diff --git a/Motor.cpp b/Motor.cpp
index 76f8646..8151321 100644
--- a/Motor.cpp
+++ b/Motor.cpp
@@ -1,18 +1,18 @@
 #include "Motor.h"
 #include <time.h>
 
-#include <Arduino.h>
+// #include <Arduino.h>
 
 Motor::Motor() {
   type = Type::Motor;
 }
 
 float Motor::GetSpeed() {
-  return this->currentSpeed;
+  return this->currentTargetSpeed;
 }
 
-void Motor::SetSpeed(float speed) {
-  this->currentSpeed = speed;
+void Motor::SetSpeed(float targetSpeed) {
+  this->currentTargetSpeed = targetSpeed;
 }
 
 bool Motor::Drive(float distance) {
diff --git a/Motor.h b/Motor.h
index f322ee9..8403875 100644
--- a/Motor.h
+++ b/Motor.h
@@ -10,18 +10,25 @@ class Motor : public Thing {
  public:
   Motor();
   /// @brief Turning direction of the motor
-  enum Direction { Forward = 1, Reverse = -1 };
 
-  /// @brief Set the turning direction of the motor
-  // void SetDirection(Direction direction);
+  /// @brief Motor turning direction
+  enum class Direction { Clockwise = 1, CounterClockwise = -1 };
+  /// @brief The forward turning direction of the motor
+  Direction direction = Direction::Clockwise;
 
+  /// @brief Set the target motor speed
+  /// @param speed The speed between -1 (full backward), 0 (stop) and 1 (full
+  /// forward)
   virtual void SetSpeed(float speed);
-  float GetSpeed();
+  /// @brief Get the current target speed of the motor
+  /// @return The speed between -1 (full backward), 0 (stop) and 1 (full
+  /// forward)
+  virtual float GetSpeed();
 
   bool Drive(float distance);
 
  protected:
-  float currentSpeed = 0;
+  float currentTargetSpeed = 0;
   bool driving = false;
   float targetDistance = 0;
   time_t startTime = 0;
diff --git a/VectorAlgebra b/VectorAlgebra
index 80c89a8..493a3f7 160000
--- a/VectorAlgebra
+++ b/VectorAlgebra
@@ -1 +1 @@
-Subproject commit 80c89a8232aa77cabaee9f739ef6fdd3e5508260
+Subproject commit 493a3f748907b4fb7e64177f94b7cb98a951af4c