,
-    /// After Sending a Request we need to wait atleast one ethercat cycle
-    /// After one Cycle we check if el6021 status has transmit accepted toggled
-    /// Then we can set state = ReadyToSend
-    WaitingForRequestAccept,
-    /// After Receiving a Response we need to wait atleast one ethercat cycle
-    /// After one Cycle we check if el6021 status has received accepted toggled
-    WaitingForReceiveAccept,
-    /// ReadyToSend is set after receiving the response from the serial_interface
-    ReadyToSend,
-    /// Initial State
-    Uninitialized,
-}
-
-#[derive(Debug)]
-pub struct ModbusSerialInterface {
-    serial_interface: SerialInterface,
-    baudrate: Option<u32>,
-    encoding: Option<SerialEncoding>,
-    response: Option<ModbusResponse>,
-    state: State,
-    last_message_size: usize,
-    last_message_delay: u32,
-    pub last_message_id: u32,
-    no_response_expected: bool,
-    request_map: HashMap<u32, ModbusRequest>,
-    request_metadata_map: HashMap<u32, RequestMetaData>,
-    last_ts: Instant,
-}
-
-impl ModbusSerialInterface {
-    pub fn new(serial_interface: SerialInterface) -> Self {
-        Self {
-            serial_interface,
-            baudrate: None,
-            encoding: None,
-            request_map: HashMap::new(),
-            request_metadata_map: HashMap::new(),
-            response: None,
-            last_message_size: 0,
-            last_message_delay: 0,
-            state: State::Uninitialized,
-            last_ts: Instant::now(),
-            last_message_id: 0,
-            no_response_expected: false,
-        }
-    }
-
-    pub const fn is_initialized(&self) -> bool {
-        !matches!(self.state, State::Uninitialized)
-    }
-
-    pub fn add_request(
-        &mut self,
-        request_id: u32,
-        priority: u32,
-        request: ModbusRequest,
-        no_response_expected: bool,
-        delay: Option<u32>,
-    ) {
-        self.request_map.insert(request_id, request);
-        self.request_metadata_map
-            .entry(request_id)
-            .or_insert_with(|| RequestMetaData {
-                priority,
-                ignored_times: 0,
-                extra_delay: delay,
-                no_response_expected,
-            });
-    }
-
-    /// This is used internally to read the receive buffer of the el6021
-    async fn read_modbus_response(&mut self) -> Result<ModbusResponse, anyhow::Error> {
-        let raw_response = (self.serial_interface.read_message)()
-            .await
-            .unwrap_or_default();
-
-        let response = ModbusResponse::try_from(raw_response)?;
-        self.last_message_size = response.data.len() + 4;
-        self.state = State::WaitingForReceiveAccept;
-        Ok(response)
-    }
-
-    /// This is used internally to fill the write buffer of the el6021 with the modbus request
-    /// Decides what requests to send first by finding the one with the highest priority
-    /// For example Highest Priority requests: ResetInverter StopMotor
-    async fn send_modbus_request(&mut self) {
-        if self.request_map.is_empty() {
-            return;
-        }
-
-        let (highest_id, delay, no_response_expected) = self
-            .request_metadata_map
-            .iter_mut()
-            .map(|(key, value)| {
-                let effective_priority = value.priority + value.ignored_times;
-                (
-                    *key,
-                    effective_priority,
-                    value.extra_delay.unwrap_or(0),
-                    value.no_response_expected,
-                )
-            })
-            .max_by_key(|(_, priority, _, _)| *priority)
-            .map(|(key, _, delay, no_response)| (key, delay, no_response))
-            .unwrap(); // Safe because we checked is_empty() above
-
-        let request = &self.request_map[&highest_id];
-        let modbus_request: Vec<u8> = request.clone().into();
-
-        if let Err(_) = (self.serial_interface.write_message)(modbus_request.clone()).await {
-            tracing::error!("ERROR: serial_interface.write_message has failed");
-        } else {
-            self.last_message_delay = delay;
-            self.last_message_id = highest_id;
-            self.no_response_expected = no_response_expected;
-        }
-
-        self.state = State::WaitingForRequestAccept;
-        self.last_message_size = modbus_request.len();
-    }
-
-    pub async fn initialize_communication_settings(&mut self) -> bool {
-        let baudrate = (self.serial_interface.get_baudrate)().await;
-        let encoding = (self.serial_interface.get_serial_encoding)().await;
-
-        match (baudrate, encoding) {
-            (Some(b), Some(e)) => {
-                self.baudrate = Some(b);
-                self.encoding = Some(e);
-                true
-            }
-            _ => false,
-        }
-    }
-
-    pub async fn initialize(&mut self) -> bool {
-        if matches!(self.state, State::Uninitialized) {
-            let success = (self.serial_interface.initialize)().await;
-            if success {
-                self.state = State::ReadyToSend;
-                self.initialize_communication_settings().await;
-            }
-            success
-        } else {
-            false
-        }
-    }
-
-    fn increment_ignored_times(&mut self) {
-        for metadata in self.request_metadata_map.values_mut() {
-            metadata.ignored_times += 1;
-        }
-    }
-
-    /// Modbus RTU has silent time between frames that needs to be adhered to, if you send before silent_time is over between frames, then there will be lost frames
-    /// This silent time is needed to identify the start and end of messages
-    /// This function also takes into account the time that the slave we are talking to needs to process our request
-    /// bits: amount of bits sent per byte -> for a 8n1 coding: 8 data bits, 0 parity, 1 stop bit (1 start,1 stop) -> 10 bits
-    /// machine_operation_delay_nano: Delay for the given operation in nanoseconds as specified by the slaves datasheet (example: mitsubishi csfr84 has 12ms for read write in RAM)
-    /// baudrate: bits per second
-    /// message_size: size of original message in bytes
-    pub fn calculate_modbus_rtu_timeout(
-        &self,
-        machine_operation_delay: Duration,
-        message_size: usize,
-    ) -> Option<Duration> {
-        let baudrate = self.baudrate?;
-        let encoding = self.encoding?;
-
-        let nanoseconds_per_bit = 1_000_000_000 / baudrate as u64;
-        let nanoseconds_per_byte = encoding.total_bits() as u64 * nanoseconds_per_bit;
-
-        let transmission_timeout = nanoseconds_per_byte * message_size as u64;
-        let silent_time = (nanoseconds_per_byte * 35) / 10; // silent_time is 3.5x of character length
-
-        let total_timeout =
-            transmission_timeout + machine_operation_delay.as_nanos() as u64 + silent_time;
-        Some(Duration::from_nanos(total_timeout))
-    }
-
-    pub const fn get_response(&self) -> Option<&ModbusResponse> {
-        self.response.as_ref()
-    }
-
-    pub async fn act(&mut self, now_ts: Instant) {
-        let elapsed = now_ts.duration_since(self.last_ts);
-
-        let timeout = self.calculate_modbus_rtu_timeout(
-            Duration::from_nanos(self.last_message_delay as u64),
-            self.last_message_size,
-        );
-
-        let Some(timeout) = timeout else { return };
-
-        // Check if we need to wait for timeout (except for specific states)
-        if !matches!(
-            self.state,
-            State::Uninitialized | State::WaitingForReceiveAccept | State::WaitingForRequestAccept
-        ) && elapsed < timeout
-        {
-            return;
-        }
-
-        self.last_ts = now_ts;
-        self.response = None;
-
-        match self.state {
-            State::WaitingForResponse => match self.read_modbus_response().await {
-                Ok(response) => {
-                    self.response = Some(response);
-                }
-                Err(_) => {
-                    self.response = None;
-                    if self.no_response_expected {
-                        self.state = State::ReadyToSend;
-                    }
-                }
-            },
-            State::ReadyToSend => {
-                self.send_modbus_request().await;
-
-                // Remove the sent request
-                self.request_map.remove(&self.last_message_id);
-                self.request_metadata_map.remove(&self.last_message_id);
-                self.increment_ignored_times();
-            }
-            State::WaitingForReceiveAccept => {
-                // Waste at least one Ethercat Cycle here to ensure that request/response stay in sync
-                self.state = State::ReadyToSend;
-            }
-            State::WaitingForRequestAccept => {
-                // An empty vec is used to check if we are finished with writing the message
-                // This is to keep the Serialinterface more simple
-                match (self.serial_interface.write_message)(vec![]).await {
-                    Ok(finished) if finished => {
-                        self.state = State::WaitingForResponse;
-                    }
-                    Err(_) => {
-                        self.state = State::ReadyToSend;
-                    }
-                    _ => {} // Still waiting
-                }
-            }
-            State::Uninitialized => {}
-        }
-    }
-}
@@ -1,263 +0,0 @@
-use std::fmt::Debug;
-use std::io::ErrorKind;
-use std::net::SocketAddr;
-use std::time::Duration;
-
-use anyhow::Context;
-use anyhow::Result;
-use anyhow::bail;
-use smol::Timer;
-use smol::future::FutureExt;
-use smol::io;
-use smol::io::AsyncReadExt;
-use smol::io::AsyncWriteExt;
-use smol::net::TcpStream;
-
-const PROTOCOL_ID: u16 = 0;
-const UNIT_ID: u8 = 0;
-const READ_HOLDING_FUNCTION_CODE: u8 = 3;
-const WRITE_HOLDING_FUNCTION_CODE: u8 = 16;
-const READ_HOLDING_LENGTH: u16 = 6; // Unit ID 00 + Func Code 03 + Start Address XXXX + Quantity XXXX = 6 bytes
-const WRITE_HOLDING_LENGTH_WITHOUT_DATA: u16 = 7; // Unit ID 00 + Func Code 16 + Start Address XXXX + Quantity XXXX + Num Data Bytes XX = 7 bytes
-
-struct Packet {
-    buf: Vec<u8>,
-}
-
-impl Packet {
-    pub const fn new() -> Self {
-        Self { buf: Vec::new() }
-    }
-
-    pub fn add_u8(&mut self, x: u8) {
-        self.buf.push(x);
-    }
-
-    pub fn add_u16(&mut self, x: u16) {
-        let buf = x.to_be_bytes();
-        self.buf.push(buf[0]);
-        self.buf.push(buf[1]);
-    }
-
-    pub fn as_bytes(&self) -> &[u8] {
-        &self.buf
-    }
-}
-
-pub struct ModbusTcpDevice {
-    stream: TcpStream,
-    transactions: u16,
-}
-
-impl Debug for ModbusTcpDevice {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        match self.stream.peer_addr() {
-            Ok(addr) => write!(f, "ModbusTcpDevice({:?})", addr),
-            Err(_) => std::fmt::Result::Err(std::fmt::Error),
-        }
-    }
-}
-
-impl ModbusTcpDevice {
-    pub async fn new(addr: SocketAddr) -> Result<Self> {
-        let timeout = async {
-            Timer::after(Duration::from_millis(10)).await;
-            Err(io::Error::from(ErrorKind::TimedOut))
-        };
-
-        let stream = TcpStream::connect(addr)
-            .or(timeout)
-            .await
-            .context("Could not connect to modbus device!")?;
-
-        Ok(Self {
-            stream,
-            transactions: 0,
-        })
-    }
-
-    async fn read_and_check_responce_header(&mut self, func_code: u8) -> Result<()> {
-        if self.read_u16().await? != self.transactions {
-            bail!("Modbus device sent unexpected transaction id!");
-        }
-
-        if self.read_u16().await? != PROTOCOL_ID {
-            bail!("Modbus device sent unexpected protocol id!");
-        }
-
-        let length = self.read_u16().await?;
-        if length < 2 {
-            bail!("Modbus device will send too few bytes to understand the response!");
-        }
-
-        if self.read_u8().await? != UNIT_ID {
-            bail!("Modbus device sent unexpected unit id!");
-        }
-
-        let func_code_res = self.read_u8().await?;
-        if func_code != func_code_res {
-            let error_code = self.read_u8().await?;
-            bail!(
-                "Modbus device sent unexpected function code 0x{:x}! It probably encountered an error. Error code: 0x{:x}",
-                func_code_res,
-                error_code
-            );
-        }
-
-        Ok(())
-    }
-
-    async fn send_read_holding_request(&mut self, addr: u16, count: u16) -> Result<u16> {
-        let mut packet = Packet::new();
-
-        self.transactions += 1;
-        packet.add_u16(self.transactions);
-        packet.add_u16(PROTOCOL_ID);
-        packet.add_u16(READ_HOLDING_LENGTH);
-
-        packet.add_u8(UNIT_ID);
-        packet.add_u8(READ_HOLDING_FUNCTION_CODE);
-
-        packet.add_u16(addr);
-        packet.add_u16(count);
-
-        self.send(packet).await?;
-        self.read_and_check_responce_header(READ_HOLDING_FUNCTION_CODE)
-            .await?;
-
-        let num_data_bytes = self.read_u8().await? as u16;
-        if count * 2 != num_data_bytes {
-            bail!(
-                "Modbus device wants to send only a portion of the requested range - UNIMPLEMENTED!"
-            );
-        }
-
-        Ok(num_data_bytes)
-    }
-
-    pub async fn get_holding_registers(&mut self, addr: u16, count: u16) -> Result<Vec<u16>> {
-        self.send_read_holding_request(addr, count).await?;
-
-        let mut res: Vec<u16> = Vec::new();
-        while res.len() < count as usize {
-            res.push(self.read_u16().await?);
-        }
-
-        Ok(res)
-    }
-
-    pub async fn set_holding_registers(&mut self, addr: u16, values: &[u16]) -> Result<()> {
-        let count = values.len();
-        let num_bytes = count * 2;
-        assert!(
-            count <= 128,
-            "Cannot send that many bytes to modbus device in one go! Trying to send {} bytes of data.",
-            num_bytes
-        );
-
-        let mut packet = Packet::new();
-
-        self.transactions += 1;
-        packet.add_u16(self.transactions);
-        packet.add_u16(PROTOCOL_ID);
-        packet.add_u16(WRITE_HOLDING_LENGTH_WITHOUT_DATA + num_bytes as u16);
-
-        packet.add_u8(UNIT_ID);
-        packet.add_u8(WRITE_HOLDING_FUNCTION_CODE);
-
-        packet.add_u16(addr);
-        packet.add_u16(count as u16);
-
-        packet.add_u8(num_bytes as u8);
-
-        for value in values {
-            packet.add_u16(value.to_owned());
-        }
-
-        self.send(packet).await?;
-        self.read_and_check_responce_header(WRITE_HOLDING_FUNCTION_CODE)
-            .await?;
-
-        if self.read_u16().await? != addr {
-            bail!("Modbus device wrote to wrong register address!");
-        }
-
-        if self.read_u16().await? != count as u16 {
-            bail!("Modbus device wrote wrong number of registers!");
-        }
-
-        Ok(())
-    }
-
-    pub async fn get_string<const N: usize>(&mut self, addr: u16) -> Result<String> {
-        assert!(N % 2 == 0, "Strings are always of even length!");
-        assert!(N <= 256, "Cannot read long strings in a single swoop!");
-        let count = N / 2;
-
-        self.send_read_holding_request(addr, count as u16).await?;
-        let buf = self.read_bytes::<N>().await?;
-
-        let s = String::from_utf8_lossy(&buf);
-        let s = match s.split_once('\0') {
-            None => s.to_string(),
-            Some((l, _)) => l.to_string(),
-        };
-
-        Ok(s)
-    }
-
-    pub async fn set_string<const N: usize>(&mut self, _addr: u16, s: &str) -> Result<()> {
-        assert!(s.len() <= N, "String is too long to fit!");
-
-        todo!()
-    }
-
-    pub async fn get_u16(&mut self, addr: u16) -> Result<u16> {
-        let length = self.send_read_holding_request(addr, 1).await?;
-        assert_eq!(
-            length, 2,
-            "Expected modbus device to send exactly 2 bytes of data!"
-        );
-
-        self.read_u16().await
-    }
-
-    pub async fn get_u32(&mut self, addr: u16) -> Result<u32> {
-        let length = self.send_read_holding_request(addr, 2).await?;
-        assert_eq!(
-            length, 4,
-            "Expected modbus device to send exactly 4 bytes of data!"
-        );
-
-        let buf = self.read_bytes::<4>().await?;
-        Ok(u32::from_be_bytes(buf))
-    }
-
-    // We have to send the request in a single packet,
-    // otherwise the device may fail to respond correctly.
-    async fn send(&mut self, packet: Packet) -> Result<()> {
-        self.stream
-            .write_all(packet.as_bytes())
-            .await
-            .context("Could write to modbus device!")
-    }
-
-    async fn read_u8(&mut self) -> Result<u8> {
-        let buf = self.read_bytes::<1>().await?;
-        Ok(u8::from_be_bytes(buf))
-    }
-
-    async fn read_u16(&mut self) -> Result<u16> {
-        let buf = self.read_bytes::<2>().await?;
-        Ok(u16::from_be_bytes(buf))
-    }
-
-    async fn read_bytes<const N: usize>(&mut self) -> Result<[u8; N]> {
-        let mut buf = [0; N];
-        self.stream
-            .read_exact(&mut buf)
-            .await
-            .context("Could not read from modbus device!")?;
-        Ok(buf)
-    }
-}
@@ -1,178 +0,0 @@
-use tracing::debug;
-use tracing::error;
-
-#[cfg(target_os = "linux")]
-/// Makes the current thread a real-time thread using the PREEMPT_RT capabilities of Linux.
-///
-/// This function configures the current thread with real-time scheduling properties by:
-///
-/// 1. Setting the scheduling policy to SCHED_FIFO (First-In-First-Out), which is a real-time
-///    scheduling policy that allows the thread to run until it voluntarily yields, blocks on I/O,
-///    or is preempted by a higher-priority real-time thread.
-///
-/// 2. Setting the real-time priority to 80 (on a scale of 1-99, where higher values indicate
-///    higher priority). This priority level is chosen to be higher than most IRQ handlers
-///    (typically priority 50) but lower than critical kernel tasks (priority 99).
-///
-/// When running on a PREEMPT_RT patched Linux kernel, this combination provides deterministic
-/// scheduling with minimal latency, which is essential for real-time applications.
-///
-/// # Requirements
-///
-/// - The program must run with appropriate permissions to set real-time priorities.
-///   This typically means either:
-///   - Running as root
-///   - Configuring `/etc/security/limits.conf` to allow the user to set real-time priorities
-///
-/// - The system should be running a Linux kernel with PREEMPT_RT patch applied for
-///   optimal real-time performance.
-///
-/// # Example
-///
-/// ```ignore
-/// fn main() {
-///     // Lock memory to prevent page faults
-///     lock_memory();
-///     
-///     // Create a thread and make it real-time
-///     std::thread::spawn(|| {
-///         set_realtime_priority();
-///         
-///         // Real-time code here
-///     });
-/// }
-/// ```
-///
-/// # Returns
-///
-/// - `Ok(())` if the real-time priority was successfully set
-/// - `Err` with the error message if setting the priority failed
-#[cfg(target_os = "linux")]
-pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
-    use anyhow::anyhow;
-    use libc::{SCHED_FIFO, pthread_setschedparam, sched_param};
-    use std::mem;
-
-    unsafe {
-        // Get the pthread_t of the current thread using pthread_self()
-        let pthread_self = libc::pthread_self();
-
-        // Set up the scheduling parameters
-        let mut param: sched_param = mem::zeroed();
-        param.sched_priority = 95;
-
-        // Set the thread to use SCHED_FIFO scheduling policy with our priority
-        let result = pthread_setschedparam(pthread_self, SCHED_FIFO, &param);
-
-        if result != 0 {
-            error!(
-                "Failed to set real-time scheduling policy for thread \"{:?}\": {}",
-                std::thread::current().name().unwrap_or("unknown"),
-                std::io::Error::last_os_error()
-            );
-            return Err(anyhow!(
-                "Failed to set real-time priority: {}",
-                std::io::Error::last_os_error()
-            ));
-        } else {
-            debug!(
-                "Successfully set real-time priority for the thread \"{:?}\"",
-                std::thread::current().name().unwrap_or("unknown")
-            );
-        }
-    }
-    Ok(())
-}
-
-#[cfg(not(target_os = "linux"))]
-pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
-    tracing::error!("This platform does not support realtime threads");
-    Ok(())
-}
-
-/// Locks all current and future memory pages of the process into RAM to prevent page faults.
-///
-/// # When to call this function
-///
-/// This function should be called from the main thread, as early as possible in your program's
-/// execution, ideally before creating any threads and before allocating large amounts of memory.
-///
-/// Important: You only need to call this function ONCE per process, not in each thread.
-/// The memory locking applies to the entire process, including:
-/// - The main thread
-/// - All threads created after the call
-///
-/// This happens because all threads in a process share the same virtual memory space, and
-/// `mlockall()` operates on the entire process's memory space, not just the calling thread.
-///
-/// # Example: Correct usage
-///
-/// ```ignore
-/// fn main() -> Result<(), Box<dyn std::error::Error>> {
-///     // Call early in main, before creating threads
-///     lock_memory()?;
-///     
-///     // Now create real-time threads...
-///     std::thread::spawn(|| {
-///         set_realtime_priority();
-///         // Real-time code here
-///     });
-///     
-///     Ok(())
-/// }
-/// ```
-///
-/// # Example: Incorrect usage
-///
-/// ```ignore
-/// fn main() {
-///     // Don't do this - calling in each thread is unnecessary
-///     std::thread::spawn(|| {
-///         lock_memory().unwrap(); // Redundant if already called in main
-///         set_realtime_priority();
-///     });
-/// }
-/// ```
-///
-/// # How it works
-///
-/// [Rest of documentation as before...]
-#[cfg(target_os = "linux")]
-pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
-    use libc::{MCL_FUTURE, mlockall};
-
-    unsafe {
-        if mlockall(MCL_FUTURE) != 0 {
-            error!("Failed to lock memory: {}", std::io::Error::last_os_error());
-            return Err(
-                format!("Failed to lock memory: {}", std::io::Error::last_os_error()).into(),
-            );
-        } else {
-            debug!("Successfully locked memory for the process");
-        }
-    }
-    Ok(())
-}
-
-#[cfg(not(target_os = "linux"))]
-pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
-    tracing::error!("This platform does not support memory locking");
-    Ok(())
-}
-
-pub fn set_core_affinity(core_id: usize) -> Result<(), anyhow::Error> {
-    let cores = core_affinity::get_core_ids().unwrap_or_default();
-    let core = cores.get(core_id);
-    if let Some(core) = core {
-        core_affinity::set_for_current(*core);
-        debug!(
-            "Set core affinity of thread \"{:?}\" to core {:?}",
-            std::thread::current().name().unwrap_or("unknown"),
-            core
-        );
-        Ok(())
-    } else {
-        error!("No cores available to set affinity");
-        Err(anyhow::anyhow!("No cores available to set affinity"))
-    }
-}
@@ -0,0 +1 @@
+pub mod mutation;
@@ -0,0 +1,35 @@
+use std::fmt::Debug;
+
+use serde::Serialize;
+
+use crate::machines::identification::MachineIdentificationUnique;
+
+#[derive(Debug, Serialize, Clone)]
+pub struct MutationResponse {
+    pub success: bool,
+    pub error: Option<String>,
+}
+
+impl MutationResponse {
+    pub fn success() -> Self {
+        Self {
+            success: true,
+            error: None,
+        }
+    }
+    pub fn error(error: String) -> Self {
+        Self {
+            success: false,
+            error: Some(error),
+        }
+    }
+}
+
+#[derive(Debug, serde::Deserialize)]
+pub struct MachineMutationBody<T>
+where
+    T: Debug,
+{
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub data: T,
+}
@@ -1,33 +0,0 @@
-/*use std::{any::Any, sync::Arc};
-
-use smol::lock::RwLock;
-use std::fmt::Debug;
-
-use crate::machines::identification::DeviceIdentification;
-
-pub mod serial_detection;
-
-pub trait SerialDevice: Any + Send + Sync + SerialDeviceNew + Debug {}
-
-pub trait SerialDeviceNew {
-    fn new_serial(
-        params: &SerialDeviceNewParams,
-    ) -> Result<(DeviceIdentification, Arc<RwLock<Self>>), anyhow::Error>
-    where
-        Self: Sized;
-}
-
-pub trait SerialDeviceThread {
-    fn start_thread() -> Result<(), anyhow::Error>;
-}
-
-pub struct SerialDeviceNewParams {
-    pub path: String,
-}
-
-#[derive(PartialEq, Eq, Clone, Debug, Hash)]
-pub struct SerialDeviceIdentification {
-    pub vendor_id: u16,
-    pub product_id: u16,
-}
-*/
@@ -1,76 +0,0 @@
-/*
-*@author: Alisher Darmenov
-*@company: QiTech
-*@created: 20.04.2025
-*
-*@description: This module is responsible for usb detection and validation, specially made with serialport to avoid complexity and size of tokio_serial
-*/
-
-use serialport::{SerialPortInfo, SerialPortType, UsbPortInfo};
-use std::collections::HashMap;
-
-use super::SerialDeviceIdentification;
-/// Handles scanning and caching of connected USB serial devices.
-pub struct SerialDetection {}
-
-impl SerialDetection {
-    /// Returns all serial ports on the system (minus macOS "cu" noise).
-    fn get_ports() -> Vec<SerialPortInfo> {
-        match serialport::available_ports() {
-            Ok(ports) => ports
-                .into_iter()
-                .filter(|port| !port.port_name.contains("cu"))
-                .collect(),
-            Err(_) => Vec::new(),
-        }
-    }
-
-    /// Extracts only USB serial devices from the port list.
-    fn extract_usb_serial_devices(port_list: Vec<SerialPortInfo>) -> HashMap<String, UsbPortInfo> {
-        let mut map = HashMap::new();
-
-        for port in port_list {
-            if let SerialPortType::UsbPort(usb_info) = port.port_type {
-                map.insert(port.port_name, usb_info);
-            }
-        }
-        map
-    }
-
-    /// Scans for connected USB serial devices and updates the internal map.
-    /// Returns a clone of the map for quick access.
-    pub fn detect_devices() -> HashMap<String, UsbPortInfo> {
-        let ports = Self::get_ports();
-        let usb_devices = Self::extract_usb_serial_devices(ports);
-        usb_devices
-    }
-
-    pub fn device_port_exists(device_path: &str) -> bool {
-        let ports = Self::get_ports();
-        return ports.iter().any(|p| p.port_name == device_path);
-    }
-
-    pub fn device_id_exists(sdevid: SerialDeviceIdentification) -> bool {
-        let ports = Self::get_ports();
-        for port in ports {
-            if let SerialPortType::UsbPort(usb_info) = port.port_type {
-                if usb_info.vid == sdevid.vendor_id && usb_info.pid == sdevid.product_id {
-                    return true;
-                }
-            }
-        }
-        return false;
-    }
-
-    pub fn get_path_by_id(
-        sdevid: SerialDeviceIdentification,
-        map: HashMap<String, UsbPortInfo>,
-    ) -> Option<String> {
-        for (port, usbport) in map.iter() {
-            if usbport.vid == sdevid.vendor_id && usbport.pid == sdevid.product_id {
-                return Some(port.clone());
-            }
-        }
-        return None;
-    }
-}
@@ -1,34 +1,20 @@
 use std::time::{SystemTime, UNIX_EPOCH};

-use erased_serde::Serialize as ErasedSerialize;
 use serde::Serialize;
+use serde_json::Value;

-#[derive(Serialize)]
+#[derive(Debug, Clone, Serialize)]
 pub struct GenericEvent {
    pub name: String,
-    pub data: Box<dyn ErasedSerialize + Send + Sync>,
+    pub data: Value,
    /// Timestamp in milliseconds
    pub ts: u64,
 }

-impl std::fmt::Debug for GenericEvent {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        f.debug_struct("GenericEvent")
-            .field("name", &self.name)
-            .field("data", &"[erased]")
-            .field("ts", &self.ts)
-            .finish()
-    }
-}
-
-pub trait BuildEvent: Serialize + Send + Sync + Clone {
-    fn build(&self) -> Event<Self>;
-}
-
 #[derive(Debug, Clone, Serialize)]
 pub struct Event<T>
 where
-    T: Serialize + Send + Sync + 'static,
+    T: Serialize,
 {
    pub name: String,
    pub data: T,
@@ -36,35 +22,39 @@ where
    pub ts: u64,
 }

-impl<T> From<Event<T>> for GenericEvent
+impl<T> TryFrom<Event<T>> for GenericEvent
 where
-    T: Serialize + Send + Sync + 'static,
+    T: Serialize,
 {
-    fn from(event: Event<T>) -> Self {
-        Self {
+    type Error = serde_json::Error;
+
+    fn try_from(event: Event<T>) -> Result<Self, Self::Error> {
+        Ok(Self {
            name: event.name,
-            data: Box::new(event.data),
+            data: serde_json::to_value(event.data)?,
            ts: event.ts,
-        }
+        })
    }
 }

-impl<T> From<&Event<T>> for GenericEvent
+impl<T> TryFrom<&Event<T>> for GenericEvent
 where
-    T: Serialize + Clone + Send + Sync + 'static,
+    T: Serialize,
 {
-    fn from(event: &Event<T>) -> Self {
-        Self {
+    type Error = serde_json::Error;
+
+    fn try_from(event: &Event<T>) -> Result<Self, Self::Error> {
+        Ok(Self {
            name: event.name.clone(),
-            data: Box::new(event.data.clone()),
+            data: serde_json::to_value(&event.data)?,
            ts: event.ts,
-        }
+        })
    }
 }

 impl<T> Event<T>
 where
-    T: Serialize + Clone + Send + Sync + 'static,
+    T: Serialize + Clone,
 {
    pub fn new(event: &str, data: T) -> Self {
        Self {
@@ -1,2 +1,3 @@
 pub mod event;
 pub mod namespace;
+pub mod namespace_id;
@@ -1,64 +1,25 @@
 use crate::socketio::event::GenericEvent;
-use smol::channel::Sender;
 use socketioxide::extract::SocketRef;
-use std::{collections::HashMap, sync::Arc, time::Duration};
-use tracing::instrument;
+use std::{
+    alloc::System,
+    collections::HashMap,
+    time::{Duration, Instant, SystemTime, UNIX_EPOCH},
+};

-#[derive(Debug, Clone)]
-pub struct Namespace {
-    pub sockets: Vec<SocketRef>,
-    pub events: HashMap<String, Vec<Arc<GenericEvent>>>,
-    pub socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
-}
-
-impl Namespace {
-    pub fn new(socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>) -> Self {
-        Self {
-            sockets: vec![],
-            events: HashMap::new(),
-            socket_queue_tx,
-        }
-    }
-}
-
-impl Namespace {
+pub trait NamespaceInterface {
    /// Adds a socket to the namespace.
    ///
    /// # Arguments
    ///
    /// * `socket` - A reference to the socket to be added
-    #[instrument(skip_all)]
-    pub fn subscribe(&mut self, socket: SocketRef) {
-        // add the socket to the list
-        self.sockets.push(socket);
-    }
+    fn subscribe(&mut self, socket: SocketRef);

    /// Removes a socket from the namespace.
    ///
    /// # Arguments
    ///
    /// * `socket` - A reference to the socket to be removed
-    #[instrument(skip_all)]
-    pub fn unsubscribe(&mut self, socket: SocketRef) {
-        // remove the socket from the list
-        self.sockets.retain(|s| s.id != socket.id);
-    }
-
-    /// Disconnects all clients in the namespace.
-    ///
-    /// This will forcefully disconnect all sockets and clear the socket list.
-    #[instrument(skip_all)]
-    pub fn disconnect_all(&mut self) {
-        tracing::info!("Disconnecting {} sockets in namespace", self.sockets.len());
-
-        // Disconnect each socket
-        for socket in &self.sockets {
-            let _ = socket.clone().disconnect(); // Ignore errors if socket is already disconnected
-        }
-
-        // Clear the socket list
-        self.sockets.clear();
-    }
+    fn unsubscribe(&mut self, socket: SocketRef);

    /// Re-emits cached events to a specific socket.
    ///
@@ -68,23 +29,14 @@ impl Namespace {
    /// # Arguments
    ///
    /// * `socket` - A reference to the socket that will receive the cached events
-    #[instrument(skip_all)]
-    pub fn reemit(&mut self, socket: SocketRef) {
-        // Collect events grouped by name/kind with their counts for sorting
-        let mut event_groups: Vec<(&String, &Vec<Arc<GenericEvent>>)> =
-            self.events.iter().collect();
+    fn reemit(&mut self, socket: SocketRef);

-        // Sort by event count (ascending - lowest count first)
-        event_groups.sort_by(|a, b| a.1.len().cmp(&b.1.len()));
-
-        // Emit events in order of lowest count first
-        for (_event_name, events) in event_groups {
-            for event in events {
-                // Send to global queue instead of per-socket queue
-                self.send_to_queue(&socket, event, "reemit");
-            }
-        }
-    }
+    /// Emits an event to all sockets in the namespace.
+    ///
+    /// # Arguments
+    ///
+    /// * `event` - The event to be emitted
+    fn emit(&mut self, event: &GenericEvent);

    /// Caches an event with a specific key for later retrieval.
    ///
@@ -93,81 +45,97 @@ impl Namespace {
    /// * `cache_key` - A string key to identify the cache
    /// * `event` - The event to be cached
    /// * `buffer_fn` - A function that defines how the event should be added to the cache buffer
-    #[instrument(skip_all)]
    fn cache(
        &mut self,
-        event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
-    ) {
-        let cached_events_for_key = self.events.entry(event.name.clone()).or_default();
-        buffer_fn(cached_events_for_key, &event);
-    }
+        event: &GenericEvent,
+        buffer_fn: &Box<dyn Fn(&mut Vec<GenericEvent>, &GenericEvent) -> ()>,
+    );

    /// Emits an event to all sockets in the namespace and caches it.
    ///
+    /// This is a convenience method that combines the functionality of
+    /// [`Namespace::emit`] and [`Namespace::cache`].
    ///
    /// # Arguments
    ///
    /// * `event` - The event to be emitted and cached
+    /// * `cache_key` - A string key to identify the cache
    /// * `buffer_fn` - A function that defines how the event should be added to the cache buffer
-    #[instrument(skip_all)]
-    pub fn emit(
+    fn emit_cached(
        &mut self,
-        event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
-    ) {
-        // cache the event
-        self.cache(event.clone(), buffer_fn);
-        // emit the event - inlined from emit function
-        // Send to global queue for each socket in the namespace
-        for socket in self.sockets.clone() {
-            self.send_to_queue(&socket, &event, "emit");
-        }
-    }
+        event: &GenericEvent,
+        buffer_fn: &Box<dyn Fn(&mut Vec<GenericEvent>, &GenericEvent) -> ()>,
+    );
+}

-    /// Sends an event to the global queue for a specific socket.
-    ///
-    /// # Arguments
-    ///
-    /// * `socket` - The socket to send the event to
-    /// * `event` - The event to be sent
-    /// * `operation` - A description of the operation for logging purposes (e.g., "reemit", "emit")
-    #[instrument(skip_all)]
-    fn send_to_queue(&self, socket: &SocketRef, event: &Arc<GenericEvent>, operation: &str) {
-        tracing::trace!(
-            socket_id = ?socket.id,
-            event = %event.name,
-            operation = %operation,
-            "Sending event to global queue"
-        );
-        match self
-            .socket_queue_tx
-            .try_send((socket.clone(), event.clone()))
-        {
-            Ok(_) => {
-                tracing::trace!(
-                    socket_id = ?socket.id,
-                    event = %event.name,
-                    operation = %operation,
-                    "Successfully sent event to global queue"
-                );
-            }
-            Err(e) => {
-                tracing::error!(
-                    socket_id = ?socket.id,
-                    event = %event.name,
-                    operation = %operation,
-                    error = %e,
-                    "Failed to send event to global queue"
-                );
-            }
+#[derive(Debug)]
+pub struct Namespace {
+    sockets: Vec<SocketRef>,
+    events: HashMap<String, Vec<GenericEvent>>,
+}
+
+impl Namespace {
+    pub fn new() -> Self {
+        Self {
+            sockets: vec![],
+            events: HashMap::new(),
        }
    }
 }

-impl Drop for Namespace {
-    fn drop(&mut self) {
-        //self.disconnect_all();
+impl NamespaceInterface for Namespace {
+    fn subscribe(&mut self, socket: SocketRef) {
+        // add the socket to the list
+        self.sockets.push(socket.clone());
+    }
+
+    fn unsubscribe(&mut self, socket: SocketRef) {
+        // remove the socket from the list
+        self.sockets.retain(|s| s.id != socket.id);
+    }
+
+    fn reemit(&mut self, socket: SocketRef) {
+        for (_, events) in self.events.iter() {
+            log::debug!(
+                "Re-emitting {} {} events to socket {}",
+                events.len(),
+                events[0].name,
+                socket.id
+            );
+            for event in events.iter() {
+                let _ = socket.emit("event", &event);
+            }
+        }
+    }
+
+    fn emit(&mut self, event: &GenericEvent) {
+        for socket in self.sockets.iter() {
+            let _ = socket.emit("event", &event);
+        }
+    }
+
+    fn cache(
+        &mut self,
+        event: &GenericEvent,
+        buffer_fn: &Box<dyn Fn(&mut Vec<GenericEvent>, &GenericEvent) -> ()>,
+    ) {
+        let mut cached_events_for_key = self
+            .events
+            .entry(event.name.clone())
+            .or_insert_with(Vec::new);
+        buffer_fn(&mut cached_events_for_key, event);
+    }
+
+    fn emit_cached(
+        &mut self,
+        event: &GenericEvent,
+        buffer_fn: &Box<dyn Fn(&mut Vec<GenericEvent>, &GenericEvent) -> ()>,
+    ) {
+        // cache the event
+        self.cache(event, buffer_fn);
+
+        // emit the event
+        self.emit(event);
    }
 }

@@ -179,17 +147,17 @@ pub trait NamespaceCacheingLogic<V>
 where
    V: CacheableEvents<V>,
 {
-    fn emit(&mut self, event: V);
+    fn emit_cached(&mut self, event: V);
 }

 pub trait CacheableEvents<Events> {
-    fn event_value(&self) -> GenericEvent;
+    fn event_value(&self) -> Result<GenericEvent, serde_json::Error>;
    fn event_cache_fn(&self) -> CacheFn;
 }

-pub type CacheFn = Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>;
+pub type CacheFn = Box<dyn Fn(&mut Vec<GenericEvent>, &GenericEvent) -> ()>;

-/// [`BufferFn`] that stores the last n events
+/// [BufferFn] that stores the last n events
 pub fn cache_n_events(n: usize) -> CacheFn {
    Box::new(move |events, event| {
        if events.len() >= n {
@@ -199,41 +167,21 @@ pub fn cache_n_events(n: usize) -> CacheFn {
    })
 }

-/// [`BufferFn`] that stores only one event
+/// [BufferFn] that stores only one event
 pub fn cache_one_event() -> CacheFn {
    cache_n_events(1)
 }

-/// [`BufferFn`] that stores first and last event
-///
-/// The primary use case of this function is to cache both the default state of a machine, which should be emitted first,
-/// and the last event, which is the most recent state of the machine.
-pub fn cache_first_and_last_event() -> CacheFn {
-    Box::new(move |events, event| {
-        // if the events length 0 or 1, we just push the event
-        if events.is_empty() || events.len() == 1 {
-            events.push(event.clone());
-            return;
-        }
-        // if the event length is 2 we remove the last event and append a new one
-        if events.len() == 2 {
-            events.remove(1);
-            events.push(event.clone());
-        }
-    })
-}
-
-/// [`BufferFn`] that stores events for a certain duration
+/// [BufferFn] that stores events for a certain duration
 pub fn cache_duration(duration: Duration, bucket_size: Duration) -> CacheFn {
    Box::new(move |events, event| {
        // Use event.ts instead of system time
        let current_time = event.ts as u128;

        // calculate current bucket & last bucket
-        let bucket_size_ms = bucket_size.as_millis().max(1);
-        let bucket = current_time / bucket_size_ms; // Avoid division by zero
+        let bucket = current_time / bucket_size.as_millis();
        let last_bucket = match events.last() {
-            Some(last_event) => last_event.ts as u128 / bucket_size_ms,
+            Some(last_event) => last_event.ts as u128 / bucket_size.as_millis(),
            None => 0,
        };

@@ -263,32 +211,24 @@ pub fn cache_duration(duration: Duration, bucket_size: Duration) -> CacheFn {
 mod tests {
    use std::cmp::min;

-    use serde::Serialize;
-
    use super::*;

-    #[derive(Debug, Clone, Serialize)]
-    struct TestEventData {
-        value: usize,
-    }
-
    #[test]
    fn test_cache_n_events() {
        // Create a cache function that stores the last 2 events
        let cache_fn = cache_n_events(2);

-        // Create namespace with dummy queue_tx
-        let (queue_tx, _queue_rx) = smol::channel::unbounded();
-        let mut namespace = Namespace::new(queue_tx);
+        // Create namespace
+        let mut namespace = Namespace::new();
        assert!(namespace.events.is_empty());

        // Add event
-        let event1 = Arc::new(GenericEvent {
+        let event1 = GenericEvent {
            name: "test_event".to_string(),
-            data: Box::new(TestEventData { value: 1 }),
+            data: serde_json::json!({"value": 1}),
            ts: 0,
-        });
-        namespace.cache(event1, &cache_fn);
+        };
+        namespace.cache(&event1, &cache_fn);

        // Check that we have one event name in the map
        assert_eq!(namespace.events.len(), 1);
@@ -297,12 +237,12 @@ mod tests {
        assert_eq!(namespace.events.get("test_event").unwrap()[0].ts, 0);

        // Add another event
-        let event2 = Arc::new(GenericEvent {
+        let event2 = GenericEvent {
            name: "test_event".to_string(),
-            data: Box::new(TestEventData { value: 2 }),
+            data: serde_json::json!({"value": 2}),
            ts: 1,
-        });
-        namespace.cache(event2, &cache_fn);
+        };
+        namespace.cache(&event2, &cache_fn);

        // Still one event name
        assert_eq!(namespace.events.len(), 1);
@@ -312,12 +252,12 @@ mod tests {
        assert_eq!(namespace.events.get("test_event").unwrap()[1].ts, 1);

        // Add a third event, which should remove the first one
-        let event3 = Arc::new(GenericEvent {
+        let event3 = GenericEvent {
            name: "test_event".to_string(),
-            data: Box::new(TestEventData { value: 3 }),
+            data: serde_json::json!({"value": 3}),
            ts: 2,
-        });
-        namespace.cache(event3, &cache_fn);
+        };
+        namespace.cache(&event3, &cache_fn);

        // Still one event name
        assert_eq!(namespace.events.len(), 1);
@@ -336,20 +276,19 @@ mod tests {
        let duration = Duration::new(10, 0);
        let bucket_size = Duration::new(1, 0);
        let cache_fn = cache_duration(duration, bucket_size);
-        let (queue_tx, _queue_rx) = smol::channel::unbounded();

        // Create namespace
-        let mut namespace = Namespace::new(queue_tx);
+        let mut namespace = Namespace::new();
        assert!(namespace.events.is_empty());

        // Add events every 100ms for 20 seconds
        for i in 0..200 {
-            let event = Arc::new(GenericEvent {
+            let event = GenericEvent {
                name: "test_event".to_string(),
-                data: Box::new(TestEventData { value: i }),
+                data: serde_json::json!({"value": i}),
                ts: (i * 100) as u64,
-            });
-            namespace.cache(event, &cache_fn);
+            };
+            namespace.cache(&event, &cache_fn);

            let should_have_events = min(i / 10, 11);
            assert_eq!(
@@ -3,7 +3,7 @@ use serde::{Deserialize, Deserializer, Serialize, Serializer};
 use std::fmt;
 use std::str::FromStr;

-use machines::machine_identification::{MachineIdentification, MachineIdentificationUnique};
+use crate::machines::identification::{MachineIdentification, MachineIdentificationUnique};

 #[derive(Debug, PartialEq, Eq, Hash, Clone)]
 pub enum NamespaceId {
@@ -17,8 +17,8 @@ impl Serialize for NamespaceId {
        S: Serializer,
    {
        match self {
-            Self::Main => serializer.serialize_str("/main"),
-            Self::Machine(id) => {
+            NamespaceId::Main => serializer.serialize_str("/main"),
+            NamespaceId::Machine(id) => {
                let path = format!(
                    "/machine/{}/{}/{}",
                    id.machine_identification.vendor, id.machine_identification.machine, id.serial
@@ -36,7 +36,7 @@ impl<'de> Deserialize<'de> for NamespaceId {
    {
        struct NamespaceIdVisitor;

-        impl Visitor<'_> for NamespaceIdVisitor {
+        impl<'de> Visitor<'de> for NamespaceIdVisitor {
            type Value = NamespaceId;

            fn expecting(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
@@ -85,7 +85,7 @@ impl FromStr for NamespaceId {

    fn from_str(s: &str) -> Result<Self, Self::Err> {
        if s == "/main" {
-            return Ok(Self::Main);
+            return Ok(NamespaceId::Main);
        }

        if let Some(machine_path) = s.strip_prefix("/machine/") {
@@ -101,7 +101,7 @@ impl FromStr for NamespaceId {
                    .parse::<u16>()
                    .map_err(|_| "Invalid serial id".to_string())?;

-                return Ok(Self::Machine(MachineIdentificationUnique {
+                return Ok(NamespaceId::Machine(MachineIdentificationUnique {
                    machine_identification: MachineIdentification { vendor, machine },
                    serial,
                }));
@@ -116,8 +116,8 @@ impl FromStr for NamespaceId {
 impl fmt::Display for NamespaceId {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
-            Self::Main => write!(f, "/main"),
-            Self::Machine(id) => {
+            NamespaceId::Main => write!(f, "/main"),
+            NamespaceId::Machine(id) => {
                write!(
                    f,
                    "/machine/{}/{}/{}",
@@ -1,27 +0,0 @@
-use crate::transmission::Transmission;
-
-#[derive(Debug, Clone)]
-pub struct FixedTransmission {
-    ratio: f64,
-}
-
-impl Transmission for FixedTransmission {
-    fn get_ratio(&self) -> f64 {
-        self.ratio
-    }
-}
-
-impl FixedTransmission {
-    /// Creates a new FixedTransmission with the specified ratio.
-    ///
-    /// # Arguments
-    ///
-    /// * `ratio` - The transmission ratio (output over input).
-    ///
-    /// # Returns
-    ///
-    /// A new instance of FixedTransmission.
-    pub const fn new(ratio: f64) -> Self {
-        Self { ratio }
-    }
-}
@@ -1,95 +0,0 @@
-use units::{
-    angle::radian,
-    angular_velocity::radian_per_second,
-    f64::{Angle, AngularVelocity, Length, Velocity},
-    length::meter,
-    velocity::meter_per_second,
-};
-
-pub mod fixed;
-
-/// A trait representing a mechanical transmission system that converts input to output
-/// with a specific gear ratio.
-///
-/// This trait provides methods for working with transmission ratios and converting
-/// between input and output values based on the transmission's gear ratio.
-pub trait Transmission {
-    /// Returns the transmission ratio of this transmission system.
-    ///
-    /// The ratio represents the relationship between input and output speeds/torques.
-    /// A ratio greater than 1.0 indicates speed reduction (torque multiplication),
-    /// while a ratio less than 1.0 indicates speed increase (torque reduction).
-    ///
-    /// # Returns
-    ///
-    /// The transmission ratio as a floating-point number.
-    fn get_ratio(&self) -> f64;
-
-    /// Converts an input value to the corresponding output value using the transmission ratio.
-    ///
-    /// This method multiplies the input by the transmission ratio to calculate the output.
-    /// Typically used for converting input speed to output speed in a transmission system.
-    ///
-    /// # Arguments
-    ///
-    /// * `input` - The input value to be converted
-    ///
-    /// # Returns
-    ///
-    /// The output value after applying the transmission ratio.
-    fn calculate_output(&self, input: f64) -> f64 {
-        input * self.get_ratio()
-    }
-
-    /// Converts an output value to the corresponding input value using the transmission ratio.
-    ///
-    /// This method divides the output by the transmission ratio to calculate the required input.
-    /// Typically used for determining what input is needed to achieve a desired output.
-    ///
-    /// # Arguments
-    ///
-    /// * `output` - The output value to be converted back to input
-    ///
-    /// # Returns
-    ///
-    /// The input value required to produce the given output.
-    fn calculate_input(&self, output: f64) -> f64 {
-        output / self.get_ratio()
-    }
-
-    fn calculate_angular_output(&self, input: Angle) -> Angle {
-        Angle::new::<radian>(self.calculate_output(input.get::<radian>()))
-    }
-
-    fn calculate_angular_input(&self, output: Angle) -> Angle {
-        Angle::new::<radian>(self.calculate_input(output.get::<radian>()))
-    }
-
-    fn calculate_angular_velocity_output(&self, input: AngularVelocity) -> AngularVelocity {
-        AngularVelocity::new::<radian_per_second>(
-            self.calculate_output(input.get::<radian_per_second>()),
-        )
-    }
-
-    fn calculate_angular_velocity_input(&self, output: AngularVelocity) -> AngularVelocity {
-        AngularVelocity::new::<radian_per_second>(
-            self.calculate_input(output.get::<radian_per_second>()),
-        )
-    }
-
-    fn calculate_linear_output(&self, input: Length) -> Length {
-        Length::new::<meter>(self.calculate_output(input.get::<meter>()))
-    }
-
-    fn calculate_linear_input(&self, output: Length) -> Length {
-        Length::new::<meter>(self.calculate_input(output.get::<meter>()))
-    }
-
-    fn calculate_linear_velocity_output(&self, input: Velocity) -> Velocity {
-        Velocity::new::<meter_per_second>(self.calculate_output(input.get::<meter_per_second>()))
-    }
-
-    fn calculate_linear_velocity_input(&self, output: Velocity) -> Velocity {
-        Velocity::new::<meter_per_second>(self.calculate_input(output.get::<meter_per_second>()))
-    }
-}
@@ -1,208 +0,0 @@
-use anyhow::Error;
-use std::collections::HashMap;
-use tokio::sync::broadcast;
-
-/// Video stream manager that handles multiple video streams per machine with true broadcasting
-/// Uses tokio broadcast channels to ensure all subscribers receive all messages without stealing
-#[derive(Debug)]
-pub struct VideoStreamManager {
-    /// Each stream has its own broadcast transmitter and template receiver
-    streams: HashMap<String, (broadcast::Sender<Vec<u8>>, broadcast::Receiver<Vec<u8>>)>,
-}
-
-impl VideoStreamManager {
-    pub fn new() -> Self {
-        Self {
-            streams: HashMap::new(),
-        }
-    }
-
-    /// Send a frame to all subscribers of a stream
-    /// Returns Ok if the frame was sent, Err if the stream doesn't exist
-    pub fn send_frame(&self, stream_id: &str, frame: Vec<u8>) -> Result<(), Error> {
-        if let Some((tx, _rx)) = self.streams.get(stream_id) {
-            match tx.send(frame) {
-                Ok(_) => Ok(()),
-                Err(_) => Ok(()), // No receivers, but that's not an error
-            }
-        } else {
-            Err(anyhow::anyhow!("Stream '{}' not found", stream_id))
-        }
-    }
-
-    /// Register a new video stream with the given ID
-    pub fn add_stream(&mut self, stream_id: String) {
-        let (tx, rx) = broadcast::channel::<Vec<u8>>(256); // 256 frame buffer capacity
-        self.streams.insert(stream_id, (tx, rx));
-    }
-
-    /// Get list of available stream IDs
-    pub fn get_streams(&self) -> Vec<String> {
-        self.streams.keys().cloned().collect()
-    }
-
-    /// Check if a stream exists
-    pub fn has_stream(&self, stream_id: &str) -> bool {
-        self.streams.contains_key(stream_id)
-    }
-
-    /// Remove a stream and all its subscribers
-    pub fn remove_stream(&mut self, stream_id: &str) -> bool {
-        self.streams.remove(stream_id).is_some()
-    }
-
-    /// Subscribe to a video stream and get a receiver
-    /// Returns the receiver for the new subscription
-    pub fn subscribe_to_stream(&self, stream_id: &str) -> Option<broadcast::Receiver<Vec<u8>>> {
-        self.streams
-            .get(stream_id)
-            .map(|(_tx, rx)| rx.resubscribe()) // Resubscribe to create a new independent receiver
-    }
-
-    /// Get subscriber count for a stream
-    pub fn get_subscriber_count(&self, stream_id: &str) -> usize {
-        self.streams
-            .get(stream_id)
-            .map_or(0, |(tx, _rx)| tx.receiver_count())
-    }
-
-    /// Get a stream transmitter for sending frames (used by machines to send video)
-    /// Returns None if the stream doesn't exist
-    pub fn get_sender(&self, stream_id: &str) -> Option<broadcast::Sender<Vec<u8>>> {
-        self.streams.get(stream_id).map(|(tx, _rx)| tx.clone())
-    }
-}
-
-impl Default for VideoStreamManager {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[tokio::test]
-    async fn test_video_stream_manager() {
-        let mut manager = VideoStreamManager::new();
-
-        // Register streams
-        manager.register_stream("camera1".to_string());
-        manager.register_stream("camera2".to_string());
-
-        assert_eq!(manager.get_stream_ids().len(), 2);
-        assert!(manager.has_stream("camera1"));
-        assert!(manager.has_stream("camera2"));
-        assert!(!manager.has_stream("camera3"));
-
-        // Subscribe to streams
-        let mut rx1 = manager.subscribe_to_stream("camera1").unwrap();
-        let mut rx2 = manager.subscribe_to_stream("camera1").unwrap();
-        let mut rx3 = manager.subscribe_to_stream("camera2").unwrap();
-
-        assert_eq!(manager.get_subscriber_count("camera1"), 3); // Original + 2 clones
-        assert_eq!(manager.get_subscriber_count("camera2"), 2); // Original + 1 clone
-        assert_eq!(manager.get_subscriber_count("nonexistent"), 0);
-
-        // Send frames
-        let frame1 = vec![1, 2, 3, 4];
-        let frame2 = vec![5, 6, 7, 8];
-
-        assert!(manager.send_single_frame("camera1", frame1.clone()));
-        assert!(manager.send_single_frame("camera2", frame2.clone()));
-        assert!(!manager.send_single_frame("nonexistent", vec![]));
-
-        // Both camera1 subscribers should receive the frame
-        assert_eq!(rx1.recv().await.unwrap(), frame1);
-        assert_eq!(rx2.recv().await.unwrap(), frame1);
-
-        // Camera2 subscriber should receive its frame
-        assert_eq!(rx3.recv().await.unwrap(), frame2);
-    }
-
-    #[tokio::test]
-    async fn test_video_frame_broadcasting() {
-        let mut manager = VideoStreamManager::new();
-        manager.register_stream("main_camera".to_string());
-
-        // Multiple clients subscribe to the same camera
-        let mut rx1 = manager.subscribe_to_stream("main_camera").unwrap();
-        let mut rx2 = manager.subscribe_to_stream("main_camera").unwrap();
-        let mut rx3 = manager.subscribe_to_stream("main_camera").unwrap();
-
-        // Simulate video frames
-        let frames = vec![
-            vec![0xFF, 0xD8, 0xFF, 0xE0], // JPEG header
-            vec![0x00, 0x01, 0x02, 0x03], // Frame 1
-            vec![0x04, 0x05, 0x06, 0x07], // Frame 2
-        ];
-
-        for frame in &frames {
-            assert!(manager.send_single_frame("main_camera", frame.clone()));
-        }
-
-        // All clients should receive all frames in order
-        for frame in &frames {
-            assert_eq!(rx1.recv().await.unwrap(), *frame);
-            assert_eq!(rx2.recv().await.unwrap(), *frame);
-            assert_eq!(rx3.recv().await.unwrap(), *frame);
-        }
-    }
-
-    #[test]
-    fn test_stream_management() {
-        let mut manager = VideoStreamManager::new();
-
-        // Initially no streams
-        assert_eq!(manager.get_stream_ids().len(), 0);
-
-        // Add streams
-        manager.register_stream("front_camera".to_string());
-        manager.register_stream("rear_camera".to_string());
-        manager.register_stream("side_camera".to_string());
-
-        let mut stream_ids = manager.get_stream_ids();
-        stream_ids.sort(); // Sort for consistent testing
-        assert_eq!(
-            stream_ids,
-            vec!["front_camera", "rear_camera", "side_camera"]
-        );
-
-        // Remove a stream
-        assert!(manager.remove_stream("rear_camera"));
-        assert!(!manager.remove_stream("rear_camera")); // Already removed
-        assert!(!manager.has_stream("rear_camera"));
-
-        assert_eq!(manager.get_stream_ids().len(), 2);
-    }
-
-    #[tokio::test]
-    async fn test_send_frame_results() {
-        let mut manager = VideoStreamManager::new();
-        manager.register_stream("test_camera".to_string());
-
-        // One initial receiver (the original one created in register_stream)
-        let result = manager.send_frame("test_camera", vec![1, 2, 3]).unwrap();
-        assert_eq!(result, 1); // Number of subscribers
-
-        // Add subscribers by cloning the receiver
-        let _rx1 = manager.subscribe_to_stream("test_camera").unwrap();
-        let _rx2 = manager.subscribe_to_stream("test_camera").unwrap();
-
-        // Send frame to multiple subscribers (original + 2 clones = 3 total)
-        let result = manager.send_frame("test_camera", vec![4, 5, 6]).unwrap();
-        assert_eq!(result, 3); // Number of subscribers
-
-        // Try sending to non-existent stream
-        let result = manager.send_frame("nonexistent", vec![7, 8, 9]);
-        assert!(result.is_err());
-        assert_eq!(result.unwrap_err(), "Stream 'nonexistent' not found");
-    }
-
-    #[test]
-    fn test_default_video_stream_manager() {
-        let manager = VideoStreamManager::default();
-        assert_eq!(manager.get_stream_ids().len(), 0);
-    }
-}
				`@@ -0,0 +1 @@`
				`// In this file create all Requests that are needed to int the inverter`