finally killed borrow_checker issues in setup.rs

2025-08-25 12:28:54 +02:00
266 changed files with 2555 additions and 70462 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
@@ -1,49 +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,
 }
@@ -1,97 +1,36 @@
-# `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/V2
-
- [#731](https://github.com/qitechgmbh/control/pull/731) Added LaserV2 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
-
+## 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) switched to a Realtime Linuxkernel on nixos
+- [#574](https://github.com/qitechgmbh/control/pull/587) isolated cores 2 and 3 on nixos to guarentee strict timings for ethercat
+- [#588](https://github.com/qitechgmbh/control/pull/589) limited frontend to 30 fps to reduce cpu usage
+- [#572](https://github.com/qitechgmbh/control/pull/572) switched to io_uring to reduce latency
+

- [#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
-
+## 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_
@@ -104,7 +43,6 @@ _15.07.2025_
 - [#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
@@ -99,9 +99,9 @@ dependencies = [

 [[package]]
 name = "anyhow"
-version = "1.0.99"
+version = "1.0.98"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0674a1ddeecb70197781e945de4b3b8ffb61fa939a5597bcf48503737663100"
+checksum = "e16d2d3311acee920a9eb8d33b8cbc1787ce4a264e85f964c2404b969bdcd487"

 [[package]]
 name = "approx"
@@ -581,7 +581,6 @@ dependencies = [
 "approx",
 "axum",
 "bitvec",
- "control_core_derive",
 "core_affinity",
 "crc",
 "erased-serde",
@@ -596,20 +595,10 @@ dependencies = [
 "smol",
 "socketioxide",
 "textplots",
- "tokio",
 "tracing",
 "uom",
 ]

-[[package]]
-name = "control_core_derive"
-version = "0.1.0"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.105",
-]
-
 [[package]]
 name = "core-foundation"
 version = "0.10.0"
@@ -1826,11 +1815,11 @@ dependencies = [

 [[package]]
 name = "matchers"
-version = "0.2.0"
+version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d1525a2a28c7f4fa0fc98bb91ae755d1e2d1505079e05539e35bc876b5d65ae9"
+checksum = "8263075bb86c5a1b1427b5ae862e8889656f126e9f77c484496e8b47cf5c5558"
 dependencies = [
- "regex-automata",
+ "regex-automata 0.1.10",
 ]

 [[package]]
@@ -1954,11 +1943,12 @@ checksum = "43794a0ace135be66a25d3ae77d41b91615fb68ae937f904090203e81f755b65"

 [[package]]
 name = "nu-ansi-term"
-version = "0.50.1"
+version = "0.46.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d4a28e057d01f97e61255210fcff094d74ed0466038633e95017f5beb68e4399"
+checksum = "77a8165726e8236064dbb45459242600304b42a5ea24ee2948e18e023bf7ba84"
 dependencies = [
- "windows-sys 0.52.0",
+ "overload",
+ "winapi",
 ]

 [[package]]
@@ -2086,6 +2076,12 @@ dependencies = [
 "thiserror",
 ]

+[[package]]
+name = "overload"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
+
 [[package]]
 name = "parking"
 version = "2.2.1"
@@ -2416,14 +2412,23 @@ dependencies = [

 [[package]]
 name = "regex"
-version = "1.11.2"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23d7fd106d8c02486a8d64e778353d1cffe08ce79ac2e82f540c86d0facf6912"
+checksum = "b544ef1b4eac5dc2db33ea63606ae9ffcfac26c1416a2806ae0bf5f56b201191"
 dependencies = [
 "aho-corasick",
 "memchr",
- "regex-automata",
- "regex-syntax",
+ "regex-automata 0.4.9",
+ "regex-syntax 0.8.5",
+]
+
+[[package]]
+name = "regex-automata"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c230d73fb8d8c1b9c0b3135c5142a8acee3a0558fb8db5cf1cb65f8d7862132"
+dependencies = [
+ "regex-syntax 0.6.29",
 ]

 [[package]]
@@ -2434,9 +2439,15 @@ checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
 dependencies = [
 "aho-corasick",
 "memchr",
- "regex-syntax",
+ "regex-syntax 0.8.5",
 ]

+[[package]]
+name = "regex-syntax"
+version = "0.6.29"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
+
 [[package]]
 name = "regex-syntax"
 version = "0.8.5"
@@ -2596,9 +2607,9 @@ dependencies = [

 [[package]]
 name = "serde_json"
-version = "1.0.143"
+version = "1.0.140"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d401abef1d108fbd9cbaebc3e46611f4b1021f714a0597a71f41ee463f5f4a5a"
+checksum = "20068b6e96dc6c9bd23e01df8827e6c7e1f2fddd43c21810382803c136b99373"
 dependencies = [
 "itoa",
 "memchr",
@@ -2672,9 +2683,9 @@ dependencies = [

 [[package]]
 name = "serialport"
-version = "4.7.3"
+version = "4.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2acaf3f973e8616d7ceac415f53fc60e190b2a686fbcf8d27d0256c741c5007b"
+checksum = "cdb0bc984f6af6ef8bab54e6cf2071579ee75b9286aa9f2319a0d220c28b0a2b"
 dependencies = [
 "bitflags 2.9.0",
 "cfg-if",
@@ -2698,7 +2709,6 @@ dependencies = [
 "axum",
 "bitvec",
 "control_core",
- "control_core_derive",
 "crc",
 "dhat",
 "ethercat_hal",
@@ -2713,6 +2723,7 @@ dependencies = [
 "regex",
 "serde",
 "serde_json",
+ "serial",
 "serialport",
 "smol",
 "socketioxide",
@@ -3367,15 +3378,15 @@ dependencies = [

 [[package]]
 name = "tracing-subscriber"
-version = "0.3.20"
+version = "0.3.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2054a14f5307d601f88daf0553e1cbf472acc4f2c51afab632431cdcd72124d5"
+checksum = "e8189decb5ac0fa7bc8b96b7cb9b2701d60d48805aca84a238004d665fcc4008"
 dependencies = [
 "chrono",
 "matchers",
 "nu-ansi-term",
 "once_cell",
- "regex-automata",
+ "regex",
 "sharded-slab",
 "smallvec",
 "thread_local",
@@ -5,23 +5,6 @@ members = [
    "ethercat-hal-derive",
    "control-core",
    "ethercat-eeprom-dump",
-    "control-core-derive",
 ]
 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 }
@@ -1,7 +1,5 @@
 #!/bin/bash

-set -e
-
 FEATURE=""

 # Check if "mock-machine" was passed as an argument
@@ -9,7 +7,6 @@ if [[ "$1" == "mock-machine" ]]; then
    echo "Building Debug Code with mock-machine feature"
    FEATURE="--features mock-machine"
 fi
-
 if [[ "$1" == "release" ]]; then
    echo "building Release Code"
    cargo build --release
@@ -22,10 +19,7 @@ fi
 if [ "$1" != "mock-machine" ]; then
    echo "Setting capabilities for server executable"
    sudo setcap 'cap_net_raw,cap_sys_nice=eip' ./target/debug/server
-
-    echo "Setting permissions for serial ports"
-#    sudo chown "root:$(groups | cut -f1 -d' ')" /dev/ttyUSB*
 fi
-
 # run
 ./target/debug/server
+
@@ -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"] }
@@ -1,60 +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 {}
-
-        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)
-}
@@ -3,18 +3,15 @@ name = "control_core"
 version = "0.1.0"
 edition = "2024"

-[lints]
-workspace = true
-
 [dependencies]
-anyhow = "1.0.99"
+anyhow = "1.0.98"
 axum = "0.8.4"
 ethercat_hal = { path = "../ethercat-hal" }
 ethercrab = "0.6"
 interfaces = "0.0.9"
 serde = "1.0.219"
-serde_json = "1.0.143"
-serialport = "4.7.3"
+serde_json = "1.0.140"
+serialport = "4.7.2"
 smol = "2.0.2"
 socketioxide = "0.17.2"
 uom = "0.36.0"
@@ -24,9 +21,6 @@ serial = "0.4.0"
 tracing = "0.1.41"
 erased-serde = "0.4.6"
 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 = "0.2.175"
@@ -34,9 +28,3 @@ libc = "0.2.175"
 [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"]
@@ -33,7 +33,7 @@ pub struct ClampingTimeagnosticPidController {
 }

 impl ClampingTimeagnosticPidController {
-    pub const fn new(
+    pub fn new(
        kp: f64,
        ki: f64,
        kd: f64,
@@ -65,7 +65,7 @@ impl ClampingTimeagnosticPidController {
        }
    }

-    pub const fn simple_new(kp: f64, ki: f64, kd: f64) -> Self {
+    pub fn simple_new(kp: f64, ki: f64, kd: f64) -> Self {
        Self {
            kp,
            ki,
@@ -85,26 +85,26 @@ impl ClampingTimeagnosticPidController {
        }
    }

-    pub const fn get_kp(&self) -> f64 {
+    pub fn get_kp(&self) -> f64 {
        self.kp
    }

-    pub const fn get_ki(&self) -> f64 {
+    pub fn get_ki(&self) -> f64 {
        self.ki
    }

-    pub const fn get_kd(&self) -> f64 {
+    pub fn get_kd(&self) -> f64 {
        self.kd
    }

-    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
+    pub 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 {
+    pub 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),
@@ -114,7 +114,7 @@ impl ClampingTimeagnosticPidController {
    }

    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        match self.last {
+        let signal = match self.last {
            // First update
            None => {
                // Calculate error
@@ -122,10 +122,15 @@ impl ClampingTimeagnosticPidController {

                // Calculate signal
                let signal = self.kp * ep;
-                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);
+                let clamped_signal = ClampingTimeagnosticPidController::optional_clamp(
+                    signal,
+                    self.min_signal,
+                    self.max_signal,
+                );

                // Set values
-                self.ep = Self::optional_clamp(ep, self.min_ep, self.max_ep);
+                self.ep =
+                    ClampingTimeagnosticPidController::optional_clamp(ep, self.min_ep, self.max_ep);
                self.ei = 0.0;
                self.ed = 0.0;
                self.last = Some(t);
@@ -138,11 +143,23 @@ impl ClampingTimeagnosticPidController {
                let dt = t.duration_since(last).as_secs_f64();

                // Calculate errors
-                let ep = Self::optional_clamp(error, self.min_ep, self.max_ep);
+                let ep = ClampingTimeagnosticPidController::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 ei = ClampingTimeagnosticPidController::optional_clamp(
+                    self.ei + ep * dt,
+                    self.min_ei,
+                    self.max_ei,
+                );

-                let ed = Self::optional_clamp((ep - self.ep) / dt, self.min_ed, self.max_ed);
+                let ed = ClampingTimeagnosticPidController::optional_clamp(
+                    (ep - self.ep) / dt,
+                    self.min_ed,
+                    self.max_ed,
+                );

                // Make factors timeagnostic
                let kp = self.kp * dt;
@@ -150,8 +167,12 @@ impl ClampingTimeagnosticPidController {
                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);
+                let signal = kp * ep + ki * ei + kd * ed;
+                let clamped_signal = ClampingTimeagnosticPidController::optional_clamp(
+                    signal,
+                    self.min_signal,
+                    self.max_signal,
+                );

                // Set values
                self.ep = ep;
@@ -161,10 +182,12 @@ impl ClampingTimeagnosticPidController {

                clamped_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;
@@ -22,7 +22,7 @@ pub struct AccelerationSpeedController {
 }

 impl AccelerationSpeedController {
-    pub const fn new(
+    pub fn new(
        min_speed: Option<f64>,
        max_speed: Option<f64>,
        min_acceleration: f64,
@@ -98,16 +98,16 @@ impl AccelerationSpeedController {
        new_speed
    }

-    pub const fn reset(&mut self, initial_speed: f64) {
+    pub 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) {
+    pub fn set_max_acceleration(&mut self, acceleration: f64) {
        self.max_acceleration = acceleration;
    }

-    const fn apply_speed_limits(&self, speed: f64) -> f64 {
+    fn apply_speed_limits(&self, speed: f64) -> f64 {
        let mut limited_speed = speed;

        if let Some(min) = self.min_speed {
@@ -121,23 +121,23 @@ impl AccelerationSpeedController {
        limited_speed
    }

-    pub const fn get_min_speed(&self) -> Option<f64> {
+    pub fn get_min_speed(&self) -> Option<f64> {
        self.min_speed
    }

-    pub const fn get_max_speed(&self) -> Option<f64> {
+    pub fn get_max_speed(&self) -> Option<f64> {
        self.max_speed
    }

-    pub const fn set_min_speed(&mut self, min_speed: Option<f64>) {
+    pub 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>) {
+    pub 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) {
+    pub fn set_min_acceleration(&mut self, deceleration: f64) {
        self.min_acceleration = deceleration;
    }
 }
@@ -53,7 +53,7 @@ impl AngularAccelerationSpeedController {
    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)
+        return AngularVelocity::new::<radian_per_second>(new_speed);
    }

    pub fn reset(&mut self, initial_speed: AngularVelocity) {
@@ -73,13 +73,13 @@ impl AngularAccelerationSpeedController {
    pub fn get_min_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_min_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|s| AngularVelocity::new::<radian_per_second>(s))
    }

    pub fn get_max_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_max_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|s| AngularVelocity::new::<radian_per_second>(s))
    }

    pub fn set_min_speed(&mut self, min_speed: Option<AngularVelocity>) {
@@ -48,7 +48,7 @@ impl LinearAccelerationLimitingController {
    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)
+        return Velocity::new::<meter_per_second>(new_speed);
    }
    pub fn reset(&mut self, initial_speed: Velocity) {
        let initial_speed = initial_speed.get::<meter_per_second>();
@@ -65,12 +65,12 @@ impl LinearAccelerationLimitingController {
    pub fn get_min_speed(&self) -> Option<Velocity> {
        self.controller
            .get_min_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|s| Velocity::new::<meter_per_second>(s))
    }
    pub fn get_max_speed(&self) -> Option<Velocity> {
        self.controller
            .get_max_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|s| Velocity::new::<meter_per_second>(s))
    }
    pub fn set_min_speed(&mut self, min_speed: Option<Velocity>) {
        self.controller
@@ -21,7 +21,7 @@ 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 +33,27 @@ impl PidController {
        }
    }

-    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
+    pub 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 {
+    pub fn get_kp(&self) -> f64 {
        self.kp
    }

-    pub const fn get_ki(&self) -> f64 {
+    pub fn get_ki(&self) -> f64 {
        self.ki
    }

-    pub const fn get_kd(&self) -> f64 {
+    pub 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
@@ -78,11 +78,11 @@ 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 +92,12 @@ 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;
@@ -3,7 +3,7 @@ use std::fmt;
 // Remove the anyhow::Ok import as it conflicts with std::result::Ok

 /// Errors that can occur when creating or using the motion controller
-#[derive(Debug, Clone, PartialEq, Eq)]
+#[derive(Debug, Clone, PartialEq)]
 pub enum MotionControllerError {
    InvalidSpeedLimits,
    InvalidAccelerationLimits,
@@ -14,25 +14,25 @@ pub enum MotionControllerError {
 impl fmt::Display for MotionControllerError {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
-            Self::InvalidSpeedLimits => {
+            MotionControllerError::InvalidSpeedLimits => {
                write!(
                    f,
                    "Invalid speed limits: min_speed must be ≤ 0 and max_speed must be ≥ 0"
                )
            }
-            Self::InvalidAccelerationLimits => {
+            MotionControllerError::InvalidAccelerationLimits => {
                write!(
                    f,
                    "Invalid acceleration limits: min_acceleration must be < 0 and max_acceleration must be > 0"
                )
            }
-            Self::InvalidPositionLimits => {
+            MotionControllerError::InvalidPositionLimits => {
                write!(
                    f,
                    "Invalid position limits: min_position must be ≤ max_position"
                )
            }
-            Self::ZeroDeceleration => {
+            MotionControllerError::ZeroDeceleration => {
                write!(
                    f,
                    "Zero deceleration rate: cannot plan motion without deceleration capability"
@@ -148,7 +148,7 @@ struct MotionConstants {
 }

 /// Represents the current phase of motion
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+#[derive(Debug, Clone, Copy, PartialEq)]
 pub enum MotionPhase {
    Idle,
    IncreasingSpeed,
@@ -170,7 +170,7 @@ pub struct ControllerBuilder {

 impl ControllerBuilder {
    /// Create a new builder
-    pub const fn new() -> Self {
+    pub fn new() -> Self {
        Self {
            min_speed: None,
            max_speed: None,
@@ -184,36 +184,28 @@ impl ControllerBuilder {
    }

    /// Set speed limits (min_speed ≤ 0, max_speed ≥ 0)
-    pub const fn speed_limits(mut self, min_speed: f64, max_speed: f64) -> Self {
+    pub fn speed_limits(mut self, min_speed: f64, max_speed: f64) -> Self {
        self.min_speed = Some(min_speed);
        self.max_speed = Some(max_speed);
        self
    }

    /// Set acceleration limits (min_acceleration < 0, max_acceleration > 0)
-    pub const fn acceleration_limits(
-        mut self,
-        min_acceleration: f64,
-        max_acceleration: f64,
-    ) -> Self {
+    pub fn acceleration_limits(mut self, min_acceleration: f64, max_acceleration: f64) -> Self {
        self.min_acceleration = Some(min_acceleration);
        self.max_acceleration = Some(max_acceleration);
        self
    }

    /// Set position limits (optional)
-    pub const fn position_limits(
-        mut self,
-        min_position: Option<f64>,
-        max_position: Option<f64>,
-    ) -> Self {
+    pub fn position_limits(mut self, min_position: Option<f64>, max_position: Option<f64>) -> Self {
        self.min_position = min_position;
        self.max_position = max_position;
        self
    }

    /// Set tolerances for position and speed comparisons
-    pub const fn tolerances(mut self, position_tolerance: f64, speed_tolerance: f64) -> Self {
+    pub fn tolerances(mut self, position_tolerance: f64, speed_tolerance: f64) -> Self {
        self.position_tolerance = position_tolerance;
        self.speed_tolerance = speed_tolerance;
        self
@@ -330,7 +322,7 @@ impl AccelerationPositionController {

        let motion_constants = Self::calculate_motion_constants(&config);

-        Ok(Self {
+        Ok(AccelerationPositionController {
            config,
            current_position: 0.0,
            current_speed: 0.0,
@@ -374,19 +366,19 @@ impl AccelerationPositionController {
        }

        Self::new(
-            -speed,                     // min_speed
-            speed,                      // max_speed
-            -acceleration,              // min_acceleration
-            acceleration,               // max_acceleration
-            position.map(|p| -p.abs()), // min_position
-            position.map(|p| p.abs()),  // max_position
-            1e-6,                       // position_tolerance (default)
-            1e-6,                       // speed_tolerance (default)
+            -speed,               // min_speed
+            speed,                // max_speed
+            -acceleration,        // min_acceleration
+            acceleration,         // max_acceleration
+            position.map(|p| -p), // min_position
+            position.map(|p| p),  // max_position
+            1e-6,                 // position_tolerance (default)
+            1e-6,                 // speed_tolerance (default)
        )
    }

    /// Create a new builder for the controller
-    pub const fn builder() -> ControllerBuilder {
+    pub fn builder() -> ControllerBuilder {
        ControllerBuilder::new()
    }

@@ -572,10 +564,8 @@ impl AccelerationPositionController {

        // Calculate distance needed to reach cruise speed from current speed
        let speed_change_distance = if current_speed_in_direction < cruise_speed.abs() {
-            current_speed_in_direction.max(0.0).mul_add(
-                -current_speed_in_direction.max(0.0),
-                cruise_speed.abs().powi(2),
-            ) / (2.0 * acceleration_rate)
+            (cruise_speed.abs().powi(2) - current_speed_in_direction.max(0.0).powi(2))
+                / (2.0 * acceleration_rate)
        } else {
            0.0
        };
@@ -589,10 +579,8 @@ impl AccelerationPositionController {
            // Using corrected kinematic equation: v_peak² = v_current² + 2*a*d_total*a_accel*a_decel/(a_accel + a_decel)
            let accel_decel_factor =
                (acceleration_rate * deceleration_rate) / (acceleration_rate + deceleration_rate);
-            let discriminant = current_speed_in_direction.max(0.0).mul_add(
-                current_speed_in_direction.max(0.0),
-                2.0 * abs_position_change * accel_decel_factor,
-            );
+            let discriminant = current_speed_in_direction.max(0.0).powi(2)
+                + 2.0 * abs_position_change * accel_decel_factor;

            if discriminant >= 0.0 {
                self.peak_speed = discriminant.sqrt() * cruise_speed.signum();
@@ -646,7 +634,7 @@ impl AccelerationPositionController {
                self.current_acceleration = self.config.max_acceleration * self.direction as f64;

                // Update speed
-                let new_speed = self.current_acceleration.mul_add(dt, self.current_speed);
+                let new_speed = self.current_speed + self.current_acceleration * dt;

                // Check if we've reached peak speed
                if (self.direction > 0 && new_speed >= self.peak_speed)
@@ -677,7 +665,7 @@ impl AccelerationPositionController {
                self.current_acceleration = self.config.min_acceleration * self.direction as f64;

                // Update speed
-                let new_speed = self.current_acceleration.mul_add(dt, self.current_speed);
+                let new_speed = self.current_speed + self.current_acceleration * dt;

                // Check if we've reached zero speed or target
                if (self.current_speed > 0.0 && new_speed <= 0.0)
@@ -701,7 +689,7 @@ impl AccelerationPositionController {
        }

        // Update position based on current speed
-        let new_position = self.current_speed.mul_add(dt, self.current_position);
+        let new_position = self.current_position + self.current_speed * dt;

        // Check position limits and handle violations
        let mut position_limited = false;
@@ -754,7 +742,7 @@ impl AccelerationPositionController {
    ///
    /// Returns the current position of the controlled object.
    /// This value is updated with each call to `update()`.
-    pub const fn get_position(&self) -> f64 {
+    pub fn get_position(&self) -> f64 {
        self.current_position
    }

@@ -763,7 +751,7 @@ impl AccelerationPositionController {
    /// Returns the current speed (velocity) of the controlled object.
    /// Positive values indicate motion towards increasing position,
    /// negative values indicate motion towards decreasing position.
-    pub const fn get_speed(&self) -> f64 {
+    pub fn get_speed(&self) -> f64 {
        self.current_speed
    }

@@ -771,32 +759,32 @@ impl AccelerationPositionController {
    ///
    /// Returns the current acceleration of the controlled object.
    /// Positive values indicate increasing speed, negative values indicate decreasing speed.
-    pub const fn get_acceleration(&self) -> f64 {
+    pub fn get_acceleration(&self) -> f64 {
        self.current_acceleration
    }

    /// Get the target position
-    pub const fn get_target_position(&self) -> f64 {
+    pub fn get_target_position(&self) -> f64 {
        self.target_position
    }

    /// Get the current motion phase
-    pub const fn get_motion_phase(&self) -> MotionPhase {
+    pub fn get_motion_phase(&self) -> MotionPhase {
        self.motion_phase
    }

    /// Get the direction of motion
-    pub const fn get_direction(&self) -> i8 {
+    pub fn get_direction(&self) -> i8 {
        self.direction
    }

    /// Get the calculated peak speed for current motion
-    pub const fn get_peak_speed(&self) -> f64 {
+    pub fn get_peak_speed(&self) -> f64 {
        self.peak_speed
    }

    /// Get the position at which deceleration will begin
-    pub const fn get_deceleration_position(&self) -> f64 {
+    pub fn get_deceleration_position(&self) -> f64 {
        self.deceleration_position
    }

@@ -849,7 +837,7 @@ impl AccelerationPositionController {
    }

    /// Force the controller to stop at current position
-    pub const fn emergency_stop(&mut self) {
+    pub fn emergency_stop(&mut self) {
        self.target_position = self.current_position;
        self.current_speed = 0.0;
        self.current_acceleration = 0.0;
@@ -1018,32 +1006,32 @@ impl AccelerationPositionController {
    }

    /// Get the minimum speed limit
-    pub const fn get_min_speed(&self) -> f64 {
+    pub fn get_min_speed(&self) -> f64 {
        self.config.min_speed
    }

    /// Get the maximum speed limit
-    pub const fn get_max_speed(&self) -> f64 {
+    pub fn get_max_speed(&self) -> f64 {
        self.config.max_speed
    }

    /// Get the minimum acceleration limit
-    pub const fn get_min_acceleration(&self) -> f64 {
+    pub fn get_min_acceleration(&self) -> f64 {
        self.config.min_acceleration
    }

    /// Get the maximum acceleration limit
-    pub const fn get_max_acceleration(&self) -> f64 {
+    pub fn get_max_acceleration(&self) -> f64 {
        self.config.max_acceleration
    }

    /// Get the minimum position limit
-    pub const fn get_min_position(&self) -> Option<f64> {
+    pub fn get_min_position(&self) -> Option<f64> {
        self.config.min_position
    }

    /// Get the maximum position limit
-    pub const fn get_max_position(&self) -> Option<f64> {
+    pub fn get_max_position(&self) -> Option<f64> {
        self.config.max_position
    }

@@ -1080,17 +1068,17 @@ impl AccelerationPositionController {
    }

    /// Get the position tolerance
-    pub const fn get_position_tolerance(&self) -> f64 {
+    pub fn get_position_tolerance(&self) -> f64 {
        self.config.position_tolerance
    }

    /// Get the speed tolerance
-    pub const fn get_speed_tolerance(&self) -> f64 {
+    pub fn get_speed_tolerance(&self) -> f64 {
        self.config.speed_tolerance
    }

    /// Set tolerances for position and speed comparisons
-    pub const fn set_tolerances(&mut self, position_tolerance: f64, speed_tolerance: f64) {
+    pub fn set_tolerances(&mut self, position_tolerance: f64, speed_tolerance: f64) {
        self.config.position_tolerance = position_tolerance;
        self.config.speed_tolerance = speed_tolerance;
    }
@@ -102,12 +102,16 @@ impl AngularAccelerationPositionController {

    /// Get the minimum angle position limit
    pub fn get_min_position(&self) -> Option<Angle> {
-        self.controller.get_min_position().map(Angle::new::<radian>)
+        self.controller
+            .get_min_position()
+            .map(|angle| Angle::new::<radian>(angle))
    }

    /// Get the maximum angle position limit
    pub fn get_max_position(&self) -> Option<Angle> {
-        self.controller.get_max_position().map(Angle::new::<radian>)
+        self.controller
+            .get_max_position()
+            .map(|angle| Angle::new::<radian>(angle))
    }

    /// Set the minimum angle position limit
@@ -236,7 +236,7 @@ impl AngularJerkSpeedController {
    pub fn get_min_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_min_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|speed| AngularVelocity::new::<radian_per_second>(speed))
    }

    /// Get the maximum angular velocity limit
@@ -248,7 +248,7 @@ impl AngularJerkSpeedController {
    pub fn get_max_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_max_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|speed| AngularVelocity::new::<radian_per_second>(speed))
    }

    /// Set the minimum angular velocity limit
@@ -88,7 +88,7 @@ impl JerkSpeedController {
        )
        .expect("Failed to create AccelerationPositionController");

-        Self { base_controller }
+        JerkSpeedController { base_controller }
    }

    /// Create a new speed controller with simple symmetric limits
@@ -183,7 +183,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current speed as a floating-point value
-    pub const fn get_speed(&self) -> f64 {
+    pub fn get_speed(&self) -> f64 {
        self.base_controller.get_position()
    }

@@ -193,7 +193,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current acceleration as a floating-point value
-    pub const fn get_acceleration(&self) -> f64 {
+    pub fn get_acceleration(&self) -> f64 {
        self.base_controller.get_speed()
    }

@@ -203,7 +203,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current jerk as a floating-point value
-    pub const fn get_jerk(&self) -> f64 {
+    pub fn get_jerk(&self) -> f64 {
        self.base_controller.get_acceleration()
    }

@@ -213,7 +213,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Target speed as a floating-point value
-    pub const fn get_target_speed(&self) -> f64 {
+    pub fn get_target_speed(&self) -> f64 {
        self.base_controller.get_target_position()
    }

@@ -223,7 +223,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Minimum speed limit as an Option<f64>, None if no limit is set
-    pub const fn get_min_speed(&self) -> Option<f64> {
+    pub fn get_min_speed(&self) -> Option<f64> {
        self.base_controller.get_min_position()
    }

@@ -233,7 +233,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Maximum speed limit as an Option<f64>, None if no limit is set
-    pub const fn get_max_speed(&self) -> Option<f64> {
+    pub fn get_max_speed(&self) -> Option<f64> {
        self.base_controller.get_max_position()
    }

@@ -205,7 +205,9 @@ impl LinearAccelerationPositionController {
    /// # 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>)
+        self.controller
+            .get_min_position()
+            .map(|length| Length::new::<meter>(length))
    }

    /// Get the maximum position limit
@@ -215,7 +217,9 @@ impl LinearAccelerationPositionController {
    /// # 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>)
+        self.controller
+            .get_max_position()
+            .map(|length| Length::new::<meter>(length))
    }

    /// Set the minimum position limit
@@ -195,14 +195,14 @@ impl LinearJerkSpeedController {
    pub fn get_min_speed(&self) -> Option<Velocity> {
        self.controller
            .get_min_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|speed| Velocity::new::<meter_per_second>(speed))
    }

    /// Get the maximum velocity limit
    pub fn get_max_speed(&self) -> Option<Velocity> {
        self.controller
            .get_max_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|speed| Velocity::new::<meter_per_second>(speed))
    }

    /// Set the minimum velocity limit
@@ -1,6 +1,8 @@
+use std::f32::consts::PI;
+
 use uom::si::angle::radian;

-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+#[derive(Debug, Clone, Copy, PartialEq)]
 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)
@@ -9,7 +11,7 @@ pub struct AngleConverter {

 impl AngleConverter {
    /// Create a custom coordinate system
-    pub const fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
+    pub fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
        Self {
            flip_x,
            flip_y,
@@ -18,47 +20,47 @@ impl AngleConverter {
    }

    /// Standard mathematical coordinate system (CCW positive, 0° at positive X)
-    pub const fn mathematical() -> Self {
+    pub 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 {
+    pub fn screen() -> Self {
        Self::new(false, true, false)
    }

    /// System where 0° points up, clockwise positive
-    pub const fn y_up_cw() -> Self {
+    pub 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 {
+    pub fn y_down_ccw() -> Self {
        Self::new(false, true, true)
    }

    /// System where 0° points left, clockwise positive
-    pub const fn x_left_cw() -> Self {
+    pub 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 {
+    pub fn x_right_ccw() -> Self {
        Self::mathematical()
    }

    /// System where 0° points up, counter-clockwise positive
-    pub const fn y_up_ccw() -> Self {
+    pub fn y_up_ccw() -> Self {
        Self::new(false, false, false)
    }

    /// System where 0° points down, clockwise positive
-    pub const fn y_down_cw() -> Self {
+    pub 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 {
+    pub fn x_left_ccw() -> Self {
        Self::new(true, false, true)
    }

@@ -73,7 +75,7 @@ impl AngleConverter {
            (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
+            (true, true) => result = 180.0 + result,  // Both flips: 180° rotation
        }

        // Handle rotation direction
@@ -100,7 +102,7 @@ impl AngleConverter {
            (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
+            (true, true) => result = result - 180.0,  // Both flips: inverse 180° rotation
        }

        self.normalize_angle(result)
@@ -108,16 +110,16 @@ impl AngleConverter {

    /// Convert angle in radians from mathematical system to this system (f32)
    pub fn radians_encode(&self, math_angle_radians: f32) -> f32 {
-        let degrees = math_angle_radians.to_degrees();
+        let degrees = math_angle_radians * 180.0 / PI;
        let converted_degrees = self.degrees_encode(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * PI / 180.0
    }

    /// Convert angle in radians from this system to mathematical system (f32)
    pub fn radians_decode(&self, system_angle_radians: f32) -> f32 {
-        let degrees = system_angle_radians.to_degrees();
+        let degrees = system_angle_radians * 180.0 / PI;
        let converted_degrees = self.degrees_decode(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * PI / 180.0
    }

    /// Convert angle from mathematical system to this system (f64)
@@ -131,7 +133,7 @@ impl AngleConverter {
            (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
+            (true, true) => result = 180.0 + result,  // Both flips: 180° rotation
        }

        // Handle rotation direction
@@ -158,7 +160,7 @@ impl AngleConverter {
            (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
+            (true, true) => result = result - 180.0,  // Both flips: inverse 180° rotation
        }

        self.normalize_angle_f64(result)
@@ -166,16 +168,16 @@ impl AngleConverter {

    /// 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 degrees = math_angle_radians * 180.0 / std::f64::consts::PI;
        let converted_degrees = self.degrees_encode_f64(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * std::f64::consts::PI / 180.0
    }

    /// 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 degrees = system_angle_radians * 180.0 / std::f64::consts::PI;
        let converted_degrees = self.degrees_decode_f64(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * std::f64::consts::PI / 180.0
    }

    /// Normalize angle to [0, 360) range (f32)
@@ -203,7 +205,7 @@ pub struct AngleConverterUom {
 }

 impl AngleConverterUom {
-    pub const fn new(angle_converter: AngleConverter) -> Self {
+    pub fn new(angle_converter: AngleConverter) -> Self {
        Self { angle_converter }
    }

@@ -236,8 +238,6 @@ impl AngleConverterUom {

 #[cfg(test)]
 mod tests {
-    use std::f32::consts::PI;
-
    use super::*;

    #[test]
@@ -18,7 +18,7 @@ pub struct AngularStepConverter {

 impl AngularStepConverter {
    /// Create a new converter with the specified steps per revolution
-    pub const fn new(steps_per_revolution: i16) -> Self {
+    pub fn new(steps_per_revolution: i16) -> Self {
        Self {
            steps_per_revolution,
        }
@@ -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 uom::si::{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 uom::si::{
-    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 uom::si::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);
-    }
-}
@@ -1,11 +1,14 @@
 use uom::si::{
+    acceleration::meter_per_second_squared,
    angle::revolution,
+    angular_acceleration::radian_per_second_squared,
    angular_velocity::revolution_per_second,
    f64::{Acceleration, Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
+    length::meter,
+    velocity::meter_per_second,
 };

 use super::angular_step_converter::AngularStepConverter;
-use super::circular_converter::CircularConverter;

 /// Converts between linear measurements and motor steps
 ///
@@ -15,52 +18,57 @@ use super::circular_converter::CircularConverter;
 #[derive(Debug, Clone)]
 pub struct LinearStepConverter {
    angular_step_converter: AngularStepConverter,
-    circular_converter: CircularConverter,
+    radius: Length,
+    circumference: Length,
 }

 // 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 {
+        let circumference =
+            Length::new::<meter>(2.0 * std::f64::consts::PI * radius.get::<meter>());
        Self {
            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            circular_converter: CircularConverter::from_radius(radius),
+            radius,
+            circumference,
        }
    }

    /// 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),
-        }
+        let radius = diameter / 2.0;
+        Self::from_radius(steps_per_revolution, radius)
    }

    /// Create a new converter from circumference and steps per revolution
    pub fn from_circumference(steps_per_revolution: i16, circumference: Length) -> Self {
+        let radius =
+            Length::new::<meter>(circumference.get::<meter>() / (2.0 * std::f64::consts::PI));
        Self {
            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            circular_converter: CircularConverter::from_circumference(circumference),
+            radius,
+            circumference,
        }
    }

    /// Get the radius used by the converter
    pub fn radius(&self) -> Length {
-        self.circular_converter.radius()
+        self.radius
    }

    /// Get the diameter of the system
    pub fn diameter(&self) -> Length {
-        self.circular_converter.diameter()
+        self.radius * 2.0
    }

    /// Get the circumference of the system
    pub fn circumference(&self) -> Length {
-        self.circular_converter.circumference()
+        self.circumference
    }

    /// Get the steps per revolution
-    pub const fn steps_per_revolution(&self) -> i16 {
+    pub fn steps_per_revolution(&self) -> i16 {
        self.angular_step_converter.steps_per_revolution
    }
 }
@@ -71,10 +79,8 @@ impl LinearStepConverter {
    ///
    /// 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);
+        // Convert distance to angle: angle = distance/circumference (in revolutions)
+        let revolutions = distance.get::<meter>() / self.circumference.get::<meter>();
        let angle = Angle::new::<revolution>(revolutions);

        // Convert angle to steps
@@ -88,19 +94,21 @@ impl LinearStepConverter {
        // Convert steps to angle
        let angle = self.angular_step_converter.steps_to_angle(steps);

-        // Convert angle to distance using CircularConverter
+        // Convert angle to distance: distance = angle * circumference
        let revolutions = angle.get::<revolution>();
-        self.circular_converter
-            .revolutions_to_linear_distance(revolutions)
+        let distance = revolutions * self.circumference.get::<meter>();
+
+        Length::new::<meter>(distance)
    }

    /// 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 linear velocity to angular velocity: ω = v/circumference (in rev/s)
+        let linear_velocity = velocity.get::<meter_per_second>();
+        let angular_velocity_rps = linear_velocity / self.circumference.get::<meter>();
+        let angular_velocity = AngularVelocity::new::<revolution_per_second>(angular_velocity_rps);

        // Convert angular velocity to steps/second
        self.angular_step_converter
@@ -116,19 +124,23 @@ impl LinearStepConverter {
            .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 angular velocity to linear velocity: v = ω * circumference
+        let angular_velocity_rps = angular_velocity.get::<revolution_per_second>();
+        let linear_velocity = angular_velocity_rps * self.circumference.get::<meter>();
+
+        Velocity::new::<meter_per_second>(linear_velocity)
    }

    /// 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 linear acceleration to angular acceleration: α = a/r
+        let linear_acceleration = acceleration.get::<meter_per_second_squared>();
+        // Calculate angular acceleration in radians per second squared
+        let angular_acceleration_rad_per_s2 = linear_acceleration / self.radius.get::<meter>();
+        let angular_acceleration =
+            AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2);

        // Convert angular acceleration to steps/second²
        self.angular_step_converter
@@ -144,9 +156,12 @@ impl LinearStepConverter {
            .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)
+        // Convert angular acceleration to linear acceleration: a = α * r
+        let angular_acceleration_rad_per_s2 =
+            angular_acceleration.get::<radian_per_second_squared>();
+        let linear_acceleration = angular_acceleration_rad_per_s2 * self.radius.get::<meter>();
+
+        Acceleration::new::<meter_per_second_squared>(linear_acceleration)
    }
 }

@@ -156,9 +171,7 @@ impl LinearStepConverter {
    ///
    /// 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);
+        let revolutions = distance.get::<meter>() / self.circumference.get::<meter>();
        Angle::new::<revolution>(revolutions)
    }

@@ -167,24 +180,26 @@ impl LinearStepConverter {
    /// 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)
+        let distance = revolutions * self.circumference.get::<meter>();
+        Length::new::<meter>(distance)
    }

    /// 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)
+        let linear_velocity = velocity.get::<meter_per_second>();
+        let angular_velocity_rps = linear_velocity / self.circumference.get::<meter>();
+        AngularVelocity::new::<revolution_per_second>(angular_velocity_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)
+        let angular_velocity_rps = angular_velocity.get::<revolution_per_second>();
+        let linear_velocity = angular_velocity_rps * self.circumference.get::<meter>();
+        Velocity::new::<meter_per_second>(linear_velocity)
    }

    /// Convert linear acceleration to angular acceleration
@@ -194,8 +209,9 @@ impl LinearStepConverter {
        &self,
        acceleration: Acceleration,
    ) -> AngularAcceleration {
-        self.circular_converter
-            .linear_to_angular_acceleration(acceleration)
+        let linear_acceleration = acceleration.get::<meter_per_second_squared>();
+        let angular_acceleration_rad_per_s2 = linear_acceleration / self.radius.get::<meter>();
+        AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2)
    }

    /// Convert angular acceleration to linear acceleration
@@ -205,8 +221,10 @@ impl LinearStepConverter {
        &self,
        angular_acceleration: AngularAcceleration,
    ) -> Acceleration {
-        self.circular_converter
-            .angular_to_linear_acceleration(angular_acceleration)
+        let angular_acceleration_rad_per_s2 =
+            angular_acceleration.get::<radian_per_second_squared>();
+        let linear_acceleration = angular_acceleration_rad_per_s2 * self.radius.get::<meter>();
+        Acceleration::new::<meter_per_second_squared>(linear_acceleration)
    }
 }

@@ -251,10 +269,6 @@ mod tests {
    use super::*;
    use approx::assert_relative_eq;
    use std::f64::EPSILON;
-    use uom::si::{
-        acceleration::meter_per_second_squared, angular_acceleration::radian_per_second_squared,
-        length::meter, velocity::meter_per_second,
-    };

    #[test]
    fn test_new() {
@@ -1,5 +1,5 @@
 pub mod angle_converter;
 pub mod angular_step_converter;
-pub mod circular_converter;
 pub mod linear_step_converter;
 pub mod motor_converter;
+pub mod transmission_converter;
@@ -0,0 +1,22 @@
+use uom::si::f64::AngularVelocity;
+
+#[derive(Debug, Clone)]
+pub struct TransmissionConverter {
+    pub transmission_ratio: f64,
+}
+
+impl TransmissionConverter {
+    pub fn new() -> Self {
+        Self {
+            transmission_ratio: 34.0,
+        }
+    }
+
+    pub fn calculate_screw_output_rpm(&self, rpm: AngularVelocity) -> AngularVelocity {
+        rpm / self.transmission_ratio
+    }
+
+    pub fn calculate_screw_input_rpm(&self, screw_rpm: AngularVelocity) -> AngularVelocity {
+        screw_rpm * self.transmission_ratio
+    }
+}
@@ -7,7 +7,6 @@ use ethercat_hal::devices::el2002::EL2002_IDENTITY_A;
 use ethercat_hal::devices::el2002::EL2002_IDENTITY_B;
 use ethercat_hal::devices::el2004::EL2004_IDENTITY_A;
 use ethercat_hal::devices::el2008::EL2008_IDENTITY_A;
-use ethercat_hal::devices::el2008::EL2008_IDENTITY_B;
 use ethercat_hal::devices::el2521::{
    EL2521_IDENTITY_0000_A, EL2521_IDENTITY_0000_B, EL2521_IDENTITY_0024_A,
 };
@@ -18,7 +17,6 @@ use ethercat_hal::devices::el3024::EL3024_IDENTITY_A;
 use ethercat_hal::devices::el3062_0030::EL3062_0030_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_B;
-use ethercat_hal::devices::el4002::EL4002_IDENTITY_A;
 use ethercat_hal::devices::el6021::{
    EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C, EL6021_IDENTITY_D,
 };
@@ -30,6 +28,7 @@ use ethercat_hal::helpers::ethercrab_types::{
    EthercrabSubDeviceOperational, EthercrabSubDevicePreoperational,
 };
 use ethercrab::MainDevice;
+use ethercrab::SubDeviceGroup;
 use ethercrab::SubDeviceIdentity;

 use crate::machines::identification::DeviceMachineIdentification;
@@ -45,12 +44,7 @@ pub struct MachineIdentificationAddresses {
 }

 impl MachineIdentificationAddresses {
-    pub const fn new(
-        vendor_word: u16,
-        serial_word: u16,
-        machine_word: u16,
-        device_word: u16,
-    ) -> Self {
+    pub fn new(vendor_word: u16, serial_word: u16, machine_word: u16, device_word: u16) -> Self {
        Self {
            vendor_word,
            serial_word,
@@ -75,12 +69,12 @@ impl Default for MachineIdentificationAddresses {
 ///
 /// Returns a vector of MachineDeviceIdentification for all subdevices
 pub async fn read_device_identifications<'maindevice>(
-    subdevices: &Vec<EthercrabSubDevicePreoperational<'maindevice>>,
+    group: &SubDeviceGroup<16, 256>,
    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;
+    for subdevice in group.iter(maindevice) {
+        let identification = machine_device_identification(&subdevice, maindevice).await;
        result.push(identification);
    }
    result
@@ -227,11 +221,11 @@ pub async fn write_machine_device_identification<'maindevice, const MAX_PDI: usi

 /// Returns the EEPROM addresses for the machine device identification
 /// based on the subdevice's identity
-pub fn get_identification_addresses(
+pub fn get_identification_addresses<'maindevice>(
    subdevice_identity: &SubDeviceIdentity,
    subdevice_name: &str,
 ) -> Result<MachineIdentificationAddresses, Error> {
-    let identity_tuple = subdevice_identity_to_tuple(subdevice_identity);
+    let identity_tuple = subdevice_identity_to_tuple(&subdevice_identity);

    Ok(match identity_tuple {
        EK1100_IDENTITY_A => MachineIdentificationAddresses::default(),
@@ -240,7 +234,7 @@ pub fn get_identification_addresses(
        EL2002_IDENTITY_A | EL2002_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL2004_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
-        EL2008_IDENTITY_A | EL2008_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()
@@ -249,7 +243,6 @@ pub fn get_identification_addresses(
        EL3021_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3024_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3062_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL4002_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL7031_IDENTITY_A | EL7031_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL7031_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL7041_0052_IDENTITY_A => MachineIdentificationAddresses::default(),
@@ -281,8 +274,8 @@ async fn u16dump<'maindevice>(
        words.push(subdevice.eeprom_read(maindevice, word).await?);
    }

-    println!(
-        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}",
+    print!(
+        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}\n",
        subdevice.name(),
        start_byte / 2,
        end_byte / 2
@@ -297,7 +290,7 @@ 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;
+    let rows = table_end_word - table_start_word >> 4;

    for row in 0..rows {
        print!("0x{:04x} | ", (table_start_word + row * 0x10) / 2);
@@ -314,7 +307,7 @@ fn u16print(start_byte: u16, end_byte: u16, data: Vec<u16>) {
                }
            }
        }
-        println!();
+        print!("\n");
    }
 }

@@ -42,7 +42,7 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {

    // 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()
@@ -90,7 +90,10 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
    // Wait for all tasks to complete and collect successful results
    let successful_interfaces: Vec<String> = tasks
        .into_iter()
-        .filter_map(|task| task.join().expect("Should join thread"))
+        .filter_map(|task| match task.join().expect("Should join thread") {
+            Some(name) => Some(name),
+            None => None,
+        })
        .collect();

    // Return the first successful interface (they're sorted by name)
@@ -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()
-}
@@ -63,11 +63,11 @@ 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 normalized_value: f64 = normalized_value.into();
    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);
+    let result = normalized_value * (new_max - new_min) + new_min;
    T::from(result)
 }

@@ -128,11 +128,11 @@ where
    // 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
+        return 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)
+        return normalize(value_f64, x_f64, 1.0) * (1.0 - y_f64) + y_f64;
    } else {
-        y_f64
+        return y_f64;
    }
 }

@@ -273,7 +273,7 @@ pub fn interpolate_exponential(normalized_value: f64, steepness: f64) -> f64 {
        return normalized_value;
    }
    let numerator = steepness.exp().powf(normalized_value) - 1.0;
-    let denominator = steepness.exp_m1();
+    let denominator = steepness.exp() - 1.0;

    clip(numerator / denominator)
 }
@@ -414,7 +414,7 @@ pub fn interpolate_inflected_exponential(x: f64, steepness: f64) -> f64 {

        // Use standard exponential interpolation
        let result = interpolate_exponential(x_norm, steepness);
-        0.5f64.mul_add(result, 0.5)
+        0.5 + 0.5 * result
    }
 }

@@ -0,0 +1,189 @@
+use smol::Timer;
+use std::time::{Duration, Instant};
+use tracing::instrument;
+
+pub struct LoopThrottle {
+    target_cycle_time: Duration,
+    update_interval_cycles: usize,
+    window_start: Instant,
+    total_cycles: usize,
+    delay: Duration,
+    last_avg_cycle_time: Duration,
+    on_update: Option<Box<dyn Fn(LoopThrottleUpdate)>>,
+}
+
+pub struct LoopThrottleUpdate {
+    pub delay: Duration,
+    pub avg_cycle_time: Duration,
+    pub error: i128, // Error in nanoseconds
+}
+impl LoopThrottle {
+    pub fn new(
+        target_cycle_time: Duration,
+        update_interval_cycles: usize,
+        on_update: Option<Box<dyn Fn(LoopThrottleUpdate)>>,
+    ) -> Self {
+        Self {
+            target_cycle_time,
+            update_interval_cycles,
+            window_start: Instant::now(),
+            total_cycles: 0,
+            delay: target_cycle_time,
+            last_avg_cycle_time: target_cycle_time,
+            on_update,
+        }
+    }
+    #[instrument(skip_all)]
+    pub async fn sleep(&mut self) {
+        self.total_cycles += 1;
+
+        // Check if it's time to update (every N cycles)
+        if self.total_cycles % self.update_interval_cycles == 0 {
+            let actual_total_time = self.window_start.elapsed();
+
+            // Use integer arithmetic where possible
+            let avg_actual_cycle_time_nanos =
+                actual_total_time.as_nanos() / self.update_interval_cycles as u128;
+            let target_cycle_time_nanos = self.target_cycle_time.as_nanos();
+
+            // Calculate error in nanoseconds (signed)
+            let error_nanos = target_cycle_time_nanos as i128 - avg_actual_cycle_time_nanos as i128;
+
+            // Update current delay, allowing zero or negative values to become zero
+            let new_delay_nanos = (self.delay.as_nanos() as i128 + error_nanos).max(0) as u64;
+
+            self.delay = Duration::from_nanos(new_delay_nanos);
+            self.last_avg_cycle_time = Duration::from_nanos(avg_actual_cycle_time_nanos as u64);
+
+            // Reset for next measurement window
+            self.window_start = Instant::now();
+            self.total_cycles = 0; // Reset to prevent overflow
+
+            // if we have an update callback, call it
+            if let Some(on_update) = &self.on_update {
+                on_update(LoopThrottleUpdate {
+                    delay: self.delay,
+                    avg_cycle_time: self.last_avg_cycle_time,
+                    error: error_nanos,
+                });
+            }
+        }
+
+        Timer::after(self.delay).await;
+    }
+
+    pub fn get_cycle_time(&self) -> Duration {
+        self.last_avg_cycle_time
+    }
+
+    pub fn get_delay(&self) -> Duration {
+        self.delay
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use smol::block_on;
+
+    #[test]
+    fn test_adaptive_throttle_timing() {
+        block_on(async {
+            let update_interval_cycles = 100;
+            let target_cycle_time = Duration::from_micros(5);
+            let mut throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
+
+            let test_start = Instant::now();
+            let mut cycle_times = Vec::new();
+
+            // Run for several cycles to trigger multiple updates
+            for _ in 0..10000 {
+                let cycle_start = Instant::now();
+
+                // Simulate some work
+                Timer::after(Duration::from_micros(5)).await;
+
+                throttle.sleep().await;
+
+                let cycle_time = cycle_start.elapsed();
+                cycle_times.push(cycle_time);
+            }
+
+            let total_test_time = test_start.elapsed();
+            let avg_cycle_time = cycle_times.iter().sum::<Duration>() / cycle_times.len() as u32;
+
+            println!("Test completed in: {:?}", total_test_time);
+            println!("Average cycle time: {:?}", avg_cycle_time);
+            println!("Target cycle time: {:?}", target_cycle_time);
+            println!("Last measured avg: {:?}", throttle.get_cycle_time());
+
+            // Assert that we're reasonably close to target timing
+            let tolerance = Duration::from_millis(10);
+            assert!(
+                avg_cycle_time >= target_cycle_time.saturating_sub(tolerance)
+                    && avg_cycle_time <= target_cycle_time + tolerance,
+                "Average cycle time {:?} not within tolerance of target {:?}",
+                avg_cycle_time,
+                target_cycle_time
+            );
+        });
+    }
+
+    #[test]
+    fn test_throttle_adaptation() {
+        block_on(async {
+            let target_cycle_time = Duration::from_millis(100);
+            let update_interval_cycles = 3;
+            let mut throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
+
+            let initial_delay = throttle.get_delay();
+
+            // Run enough cycles to trigger multiple updates
+            for _ in 0..12 {
+                // Add variable work to test adaptation
+                Timer::after(Duration::from_millis(10)).await;
+                throttle.sleep().await;
+            }
+
+            println!("Initial delay: {:?}", initial_delay);
+            println!("Final delay: {:?}", throttle.get_delay());
+            println!("Last avg cycle time: {:?}", throttle.get_cycle_time());
+
+            assert!(throttle.get_cycle_time() > Duration::ZERO);
+        });
+    }
+
+    #[test]
+    fn test_throttle_initialization() {
+        let update_interval_cycles = 10;
+        let target_cycle_time = Duration::from_millis(75);
+        let throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
+
+        assert_eq!(throttle.get_delay(), target_cycle_time);
+        assert_eq!(throttle.get_cycle_time(), target_cycle_time);
+        assert_eq!(throttle.total_cycles, 0);
+    }
+
+    #[test]
+    fn test_overflow_protection() {
+        block_on(async {
+            let target_cycle_time = Duration::from_micros(1);
+            let update_interval_cycles = 5;
+            let mut throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
+
+            // Run many cycles to ensure total_cycles resets properly
+            for i in 0..50 {
+                throttle.sleep().await;
+
+                // Verify that total_cycles never exceeds update_interval_cycles
+                assert!(
+                    throttle.total_cycles <= update_interval_cycles,
+                    "Cycle {}: total_cycles ({}) exceeded update_interval_cycles ({})",
+                    i,
+                    throttle.total_cycles,
+                    update_interval_cycles
+                );
+            }
+        });
+    }
+}
@@ -1,6 +1,6 @@
 pub mod compare_lists;
-pub mod hasher_serializer;
 pub mod hashing;
 pub mod interpolation;
+pub mod loop_trottle;
 pub mod moving_time_window;
 pub mod retry;
@@ -11,40 +11,56 @@ pub trait DivideByCount {

 impl DivideByCount for f64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as f64)
    }
 }

 impl DivideByCount for f32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as f32)
    }
 }

 impl DivideByCount for i32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as i32)
    }
 }

 impl DivideByCount for i64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as i64)
    }
 }

 impl DivideByCount for u32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as u32)
    }
 }

 impl DivideByCount for u64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as u64)
    }
 }

+/// A generic moving time window that works with numeric types.
+///
+/// # Examples
+///
+/// ```rust
+/// use std::time::{Duration, Instant};
+/// use control_core::helpers::moving_time_window::MovingTimeWindow;
+///
+/// let mut window = MovingTimeWindow::new(Duration::from_secs(10), 100);
+/// window.update(1.5, Instant::now());
+/// window.update(2.5, Instant::now());
+///
+/// let average = window.average();
+/// println!("Average: {}", average);
+/// ```
+
 // Type aliases for common use cases
 pub type F64Window = MovingTimeWindow<f64>;
 pub type F32Window = MovingTimeWindow<f32>;
@@ -178,14 +194,15 @@ where
            .samples
            .iter()
            .map(|(v, _)| *v)
-            .fold(None, |acc, val| {
-                acc.map_or(Some(val), |current_max| {
+            .fold(None, |acc, val| match acc {
+                None => Some(val),
+                Some(current_max) => {
                    if val > current_max {
                        Some(val)
                    } else {
                        Some(current_max)
                    }
-                })
+                }
            })
            .unwrap_or_default();

@@ -212,14 +229,15 @@ where
            .samples
            .iter()
            .map(|(v, _)| *v)
-            .fold(None, |acc, val| {
-                acc.map_or(Some(val), |current_min| {
+            .fold(None, |acc, val| match acc {
+                None => Some(val),
+                Some(current_min) => {
                    if val < current_min {
                        Some(val)
                    } else {
                        Some(current_min)
                    }
-                })
+                }
            })
            .unwrap_or_default();

@@ -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(());
-    }
-}
@@ -2,18 +2,13 @@ pub mod controllers;
 pub mod converters;
 pub mod ethercat;
 pub mod helpers;
-pub mod irq_handling;
 pub mod machines;
 pub mod modbus;
 pub mod realtime;
 pub mod rest;
 pub mod serial;
 pub mod socketio;
-pub mod transmission;
 pub mod uom_extensions;

-#[cfg(feature = "video-streaming")]
-pub mod video_streaming;
-
 #[macro_use]
 extern crate uom;
@@ -5,21 +5,4 @@ use crate::socketio::namespace::Namespace;
 pub trait MachineApi {
    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
    fn api_event_namespace(&mut self) -> &mut Namespace;
-
-    /// Returns a list of available video stream identifiers for this machine
-    #[cfg(feature = "video-streaming")]
-    fn api_video_streams(&self) -> Vec<String> {
-        Vec::new()
-    }
-
-    /// Get a video stream receiver for the specified stream ID
-    /// Returns None if the stream doesn't exist
-    #[cfg(feature = "video-streaming")]
-    fn api_get_video_stream(
-        &mut self,
-        stream_id: &str,
-    ) -> Option<tokio::sync::broadcast::Receiver<Vec<u8>>> {
-        let _ = stream_id;
-        None
-    }
 }
@@ -12,7 +12,7 @@ pub struct MachineIdentificationUnique {

 impl MachineIdentificationUnique {
    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
+    pub fn is_valid(&self) -> bool {
        self.machine_identification.is_valid() && self.serial != 0
    }
 }
@@ -36,12 +36,12 @@ pub struct MachineIdentification {

 impl MachineIdentification {
    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
+    pub fn is_valid(&self) -> bool {
        self.vendor != 0 && self.machine != 0
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
 pub struct DeviceMachineIdentification {
    pub machine_identification_unique: MachineIdentificationUnique,
    pub role: u16,
@@ -49,7 +49,7 @@ pub struct DeviceMachineIdentification {

 impl DeviceMachineIdentification {
    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
+    pub fn is_valid(&self) -> bool {
        self.machine_identification_unique.is_valid()
            && self
                .machine_identification_unique
@@ -59,7 +59,7 @@ impl DeviceMachineIdentification {
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
 pub struct DeviceIdentification {
    pub device_machine_identification: Option<DeviceMachineIdentification>,
    pub device_hardware_identification: DeviceHardwareIdentification,
@@ -67,14 +67,14 @@ pub struct DeviceIdentification {

 impl From<DeviceIdentificationIdentified> for DeviceIdentification {
    fn from(value: DeviceIdentificationIdentified) -> Self {
-        Self {
+        DeviceIdentification {
            device_machine_identification: Some(value.device_machine_identification),
            device_hardware_identification: value.device_hardware_identification,
        }
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
 pub struct DeviceIdentificationIdentified {
    pub device_machine_identification: DeviceMachineIdentification,
    pub device_hardware_identification: DeviceHardwareIdentification,
@@ -90,24 +90,24 @@ impl TryFrom<DeviceIdentification> for DeviceIdentificationIdentified {
                module_path!()
            ))?;

-        Ok(Self {
+        Ok(DeviceIdentificationIdentified {
            device_machine_identification,
            device_hardware_identification: value.device_hardware_identification,
        })
    }
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
 pub enum DeviceHardwareIdentification {
    Ethercat(DeviceHardwareIdentificationEthercat),
    Serial(DeviceHardwareIdentificationSerial),
 }

-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
 pub struct DeviceHardwareIdentificationEthercat {
    pub subdevice_index: usize,
 }
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
 pub struct DeviceHardwareIdentificationSerial {
    pub path: String,
 }
@@ -31,12 +31,6 @@ pub struct MachineManager {
        HashMap<MachineIdentificationUnique, Result<Arc<Mutex<dyn Machine>>, anyhow::Error>>,
 }

-impl Default for MachineManager {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
 impl MachineManager {
    pub fn new() -> Self {
        Self {
@@ -51,7 +45,7 @@ impl MachineManager {
        machine_registry: &MachineRegistry,
        hardware: &MachineNewHardwareEthercat,
        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
-        machine_manager: Weak<RwLock<Self>>,
+        machine_manager: Weak<RwLock<MachineManager>>,
    ) {
        // empty ethercat machines
        self.ethercat_machines.clear();
@@ -105,7 +99,7 @@ impl MachineManager {
        device: Arc<RwLock<dyn SerialDevice>>,
        machine_registry: &MachineRegistry,
        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
-        machine_manager: Weak<RwLock<Self>>,
+        machine_manager: Weak<RwLock<MachineManager>>,
    ) {
        let hardware = MachineNewHardwareSerial { device };

@@ -119,7 +113,7 @@ impl MachineManager {
            device_group: &vec![device_identification_identified.clone()],
            hardware: &MachineNewHardware::Serial(&hardware),
            socket_queue_tx,
-            machine_manager,
+            machine_manager: machine_manager.clone(),
        });

        tracing::info!("Adding serial machine {:?}", new_machine);
@@ -169,7 +163,7 @@ impl MachineManager {
            }
        };
        let machine_weak = Arc::downgrade(machine);
-        Some(machine_weak)
+        return Some(machine_weak);
    }

    pub fn get_serial_weak(
@@ -190,7 +184,7 @@ impl MachineManager {
            }
        };
        let machine_weak = Arc::downgrade(machine);
-        Some(machine_weak)
+        return Some(machine_weak);
    }
 }

@@ -71,7 +71,7 @@ impl<'a> Iterator for MachineManagerIterator<'a> {

 impl MachineManager {
    // Returns an iterator over all machines (both ethercat and serial)
-    pub fn iter(&'_ self) -> MachineManagerIterator<'_> {
+    pub fn iter(&self) -> MachineManagerIterator {
        MachineManagerIterator {
            iter: MachineManagerIter::EthercatMachines {
                iter: self.ethercat_machines.iter(),
@@ -16,12 +16,9 @@ pub mod manager_iter;
 pub mod new;
 pub mod registry;

-pub trait Machine: MachineAct + MachineNewTrait + MachineApi + AnyGetters + Debug + Send {}
-pub trait AnyGetters: Any {
+pub trait Machine: MachineAct + MachineNewTrait + MachineApi + Any + Debug + Send {
    fn as_any(&self) -> &dyn Any;
-    fn as_any_mut(&mut self) -> &mut dyn Any;
 }
-
 /// Casts a `dyn Machine` to a specific machine type
 pub async fn downcast_machine<T: Machine>(
    machine: Arc<Mutex<dyn Machine>>,
@@ -64,7 +61,7 @@ pub struct ConnectedMachine<T: GetStrongCount> {
    pub machine: T,
 }

-#[derive(Serialize, Debug, Clone, PartialEq, Eq)]
+#[derive(Serialize, Debug, Clone, PartialEq)]
 pub struct ConnectedMachineData {
    pub machine_identification_unique: MachineIdentificationUnique,
    pub is_available: bool,
@@ -9,6 +9,7 @@ use ethercrab::{SubDevice, SubDeviceRef};
 use smol::{channel::Sender, lock::RwLock};
 use socketioxide::extract::SocketRef;
 use std::{
+    pin::Pin,
    sync::{Arc, Weak},
    time::Instant,
 };
@@ -16,13 +17,15 @@ use std::{
 use crate::socketio::event::GenericEvent;

 pub trait MachineNewTrait {
-    fn new(params: &MachineNewParams<'_, '_, '_, '_, '_, '_, '_>) -> Result<Self, Error>
+    fn new<'maindevice, 'subdevices>(
+        params: &MachineNewParams<'maindevice, 'subdevices, '_, '_, '_, '_, '_>,
+    ) -> Result<Self, Error>
    where
        Self: Sized;
 }

 pub trait MachineAct {
-    fn act(&mut self, now: Instant);
+    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>>;
 }

 pub struct MachineNewParams<
@@ -10,12 +10,6 @@ pub struct MachineRegistry {
    type_map: HashMap<TypeId, (MachineIdentification, MachineNewClosure)>,
 }

-impl Default for MachineRegistry {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
 impl MachineRegistry {
    pub fn new() -> Self {
        Self {
@@ -2,10 +2,10 @@ pub mod modbus_serial_interface;

 use anyhow::Error;
 use crc::{CRC_16_MODBUS, Crc};
-use serialport::SerialPort;
+use serial;
 use std::time::Duration;
-
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
+
 pub enum ParityType {
    Even,
    Odd,
@@ -62,17 +62,17 @@ impl From<ModbusExceptionCode> for u8 {
 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),
+            0 => ModbusExceptionCode::None,
+            1 => ModbusExceptionCode::IllegalFunction,
+            2 => ModbusExceptionCode::IllegalDataAddress,
+            3 => ModbusExceptionCode::IllegalDataValue,
+            4 => ModbusExceptionCode::SlaveDeviceFailure,
+            5 => ModbusExceptionCode::Acknowledge,
+            6 => ModbusExceptionCode::SlaveDeviceBusy,
+            8 => ModbusExceptionCode::MemoryParityError,
+            10 => ModbusExceptionCode::GatewayPathUnavailable,
+            11 => ModbusExceptionCode::GatewayTargetDeviceFailedToRespond,
+            other => ModbusExceptionCode::Unknown(other),
        }
    }
 }
@@ -97,10 +97,10 @@ impl TryFrom<u8> for ModbusFunctionCode {

    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),
+            0x04 => Ok(ModbusFunctionCode::ReadInputRegister),
+            0x06 => Ok(ModbusFunctionCode::PresetHoldingRegister),
+            0x08 => Ok(ModbusFunctionCode::DiagnoseFunction),
            _ => Err(anyhow::anyhow!("Error: Modbus Function Code doesnt exist!")),
        }
    }
@@ -119,7 +119,7 @@ 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
@@ -132,7 +132,7 @@ 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.
@@ -143,7 +143,9 @@ impl From<ModbusRequest> for Vec<u8> {
 /// # 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> {
+pub fn receive_data_modbus(
+    port: &mut dyn serial::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 {
@@ -153,7 +155,7 @@ pub fn receive_data_modbus(port: &mut dyn SerialPort) -> Result<Option<Vec<u8>>,
 }

 /// Computes Modbus CRC-16 using `crc` crate.
-pub const fn modbus_crc16(data: &[u8]) -> u16 {
+pub fn modbus_crc16(data: &[u8]) -> u16 {
    let modbus: Crc<u16> = Crc::<u16>::new(&CRC_16_MODBUS);
    modbus.checksum(data)
 }
@@ -204,17 +206,23 @@ fn extract_crc(raw_data: &Vec<u8>) -> Result<u16, Error> {
 }
 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,
        })
    }
 }
@@ -226,23 +234,23 @@ 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)]
@@ -66,7 +66,7 @@ impl ModbusSerialInterface {
        }
    }

-    pub const fn is_initialized(&self) -> bool {
+    pub fn is_initialized(&self) -> bool {
        !matches!(self.state, State::Uninitialized)
    }

@@ -199,7 +199,7 @@ impl ModbusSerialInterface {
        Some(Duration::from_nanos(total_timeout))
    }

-    pub const fn get_response(&self) -> Option<&ModbusResponse> {
+    pub fn get_response(&self) -> Option<&ModbusResponse> {
        self.response.as_ref()
    }

@@ -1,7 +1,7 @@
 use tracing::debug;
 use tracing::error;

-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 /// 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:
@@ -47,7 +47,7 @@ use tracing::error;
 ///
 /// - `Ok(())` if the real-time priority was successfully set
 /// - `Err` with the error message if setting the priority failed
-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
    use anyhow::anyhow;
    use libc::{SCHED_FIFO, pthread_setschedparam, sched_param};
@@ -84,9 +84,9 @@ pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
    Ok(())
 }

-#[cfg(not(target_os = "linux"))]
+#[cfg(not(unix))]
 pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
-    tracing::error!("This platform does not support realtime threads");
+    log::error!("This platform does not support realtime threads");
    Ok(())
 }

@@ -137,7 +137,7 @@ pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
 /// # How it works
 ///
 /// [Rest of documentation as before...]
-#[cfg(target_os = "linux")]
+#[cfg(unix)]
 pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
    use libc::{MCL_FUTURE, mlockall};

@@ -154,9 +154,9 @@ pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
    Ok(())
 }

-#[cfg(not(target_os = "linux"))]
+#[cfg(not(unix))]
 pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
-    tracing::error!("This platform does not support memory locking");
+    log::error!("This platform does not support memory locking");
    Ok(())
 }

@@ -11,13 +11,13 @@ pub struct MutationResponse {
 }

 impl MutationResponse {
-    pub const fn success() -> Self {
+    pub fn success() -> Self {
        Self {
            success: true,
            error: None,
        }
    }
-    pub const fn error(error: String) -> Self {
+    pub fn error(error: String) -> Self {
        Self {
            success: false,
            error: Some(error),
@@ -33,19 +33,3 @@ where
    pub machine_identification_unique: MachineIdentificationUnique,
    pub data: T,
 }
-
-#[derive(Debug, serde::Deserialize)]
-pub struct MachineVideoStreamListBody {
-    pub machine_identification_unique: MachineIdentificationUnique,
-}
-
-#[derive(Debug, serde::Deserialize)]
-pub struct MachineVideoStreamBody {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub stream_id: String,
-}
-
-#[derive(Debug, Serialize)]
-pub struct VideoStreamListResponse {
-    pub streams: Vec<String>,
-}
@@ -1,11 +1,9 @@
 use std::{any::Any, sync::Arc};

-use smol::{channel::Sender, lock::RwLock};
+use smol::lock::RwLock;
 use std::fmt::Debug;

-use crate::{
-    machines::identification::DeviceIdentification, serial::serial_detection::SerialDeviceRemoval,
-};
+use crate::machines::identification::DeviceIdentification;

 pub mod panic;
 pub mod registry;
@@ -27,10 +25,10 @@ pub trait SerialDeviceThread {

 pub struct SerialDeviceNewParams {
    pub path: String,
-    pub device_thread_panic_tx: Sender<SerialDeviceRemoval<String>>,
+    pub device_thread_panic_tx: smol::channel::Sender<(String, anyhow::Error)>,
 }

-#[derive(PartialEq, Eq, Clone, Debug)]
+#[derive(PartialEq, Clone, Debug)]
 pub struct SerialDeviceIdentification {
    pub vendor_id: u16,
    pub product_id: u16,
@@ -1,13 +1,11 @@
 use smol::channel::Sender;

-use crate::serial::serial_detection::SerialDeviceRemoval;
-
 /// Device-level panic handler for individual device crashes
 /// Sends device identifier and error information for cleanup
 /// Used by serial devices and other individual components that need to be removed on panic
 pub fn send_serial_device_panic<T>(
    device_identifier: T,
-    thread_panic_tx: Sender<SerialDeviceRemoval<T>>,
+    thread_panic_tx: Sender<(T, anyhow::Error)>,
 ) where
    T: Send + Sync + Clone + 'static,
 {
@@ -18,6 +16,7 @@ pub fn send_serial_device_panic<T>(
        }
    }

+    let device_id_clone = device_identifier.clone();
    std::panic::set_hook(Box::new(move |panic_info| {
        let thread_name = std::thread::current()
            .name()
@@ -40,8 +39,8 @@ pub fn send_serial_device_panic<T>(
        // Send device panic info through channel
        smol::block_on(async {
            let _ = thread_panic_tx
-                .send(SerialDeviceRemoval::Error(
-                    device_identifier.clone(),
+                .send((
+                    device_id_clone.clone(),
                    anyhow::anyhow!("{}", panic_message),
                ))
                .await;
@@ -20,12 +20,6 @@ pub struct SerialDeviceRegistry {
    pub type_map: HashMap<TypeId, (SerialDeviceIdentification, SerialDeviceNewClosure)>,
 }

-impl Default for SerialDeviceRegistry {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
 impl SerialDeviceRegistry {
    pub fn new() -> Self {
        Self {
@@ -21,11 +21,6 @@ use super::{
    SerialDevice, SerialDeviceIdentification, SerialDeviceNewParams, registry::SerialDeviceRegistry,
 };

-pub enum SerialDeviceRemoval<T> {
-    Disconnect(T),
-    Error(T, anyhow::Error),
-}
-
 pub struct SerialDetection<'serialdeviceregistry> {
    pub serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry,
    pub ports: HashMap<
@@ -36,13 +31,14 @@ pub struct SerialDetection<'serialdeviceregistry> {
            Arc<RwLock<dyn SerialDevice>>,
        ),
    >,
-    pub device_removal_signal_rx: Receiver<SerialDeviceRemoval<String>>,
-    pub device_removal_signal_tx: Sender<SerialDeviceRemoval<String>>,
+    pub device_removal_signal_rx: Receiver<(String, anyhow::Error)>,
+    pub device_removal_signal_tx: Sender<(String, anyhow::Error)>,
 }

 impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {
    pub fn new(serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry) -> Self {
-        let (device_removal_signal_tx, device_removal_signal_rx) = unbounded();
+        let (device_removal_signal_tx, device_removal_signal_rx) =
+            unbounded::<(String, anyhow::Error)>();
        SerialDetection {
            serial_device_registry,
            ports: HashMap::new(),
@@ -82,12 +78,15 @@ impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {
        let mut usb_ports: Vec<(String, UsbPortInfo)> = Vec::new();

        for port in port_list {
-            if let SerialPortType::UsbPort(usb_info) = &port.port_type {
-                usb_ports.push((port.port_name.to_string(), usb_info.clone()));
+            match &port.port_type {
+                SerialPortType::UsbPort(usb_info) => {
+                    usb_ports.push((port.port_name.to_string(), usb_info.clone()));
+                }
+                _ => {}
            };
        }

-        usb_ports
+        return usb_ports;
    }

    pub async fn check_ports(&mut self) -> CheckPortsResult {
@@ -159,36 +158,18 @@ impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {

    pub async fn check_remove_signals(&mut self) -> Vec<DeviceIdentification> {
        let mut removed_signals: Vec<DeviceIdentification> = Vec::new();
+        match self.device_removal_signal_rx.try_recv() {
+            Ok((path, error)) => {
+                // remove the device when the tuple positon 1 equals signal
+                if let Some(info) = self.ports.get(&path.clone()) {
+                    removed_signals.push(info.1.clone());
+                };
+                self.ports.remove(&path);

-        let mut add_removal_signal = |path: &String| {
-            if let Some(info) = self.ports.get(path) {
-                removed_signals.push(info.1.clone());
-            };
-            self.ports.remove(path);
-        };
-
-        if self.device_removal_signal_rx.is_empty() {
-            return removed_signals;
-        }
-
-        let removal = self
-            .device_removal_signal_rx
-            .recv()
-            .await
-            .expect("Failed to receive removal signals");
-
-        match removal {
-            SerialDeviceRemoval::Disconnect(path) => {
-                add_removal_signal(&path);
-                tracing::trace!("Removed serial device after disconnect: {:?}", path);
-            }
-
-            SerialDeviceRemoval::Error(path, error) => {
-                add_removal_signal(&path);
-                tracing::error!("Removed erroring serial device: {:?}: {}", path, error);
+                tracing::trace!("Removed device: {:?}: {}", path, error);
            }
+            Err(_) => {}
        }
-
        removed_signals
    }
 }
@@ -21,10 +21,6 @@ impl std::fmt::Debug for GenericEvent {
    }
 }

-pub trait BuildEvent: Serialize + Send + Sync + Clone {
-    fn build(&self) -> Event<Self>;
-}
-
 #[derive(Debug, Clone, Serialize)]
 pub struct Event<T>
 where
@@ -30,7 +30,7 @@ impl Namespace {
    #[instrument(skip_all)]
    pub fn subscribe(&mut self, socket: SocketRef) {
        // add the socket to the list
-        self.sockets.push(socket);
+        self.sockets.push(socket.clone());
    }

    /// Removes a socket from the namespace.
@@ -81,7 +81,7 @@ impl Namespace {
        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");
+                self.send_to_queue(&socket, &event, "reemit");
            }
        }
    }
@@ -97,10 +97,13 @@ impl Namespace {
    fn cache(
        &mut self,
        event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &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);
+        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);
    }

    /// Emits an event to all sockets in the namespace and caches it.
@@ -114,10 +117,10 @@ impl Namespace {
    pub fn emit(
        &mut self,
        event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
+        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>,
    ) {
        // cache the event
-        self.cache(event.clone(), buffer_fn);
+        self.cache(event.clone(), &buffer_fn);

        // emit the event - inlined from emit function
        // Send to global queue for each socket in the namespace
@@ -188,7 +191,7 @@ pub trait CacheableEvents<Events> {
    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<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>;

 /// [`BufferFn`] that stores the last n events
 pub fn cache_n_events(n: usize) -> CacheFn {
@@ -220,6 +223,7 @@ pub fn cache_first_and_last_event() -> CacheFn {
        if events.len() == 2 {
            events.remove(1);
            events.push(event.clone());
+            return;
        }
    })
 }
@@ -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 uom::si::{
-    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);
-    }
-}
@@ -1,94 +0,0 @@
-# Code Style
-
-# General Code styling
-
-Try to adhere to the rust style guide:
-https://doc.rust-lang.org/nightly/style-guide/
-
-# Beckhoff terminals and Machines
-
-For Beckhoff terminals you should first implement the basic functionality, then an Interpreter of the device/data is built on top.
-A good example of how to do this is by looking at the following code:
-el3021.rs , AnalogInputDevice
-
-El3021 implements a so called AnalogInputDevice, which acts like an interface.
-This allows us to use AnalogInputDevice instead of having to always specify which device should be used.
-In Essence any Device that implements AnalogInputDevice can be used.
-
-AnalogInputDevice is then used for creating an AnalogInput, which is plug and play for machines.
-
-Then a further layer of Abstraction is used on top,
-where the data is interpreted and incorporated into a sort of control loop for certain functions, for example:
-
-```rust
-// ScrewSpeedController controlls the speed (frequency) and direction of the motor
-// AnalogInput is used to collect measurements from the pressure sensor.
-// screw_speed_controller.rs
-#[derive(Debug)]
-pub struct ScrewSpeedController {
-    pub pid: ClampingTimeagnosticPidController,
-    pub target_pressure: Pressure,
-    pub target_rpm: AngularVelocity,
-    pub inverter: MitsubishiCS80,
-    pressure_sensor: AnalogInput,
-    last_update: Instant,
-    uses_rpm: bool,
-    forward_rotation: bool,
-    transmission_converter: TransmissionConverter,
-    frequency: Frequency,
-    maximum_frequency: Frequency,
-    minimum_frequency: Frequency,
-    motor_on: bool,
-    nozzle_pressure_limit: Pressure,
-    nozzle_pressure_limit_enabled: bool,
-}
-
-// Under the hood for ExtruderV2 a El3021 is used:
-// (from new.rs of extruder)
-let pressure_sensor = AnalogInput::new(el3021, EL3021Port::AI1);
-
-// But the extruder does not directly use the AnalogInput, instead the logic is decoupled in the screw_speed_controller:
-let mut extruder: ExtruderV2 = Self {
-    namespace: ExtruderV2Namespace::new(params.socket_queue_tx.clone()),
-    last_measurement_emit: Instant::now(),
-    mode: ExtruderV2Mode::Standby,
-    temperature_controller_front: temperature_controller_front,
-    temperature_controller_middle: temperature_controller_middle,
-    temperature_controller_back: temperature_controller_back,
-    temperature_controller_nozzle: temperature_controller_nozzle,
-    screw_speed_controller: screw_speed_controller,
-    emitted_default_state: false,
-};
-
-// Then in act.rs
-// The extruder simply calls the update function of the screw_speed_controller,
-// which contains "all" of the logic needed to properly drive the motor
-self.screw_speed_controller.update(now_ts, true);
-
-
-```
-
-This is desired behaviour for all implemented devices, the machines should stay as modular as possible.
-
-# Representing physical Units (Volt,Ampere,Hz,RPM etc)
-
-To represent physical units like voltage ampere etc... we use uom (units of measurement), which acts as a wrapper for units and supplies all conversions between certain units.
-For example:
-
-```rust
-// Lets say a device measures voltage, you just got the raw value
-let volts : ElectricPotential = ElectricPotential::new::<volt>(raw_value_here);
-// Then you can do this to get milli_volts
-// In api responses we always use the RAW float value (64bit):
-let milli_volts : f64 = volts.get::<millivolt>();
-```
-
-# General Advice
-
- Try to avoid duplicate code (DRY principle)
- Try to avoid lifetimes if at all possible
- Avoid excessive abstractions
- Avoid async code unless it is required
- Avoid taking Ownership of values, instead borrow the value
- When implementing a Trait for a struct, do it in the same file as the struct definition
- Split up large impl blocks into smaller impl blocks
@@ -1,27 +0,0 @@
-# Testing Ram and Cpu (Hardware)
-
-There were instability problems on one of the hmi panel pc's related to ram.
-
-To test Ram and Cpu for stability problems we use memtest86.
-
-You can download it here: https://www.memtest86.com/download.htm
-Then in the unzipped folder you have to flash the .img file to a USB drive with atleast 2GB of space.
-We already have USB-Sticks flashed with memtest though.
-
-1. When starting up the Pc mash Del (Entf in german) on an external keyboard and enter the bios
-
-2. Select the Memtest86 usb stick in the Bios
-
-3. Save changes and exit
-
-4. Now memtest boots up, just let it do its thing from here
-
-It works if the screen looks something like this:
-
-![](../assets/Memtest86_v83p.png)
-
-Simply let it do one Pass ~20 minutes and shutdown and unplug usb stick afterwards
-
-If it freezes completely -> unstable
-
-If it shows errors the ram should be swapped out and the test repeated
@@ -1,40 +0,0 @@
-# Ethercat Tab shows no Ethercat Terminals!
-
-When the Ethercat page does not show any terminals, this can be due to multiple reasons
-
-## 1: Incorrect Connection of EK1100
-
-Check that the computers ethernet cable is properly connected to the EK1100 IN port
-
-Check the cabling if more than one EK1100 is used.
-When you have multiple EK the connection should be like this:
-
-Master (Your pc) -> Ethernet cable -> IN EK1100 (A)
-
-OUT EK1100 (A) -> Ethernet cable -> IN EK1100 (B)
-
-If you connected any part of this incorrectly the ethercat software will try to communicate but will fail, because the protocol works only if all devices are connect in series.
-
-## 2: Defective EtherCAT Terminal
-
-If a Terminal is somehow defective it can disrupt the communication flow expected by EtherCAT thus causing no devices to show up, as ethercat requires all terminals to work properly.
-
-To identify the defective terminal start unplugging terminals starting from the End terminal. Working your way backwards. Every time you unplug a terminal restart the backend process.
-
-You know that you have removed the defective terminal when the ethercat tab shows devices after your restart.
-
-Replace that terminal with an appropriate one and repeat this if the error persists.
-
-## 3: Corrupt Firmware on EtherCAT Terminal
-
-Another reason, that an Ethercat Terminal doesnt work properly, is that the firmware is corrupt. This could happen due to overvoltage,undervoltage or shorts, in some cases this is recoverable by reflashing the firmware.
-
-Our repository contains dumps for all of the EtherCAT Terminals, that we have used. To upload the firmware you can follow this guide: https://infosys.beckhoff.com/english.php?content=../content/1033/ethercatsystem/402909835.html&id=
-
-To follow this guide, you need to have TwinCat installed and a License.
-
-# Motor does not start!
-
-If the Motor does not start after trying to talk to the inverter, the most common reason is that the inverter's serial connection settings (baudrate,encoding ...) are incorrect.
-
-The correct settings can be found in mitsubishi_inverter.md under `All Settings needed for the Inverter Communication/Operation with Extruder`
@@ -11,13 +11,13 @@
        "@hookform/resolvers": "^4.1.2",
        "@icons-pack/react-simple-icons": "^11.2.0",
        "@jub3i/tree-kill": "^0.0.15",
-        "@radix-ui/react-collapsible": "^1.1.12",
+        "@radix-ui/react-collapsible": "^1.1.8",
        "@radix-ui/react-dialog": "^1.1.6",
        "@radix-ui/react-dropdown-menu": "^2.1.15",
        "@radix-ui/react-label": "^2.1.2",
        "@radix-ui/react-navigation-menu": "^1.2.5",
        "@radix-ui/react-popover": "^1.1.7",
-        "@radix-ui/react-select": "^2.2.6",
+        "@radix-ui/react-select": "^2.1.6",
        "@radix-ui/react-separator": "^1.1.3",
        "@radix-ui/react-slider": "^1.2.3",
        "@radix-ui/react-slot": "^1.1.2",
@@ -54,7 +54,7 @@
        "xlsx": "^0.18.5",
        "zod": "^3.24.2",
        "zod-validation-error": "^3.4.0",
-        "zustand": "^5.0.8"
+        "zustand": "^5.0.3"
      },
      "devDependencies": {
        "@electron-forge/cli": "^7.6.1",
@@ -79,7 +79,7 @@
        "@types/node": "^24.2.1",
        "@types/react": "^19.0.10",
        "@types/react-dom": "^19.0.4",
-        "electron": "^37.3.1",
+        "electron": "^37.2.6",
        "electron-playwright-helpers": "^1.7.1",
        "eslint": "^9.20.1",
        "eslint-config-prettier": "^10.1.2",
@@ -95,7 +95,7 @@
        "ts-node": "^10.9.2",
        "typescript": "^5.7.3",
        "typescript-eslint": "^8.24.1",
-        "vite": "^6.3.6",
+        "vite": "^6.2.6",
        "vitest": "^3.0.6"
      }
    },
@@ -2323,16 +2323,15 @@
      }
    },
    "node_modules/@radix-ui/react-collapsible": {
-      "version": "1.1.12",
-      "resolved": "https://registry.npmjs.org/@radix-ui/react-collapsible/-/react-collapsible-1.1.12.tgz",
-      "integrity": "sha512-Uu+mSh4agx2ib1uIGPP4/CKNULyajb3p92LsVXmH2EHVMTfZWpll88XJ0j4W0z3f8NK1eYl1+Mf/szHPmcHzyA==",
-      "license": "MIT",
+      "version": "1.1.11",
+      "resolved": "https://registry.npmjs.org/@radix-ui/react-collapsible/-/react-collapsible-1.1.11.tgz",
+      "integrity": "sha512-2qrRsVGSCYasSz1RFOorXwl0H7g7J1frQtgpQgYrt+MOidtPAINHn9CPovQXb83r8ahapdx3Tu0fa/pdFFSdPg==",
      "dependencies": {
-        "@radix-ui/primitive": "1.1.3",
+        "@radix-ui/primitive": "1.1.2",
        "@radix-ui/react-compose-refs": "1.1.2",
        "@radix-ui/react-context": "1.1.2",
        "@radix-ui/react-id": "1.1.1",
-        "@radix-ui/react-presence": "1.1.5",
+        "@radix-ui/react-presence": "1.1.4",
        "@radix-ui/react-primitive": "2.1.3",
        "@radix-ui/react-use-controllable-state": "1.2.2",
        "@radix-ui/react-use-layout-effect": "1.1.1"
@@ -2352,36 +2351,6 @@
        }
      }
    },
-    "node_modules/@radix-ui/react-collapsible/node_modules/@radix-ui/primitive": {
-      "version": "1.1.3",
-      "resolved": "https://registry.npmjs.org/@radix-ui/primitive/-/primitive-1.1.3.tgz",
-      "integrity": "sha512-JTF99U/6XIjCBo0wqkU5sK10glYe27MRRsfwoiq5zzOEZLHU3A3KCMa5X/azekYRCJ0HlwI0crAXS/5dEHTzDg==",
-      "license": "MIT"
-    },
-    "node_modules/@radix-ui/react-collapsible/node_modules/@radix-ui/react-presence": {
-      "version": "1.1.5",
-      "resolved": "https://registry.npmjs.org/@radix-ui/react-presence/-/react-presence-1.1.5.tgz",
-      "integrity": "sha512-/jfEwNDdQVBCNvjkGit4h6pMOzq8bHkopq458dPt2lMjx+eBQUohZNG9A7DtO/O5ukSbxuaNGXMjHicgwy6rQQ==",
-      "license": "MIT",
-      "dependencies": {
-        "@radix-ui/react-compose-refs": "1.1.2",
-        "@radix-ui/react-use-layout-effect": "1.1.1"
-      },
-      "peerDependencies": {
-        "@types/react": "*",
-        "@types/react-dom": "*",
-        "react": "^16.8 || ^17.0 || ^18.0 || ^19.0 || ^19.0.0-rc",
-        "react-dom": "^16.8 || ^17.0 || ^18.0 || ^19.0 || ^19.0.0-rc"
-      },
-      "peerDependenciesMeta": {
-        "@types/react": {
-          "optional": true
-        },
-        "@types/react-dom": {
-          "optional": true
-        }
-      }
-    },
    "node_modules/@radix-ui/react-collection": {
      "version": "1.1.7",
      "resolved": "https://registry.npmjs.org/@radix-ui/react-collection/-/react-collection-1.1.7.tgz",
@@ -2855,22 +2824,21 @@
      }
    },
    "node_modules/@radix-ui/react-select": {
-      "version": "2.2.6",
-      "resolved": "https://registry.npmjs.org/@radix-ui/react-select/-/react-select-2.2.6.tgz",
-      "integrity": "sha512-I30RydO+bnn2PQztvo25tswPH+wFBjehVGtmagkU78yMdwTwVf12wnAOF+AeP8S2N8xD+5UPbGhkUfPyvT+mwQ==",
-      "license": "MIT",
+      "version": "2.2.5",
+      "resolved": "https://registry.npmjs.org/@radix-ui/react-select/-/react-select-2.2.5.tgz",
+      "integrity": "sha512-HnMTdXEVuuyzx63ME0ut4+sEMYW6oouHWNGUZc7ddvUWIcfCva/AMoqEW/3wnEllriMWBa0RHspCYnfCWJQYmA==",
      "dependencies": {
        "@radix-ui/number": "1.1.1",
-        "@radix-ui/primitive": "1.1.3",
+        "@radix-ui/primitive": "1.1.2",
        "@radix-ui/react-collection": "1.1.7",
        "@radix-ui/react-compose-refs": "1.1.2",
        "@radix-ui/react-context": "1.1.2",
        "@radix-ui/react-direction": "1.1.1",
-        "@radix-ui/react-dismissable-layer": "1.1.11",
-        "@radix-ui/react-focus-guards": "1.1.3",
+        "@radix-ui/react-dismissable-layer": "1.1.10",
+        "@radix-ui/react-focus-guards": "1.1.2",
        "@radix-ui/react-focus-scope": "1.1.7",
        "@radix-ui/react-id": "1.1.1",
-        "@radix-ui/react-popper": "1.2.8",
+        "@radix-ui/react-popper": "1.2.7",
        "@radix-ui/react-portal": "1.1.9",
        "@radix-ui/react-primitive": "2.1.3",
        "@radix-ui/react-slot": "1.2.3",
@@ -2897,86 +2865,6 @@
        }
      }
    },
-    "node_modules/@radix-ui/react-select/node_modules/@radix-ui/primitive": {
-      "version": "1.1.3",
-      "resolved": "https://registry.npmjs.org/@radix-ui/primitive/-/primitive-1.1.3.tgz",
-      "integrity": "sha512-JTF99U/6XIjCBo0wqkU5sK10glYe27MRRsfwoiq5zzOEZLHU3A3KCMa5X/azekYRCJ0HlwI0crAXS/5dEHTzDg==",
-      "license": "MIT"
-    },
-    "node_modules/@radix-ui/react-select/node_modules/@radix-ui/react-dismissable-layer": {
-      "version": "1.1.11",
-      "resolved": "https://registry.npmjs.org/@radix-ui/react-dismissable-layer/-/react-dismissable-layer-1.1.11.tgz",
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