diff --git a/LinearAlgebra/src/Direction.cs b/LinearAlgebra/src/Direction.cs
index d544d90..7d0b75b 100644
--- a/LinearAlgebra/src/Direction.cs
+++ b/LinearAlgebra/src/Direction.cs
@@ -24,15 +24,11 @@ namespace LinearAlgebra {
             horizontal = 0;
             vertical = 0;
         }
-        // public Direction(Angle horizontal, Angle vertical) {
-        //     this.horizontal = horizontal.inDegrees;
-
-        // }
-        // public Direction(float horizontal, float vertical) {
-        //     this.horizontal = horizontal;
-        //     this.vertical = vertical;
-        //     //Normalize();
-        // }
+        public Direction(Angle horizontal, Angle vertical) {
+            this.horizontal = horizontal.inDegrees;
+            this.vertical = vertical.inDegrees;
+            this.Normalize();
+        }
 
         public static Direction Degrees(float horizontal, float vertical) {
             Direction d = new() {
@@ -82,6 +78,33 @@ namespace LinearAlgebra {
             Vector3Float v = new(x, y, z);
             return v;
         }
+
+        public static bool operator ==(Direction d1, Direction d2) {
+            bool horizontalEq = d1.horizontal == d2.horizontal;
+            bool verticalEq = d1.vertical == d2.vertical;
+            return horizontalEq && verticalEq;
+        }
+
+        public static bool operator !=(Direction d1, Direction d2) {
+            bool horizontalNEq = d1.horizontal != d2.horizontal;
+            bool verticalNEq = d1.vertical != d2.vertical;
+            return horizontalNEq || verticalNEq;
+        }
+
+        public override bool Equals(object obj) {
+            if (obj is not Direction d)
+                return false;
+
+            bool horizontalEq = this.horizontal == d.horizontal;
+            bool verticalEq = this.vertical == d.vertical;
+            return horizontalEq && verticalEq;
+        }
+
+        
+        public override int GetHashCode() {
+            return (this.horizontal, this.vertical).GetHashCode();
+        }
+
     }
 
 }
\ No newline at end of file
diff --git a/LinearAlgebra/test/AngleTest.cs b/LinearAlgebra/test/AngleTest.cs
index 00e4981..67110e4 100644
--- a/LinearAlgebra/test/AngleTest.cs
+++ b/LinearAlgebra/test/AngleTest.cs
@@ -35,7 +35,7 @@ namespace LinearAlgebra.Test {
 
             angle = (float)Math.PI * 1.5f;
             a = Angle.Radians(angle);
-            Assert.AreEqual(-Math.PI * 0.5f, a.inRadians);
+            Assert.AreEqual(-Math.PI * 0.5f, a.inRadians, 1.0E-05F);
 
             // Revolutions
             angle = 0.0f;
diff --git a/LinearAlgebra/test/DirectionTest.cs b/LinearAlgebra/test/DirectionTest.cs
index 3cebe1a..2e099af 100644
--- a/LinearAlgebra/test/DirectionTest.cs
+++ b/LinearAlgebra/test/DirectionTest.cs
@@ -9,10 +9,12 @@ namespace LinearAlgebra.Test {
 
         [Test]
         public void Compare() {
-            Direction d = Direction.Degrees(45, 135);
+            Direction d1 = Direction.Degrees(45, 135);
+            Direction d2 = new(Angle.Degrees(45), Angle.Degrees(135));
             bool r;
-            r = d == new Direction(Angle.Degrees(45), Angle.Degrees(135));
+            r = d1 == d2;
             Assert.True(r);
+            Assert.AreEqual(d1, d2);
         }
     };
 }
diff --git a/LinearAlgebra/test/SphericalTest.cs b/LinearAlgebra/test/SphericalTest.cs
index 8539dc0..4ec4429 100644
--- a/LinearAlgebra/test/SphericalTest.cs
+++ b/LinearAlgebra/test/SphericalTest.cs
@@ -46,7 +46,7 @@ namespace LinearAlgebra.Test {
             r = v1 + v2;
             Assert.AreEqual(Math.Sqrt(2), r.distance, 1.0E-05F, "Addition(1 0 90)");
             Assert.AreEqual(45.0f, r.direction.horizontal, "Addition(1 0 90)");
-            Assert.AreEqual(45.0f, r.direction.vertical, "Addition(1 0 90)");
+            Assert.AreEqual(45.0f, r.direction.vertical, 1.0E-05F, "Addition(1 0 90)");
         }
     }
 }
diff --git a/src/Things/TouchSensor.cs b/src/Things/TouchSensor.cs
index 4235c30..cdeb0dc 100644
--- a/src/Things/TouchSensor.cs
+++ b/src/Things/TouchSensor.cs
@@ -70,7 +70,7 @@ namespace RoboidControl {
             touchUpdated = false;
             return bytes;
 #else
-            return 0;
+            return Array.Empty<byte>();
 #endif
         }