diff --git a/include/TerriBull/Devices/device.hpp b/include/TerriBull/Devices/device.hpp
index 5c80441..346d91f 100644
--- a/include/TerriBull/Devices/device.hpp
+++ b/include/TerriBull/Devices/device.hpp
@@ -2,8 +2,7 @@
 #define __TERRIBULL_DEVICES__
 
 #include "../TerriBull.hpp"
-
-class DeviceManager;
+// namespace TerriBull {
 
 /**
  * E_DEVICE_NONE = 0,
@@ -18,13 +17,13 @@ class DeviceManager;
  * E_DEVICE_GPS = 20,
  * E_DEVICE_SERIAL = 129,
  */
-typedef struct {
+typedef struct  {
     pros::c::v5_device_e_t pros_device_type;
     uint8_t port;
 } DeviceHeader;
 
 /**
- * E_MOTOR_GEARSET_36 = 0,  // 36:1, 100 RPM, Red gear set
+ * E_MOTOR_GEARSET_36 = 0,  // 36:1, 100 RPM, Red 6gear set
  * E_MOTOR_GEAR_RED = E_MOTOR_GEARSET_36,
  * E_MOTOR_GEAR_100 = E_MOTOR_GEARSET_36,
  * E_MOTOR_GEARSET_18 = 1,  // 18:1, 200 RPM, Green gear set
@@ -37,10 +36,9 @@ typedef struct {
  */
 
 typedef enum device_callback_return_code {
-    FUNC_NOT_FOUND = 0,
-    SUCCESS = 1,
-    DEVICE_TYPE_MISMATCH = 2,
-    DEVICE_NOT_EXIST = 3
+    SUCCESS = 0,
+    DEVICE_TYPE_MISMATCH = 1,
+    DEVICE_NOT_EXIST = 2,
 };
 
 typedef struct {
@@ -52,12 +50,54 @@ typedef struct {
     // Other motor-specific members
 } MotorDevice;
 
+typedef struct {
+    DeviceHeader header; // First member is the DeviceHeader
+    double position;
+    // Other rotation sensor-specific members
+} RotationSensorDevice;
 
+/**
+ * @brief Should Initialize device with Port and proto data
+ * 
+ * @param port 
+ * @param data contains {uint8_t port, int GEAR_SET, int BREAK_MODE}
+ * @return device_callback_return_code 
+ */
 typedef struct {
     uint8_t port; int GEAR_SET; int BREAK_MODE;
 } motor_initialize_callback_data;
 
 
+typedef struct {
+    uint8_t port;
+} rotation_sensor_initialize_callback_data;
+
+
+device_callback_return_code motor_device_initalize(TerriBull::DeviceManager* _motherSys, motor_initialize_callback_data data) {
+    MotorDevice* device = (MotorDevice*) malloc(sizeof(MotorDevice));
+    device->header.pros_device_type = pros::c::v5_device_e_t::E_DEVICE_MOTOR;
+    device->header.port = data.port;
+    device->gear_set = (pros::motor_gearset_e_t) data.GEAR_SET;
+    device->break_mode = (pros::motor_brake_mode_e_t) data.BREAK_MODE;
+    pros::c::motor_tare_position(device->header.port);
+    pros::c::motor_set_brake_mode(device->header.port, device->break_mode);
+    pros::c::motor_set_gearing(device->header.port, device->gear_set);
+    device->velocity = pros::c::motor_get_actual_velocity(device->header.port);
+    _motherSys->add_device(device); // pointer to device
+    return device_callback_return_code::SUCCESS;
+}
+
+
+device_callback_return_code rotation_sensor_initialize(TerriBull::DeviceManager* _motherSys, rotation_sensor_initialize_callback_data data) {
+    RotationSensorDevice* device = (RotationSensorDevice*) malloc(sizeof(RotationSensorDevice));
+    device->header.pros_device_type = pros::c::v5_device_e_t::E_DEVICE_ROTATION;
+    device->header.port = data.port;
+    pros::c::rotation_reset(device->header.port);
+    device->position = pros::c::rotation_get_position(device->header.port);
+    _motherSys->add_device(device); // pointer to device
+    return device_callback_return_code::SUCCESS;
+}
+
 /**
  * @brief Should set motors velocity to the proto data
  * 
@@ -71,10 +111,47 @@ typedef struct  {
     int16_t velocity;
 } motor_set_velocity_callback_data;
 
+typedef struct {
+    uint8_t port;
+    double position;
+} rotation_sensor_set_position_callback_data;
+
+typedef struct {
+    uint8_t port;
+} rotation_sensor_reset_position_callback_data;
+
+device_callback_return_code motor_device_set_velocity(TerriBull::DeviceManager* _motherSys, motor_set_velocity_callback_data data) {
+    DeviceHeader* device = _motherSys->get_device(data.port);
+    if (device != nullptr) return device_callback_return_code::DEVICE_NOT_EXIST;
+    if( ! device->pros_device_type == pros::c::v5_device_e_t::E_DEVICE_MOTOR) return device_callback_return_code::DEVICE_TYPE_MISMATCH;
+
+    MotorDevice* motor = static_cast<MotorDevice*>((void*)device);
+    pros::c::motor_move_velocity(motor->header.port, data.velocity);
+    return device_callback_return_code::SUCCESS;
+}
+
+
+device_callback_return_code rotation_sensor_set_position(TerriBull::DeviceManager* _motherSys, rotation_sensor_set_position_callback_data data) {
+    DeviceHeader* device = _motherSys->get_device(data.port);
+    if (device != nullptr) return device_callback_return_code::DEVICE_NOT_EXIST;
+    if( ! device->pros_device_type == pros::c::v5_device_e_t::E_DEVICE_ROTATION) return device_callback_return_code::DEVICE_TYPE_MISMATCH;
 
+    RotationSensorDevice* rotation_sensor = static_cast<RotationSensorDevice*>((void*)device);
+    pros::c::rotation_set_position(rotation_sensor->header.port, data.position);
+    return device_callback_return_code::SUCCESS;
+}
+
+device_callback_return_code rotation_sensor_reset_position(TerriBull::DeviceManager* _motherSys, rotation_sensor_reset_position_callback_data data) {
+    DeviceHeader* device = _motherSys->get_device(data.port);
+    if (device != nullptr) return device_callback_return_code::DEVICE_NOT_EXIST;
+    if( ! device->pros_device_type == pros::c::v5_device_e_t::E_DEVICE_ROTATION) return device_callback_return_code::DEVICE_TYPE_MISMATCH;
+
+    RotationSensorDevice* rotation_sensor = static_cast<RotationSensorDevice*>((void*)device);
+    pros::c::rotation_reset(rotation_sensor->header.port);
+    return device_callback_return_code::SUCCESS;
 
 typedef struct {
-    DeviceHeader header; 
+    DeviceHeader header; // First member is the DeviceHeader
     float roll;
     float yaw;
     float pitch;
@@ -82,31 +159,8 @@ typedef struct {
 } IMUDevice;
 
 typedef struct {
-    DeviceHeader header;
+    DeviceHeader header; // First member is the DeviceHeader
     float value;
 } AnalogDevice;
 
-
-#include "../DeviceManager.hpp"
-
-// Callbacks and Function Definitions
-
-/**
- * @brief Should Initialize motor device with Port and proto data
- * 
- * @param data contains {uint8_t port, int GEAR_SET, int BREAK_MODE}
- * @return device_callback_return_code 
- */
-device_callback_return_code motor_device_initalize(DeviceManager* _motherSys, motor_initialize_callback_data data);
-/**
- * @brief Should set motors velocity to the proto data
- * 
- * @param port 
- * @param data contains {uint8_t port, int GEAR_SET, int BREAK_MODE}
- * @return device_callback_return_code 
- * This velocity corresponds to different actual speeds depending on the gearset used for the motor. This results in a range of +-100 for E_MOTOR_GEARSET_36, +-200 for E_MOTOR_GEARSET_18, and +-600 for blue. The velocity is held with PID to ensure consistent speed, as opposed to setting the motor’s voltage.
- */
-device_callback_return_code motor_device_set_velocity(DeviceManager* _motherSys, motor_set_velocity_callback_data data);
-
-
 #endif
\ No newline at end of file