diff --git a/bobbycar-can.h b/bobbycar-can.h
index d9fa171..ef59fb4 100644
--- a/bobbycar-can.h
+++ b/bobbycar-can.h
@@ -2,279 +2,197 @@
 
 #include <cstdint>
 
-enum { //                         vv
-    DeviceTypeMotorController = 0b00000000000
-};
+namespace bobbycar {
+namespace can {
+template<bool isBack, bool isRight>
+class MotorController
+{
+private:
+    enum { //                         vvv
+        DeviceTypeMotorController = 0b00000000000
+    };
 
-enum { //                         ..vv
-    MotorControllerRec =        0b00000000000,
-    MotorControllerSend =       0b00010000000,
-};
+    enum { //                         ...v
+        MotorControllerCommand =    0b00000000000,
+        MotorControllerFeedback =   0b00010000000,
+    };
 
-enum { //                         ....vvvvv
-    MotorControllerDcLink =     0b00000000000,
-    MotorControllerSpeed =      0b00000000100,
-    MotorControllerError =      0b00000001000,
-    MotorControllerAngle =      0b00000001100,
-    MotorControllerDcPhaA =     0b00000010000,
-    MotorControllerDcPhaB =     0b00000010100,
-    MotorControllerDcPhaC =     0b00000011000,
-    MotorControllerChops =      0b00000011100,
-    MotorControllerHall =       0b00000100000,
-    MotorControllerVoltage =    0b00000100100,
-    MotorControllerTemp =       0b00000101000
-};
+    enum { //                         .........v
+        MotorControllerFront =      0b00000000000,
+        MotorControllerBack =       0b00000000010,
+    };
 
-enum { //                         ....vvvvv
-    MotorControllerEnable =     0b00000000000,
-    MotorControllerInpTgt =     0b00000000100,
-    MotorControllerCtrlTyp =    0b00000001000,
-    MotorControllerCtrlMod =    0b00000001100,
-    MotorControllerIMotMax =    0b00000010000,
-    MotorControllerIDcMax =     0b00000010100,
-    MotorControllerNMotMax =    0b00000011000,
-    MotorControllerFieldWeakMax=0b00000011100,
-    MotorControllerPhaseAdvMax =0b00000100000,
-    MotorControllerBuzzerFreq = 0b00000100100,
-   MotorControllerBuzzerPattern=0b00000101000,
-    MotorControllerLed =        0b00000101100,
-    MotorControllerPoweroff =   0b00000110000
-};
+    enum { //                         ..........v
+        MotorControllerLeft =       0b00000000000,
+        MotorControllerRight =      0b00000000001,
+    };
 
-enum { //                         .........v
-    MotorControllerFront =      0b00000000000,
-    MotorControllerBack =       0b00000000010,
-};
+    enum {
+        MotorControllerMask =
+            DeviceTypeMotorController |
+            (isBack ? MotorControllerBack : MotorControllerFront) |
+            (isRight ? MotorControllerRight : MotorControllerLeft)
+    };
 
-enum { //                         ..........v
-    MotorControllerLeft =       0b00000000000,
-    MotorControllerRight =      0b00000000001,
-};
+public:
+    MotorController() = delete;
+    ~MotorController() = delete;
 
-enum {
-    MotorControllerFrontLeftDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightDcLink = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcLink | MotorControllerBack | MotorControllerRight,
+    class Command {
+    private:
+        enum {
+            MotorControllerCommandMask = MotorControllerMask | MotorControllerCommand
+        };
 
-    MotorControllerFrontLeftSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightSpeed = DeviceTypeMotorController | MotorControllerSend | MotorControllerSpeed | MotorControllerBack | MotorControllerRight,
+    public:
+        Command() = delete;
+        ~Command() = delete;
 
-    MotorControllerFrontLeftError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightError = DeviceTypeMotorController | MotorControllerSend | MotorControllerError | MotorControllerBack | MotorControllerRight,
+        enum { //             ....vvvvv
+            Enable =        0b00000000000 | MotorControllerCommandMask,
+            InpTgt =        0b00000000100 | MotorControllerCommandMask,
+            CtrlTyp =       0b00000001000 | MotorControllerCommandMask,
+            CtrlMod =       0b00000001100 | MotorControllerCommandMask,
+            IMotMax =       0b00000010000 | MotorControllerCommandMask,
+            IDcMax =        0b00000010100 | MotorControllerCommandMask,
+            NMotMax =       0b00000011000 | MotorControllerCommandMask,
+            FieldWeakMax =  0b00000011100 | MotorControllerCommandMask,
+            PhaseAdvMax =   0b00000100000 | MotorControllerCommandMask,
+            BuzzerFreq =    0b00000100100 | MotorControllerCommandMask,
+            BuzzerPattern = 0b00000101000 | MotorControllerCommandMask,
+            Led =           0b00000101100 | MotorControllerCommandMask,
+            Poweroff =      0b00000110000 | MotorControllerCommandMask
+        };
+    };
 
-    MotorControllerFrontLeftAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightAngle = DeviceTypeMotorController | MotorControllerSend | MotorControllerAngle | MotorControllerBack | MotorControllerRight,
+    class Feedback {
+    private:
+        enum {
+            MotorControllerFeedbackMask = MotorControllerMask | MotorControllerFeedback
+        };
 
-    MotorControllerFrontLeftDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightDcPhaA = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaA | MotorControllerBack | MotorControllerRight,
+    public:
+        Feedback() = delete;
+        ~Feedback() = delete;
 
-    MotorControllerFrontLeftDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightDcPhaB = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaB | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightDcPhaC = DeviceTypeMotorController | MotorControllerSend | MotorControllerDcPhaC | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightChops = DeviceTypeMotorController | MotorControllerSend | MotorControllerChops | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightHall = DeviceTypeMotorController | MotorControllerSend | MotorControllerHall | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightVoltage = DeviceTypeMotorController | MotorControllerSend | MotorControllerVoltage | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightTemp = DeviceTypeMotorController | MotorControllerSend | MotorControllerTemp | MotorControllerBack | MotorControllerRight,
-};
-
-enum {
-    MotorControllerFrontLeftEnable = DeviceTypeMotorController | MotorControllerRec | MotorControllerEnable | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightEnable = DeviceTypeMotorController | MotorControllerRec | MotorControllerEnable | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftEnable = DeviceTypeMotorController | MotorControllerRec | MotorControllerEnable | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightEnable = DeviceTypeMotorController | MotorControllerRec | MotorControllerEnable | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftInpTgt = DeviceTypeMotorController | MotorControllerRec | MotorControllerInpTgt | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightInpTgt = DeviceTypeMotorController | MotorControllerRec | MotorControllerInpTgt | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftInpTgt = DeviceTypeMotorController | MotorControllerRec | MotorControllerInpTgt | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightInpTgt = DeviceTypeMotorController | MotorControllerRec | MotorControllerInpTgt | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftCtrlTyp = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlTyp | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightCtrlTyp = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlTyp | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftCtrlTyp = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlTyp | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightCtrlTyp = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlTyp | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftCtrlMod = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlMod | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightCtrlMod = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlMod | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftCtrlMod = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlMod | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightCtrlMod = DeviceTypeMotorController | MotorControllerRec | MotorControllerCtrlMod | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftIMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIMotMax | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightIMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIMotMax | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftIMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIMotMax | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightIMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIMotMax | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftIDcMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIDcMax | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightIDcMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIDcMax | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftIDcMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIDcMax | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightIDcMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerIDcMax | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftNMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerNMotMax | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightNMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerNMotMax | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftNMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerNMotMax | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightNMotMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerNMotMax | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftFieldWeakMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerFieldWeakMax | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightFieldWeakMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerFieldWeakMax | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftFieldWeakMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerFieldWeakMax | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightFieldWeakMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerFieldWeakMax | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftPhaseAdvMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerPhaseAdvMax | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightPhaseAdvMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerPhaseAdvMax | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftPhaseAdvMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerPhaseAdvMax | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightPhaseAdvMax = DeviceTypeMotorController | MotorControllerRec | MotorControllerPhaseAdvMax | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftBuzzerFreq = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerFreq | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightBuzzerFreq = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerFreq | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftBuzzerFreq = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerFreq | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightBuzzerFreq = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerFreq | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftBuzzerPattern = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerPattern | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightBuzzerPattern = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerPattern | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftBuzzerPattern = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerPattern | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightBuzzerPattern = DeviceTypeMotorController | MotorControllerRec | MotorControllerBuzzerPattern | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftLed = DeviceTypeMotorController | MotorControllerRec | MotorControllerLed | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightLed = DeviceTypeMotorController | MotorControllerRec | MotorControllerLed | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftLed = DeviceTypeMotorController | MotorControllerRec | MotorControllerLed | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightLed = DeviceTypeMotorController | MotorControllerRec | MotorControllerLed | MotorControllerBack | MotorControllerRight,
-
-    MotorControllerFrontLeftPoweroff = DeviceTypeMotorController | MotorControllerRec | MotorControllerPoweroff | MotorControllerFront | MotorControllerLeft,
-    MotorControllerFrontRightPoweroff = DeviceTypeMotorController | MotorControllerRec | MotorControllerPoweroff | MotorControllerFront | MotorControllerRight,
-    MotorControllerBackLeftPoweroff = DeviceTypeMotorController | MotorControllerRec | MotorControllerPoweroff | MotorControllerBack | MotorControllerLeft,
-    MotorControllerBackRightPoweroff = DeviceTypeMotorController | MotorControllerRec | MotorControllerPoweroff | MotorControllerBack | MotorControllerRight,
+        enum { //          ....vvvvv
+            DcLink =     0b00000000000 | MotorControllerFeedbackMask,
+            Speed =      0b00000000100 | MotorControllerFeedbackMask,
+            Error =      0b00000001000 | MotorControllerFeedbackMask,
+            Angle =      0b00000001100 | MotorControllerFeedbackMask,
+            DcPhaA =     0b00000010000 | MotorControllerFeedbackMask,
+            DcPhaB =     0b00000010100 | MotorControllerFeedbackMask,
+            DcPhaC =     0b00000011000 | MotorControllerFeedbackMask,
+            Chops =      0b00000011100 | MotorControllerFeedbackMask,
+            Hall =       0b00000100000 | MotorControllerFeedbackMask,
+            Voltage =    0b00000100100 | MotorControllerFeedbackMask,
+            Temp =       0b00000101000 | MotorControllerFeedbackMask
+        };
+    };
 };
 
 inline const char *bobbycarCanIdDesc(uint16_t id)
 {
     switch (id)
     {
-    case MotorControllerFrontLeftEnable: return "MotorControllerFrontLeftEnable";
-    case MotorControllerFrontRightEnable: return "MotorControllerFrontRightEnable";
-    case MotorControllerBackLeftEnable: return "MotorControllerBackLeftEnable";
-    case MotorControllerBackRightEnable: return "MotorControllerBackRightEnable";
-    case MotorControllerFrontLeftInpTgt: return "MotorControllerFrontLeftInpTgt";
-    case MotorControllerFrontRightInpTgt: return "MotorControllerFrontRightInpTgt";
-    case MotorControllerBackLeftInpTgt: return "MotorControllerBackLeftInpTgt";
-    case MotorControllerBackRightInpTgt: return "MotorControllerBackRightInpTgt";
-    case MotorControllerFrontLeftCtrlTyp: return "MotorControllerFrontLeftCtrlTyp";
-    case MotorControllerFrontRightCtrlTyp: return "MotorControllerFrontRightCtrlTyp";
-    case MotorControllerBackLeftCtrlTyp: return "MotorControllerBackLeftCtrlTyp";
-    case MotorControllerBackRightCtrlTyp: return "MotorControllerBackRightCtrlTyp";
-    case MotorControllerFrontLeftCtrlMod: return "MotorControllerFrontLeftCtrlMod";
-    case MotorControllerFrontRightCtrlMod: return "MotorControllerFrontRightCtrlMod";
-    case MotorControllerBackLeftCtrlMod: return "MotorControllerBackLeftCtrlMod";
-    case MotorControllerBackRightCtrlMod: return "MotorControllerBackRightCtrlMod";
-    case MotorControllerFrontLeftIMotMax: return "MotorControllerFrontLeftIMotMax";
-    case MotorControllerFrontRightIMotMax: return "MotorControllerFrontRightIMotMax";
-    case MotorControllerBackLeftIMotMax: return "MotorControllerBackLeftIMotMax";
-    case MotorControllerBackRightIMotMax: return "MotorControllerBackRightIMotMax";
-    case MotorControllerFrontLeftIDcMax: return "MotorControllerFrontLeftIDcMax";
-    case MotorControllerFrontRightIDcMax: return "MotorControllerFrontRightIDcMax";
-    case MotorControllerBackLeftIDcMax: return "MotorControllerBackLeftIDcMax";
-    case MotorControllerBackRightIDcMax: return "MotorControllerBackRightIDcMax";
-    case MotorControllerFrontLeftNMotMax: return "MotorControllerFrontLeftNMotMax";
-    case MotorControllerFrontRightNMotMax: return "MotorControllerFrontRightNMotMax";
-    case MotorControllerBackLeftNMotMax: return "MotorControllerBackLeftNMotMax";
-    case MotorControllerBackRightNMotMax: return "MotorControllerBackRightNMotMax";
-    case MotorControllerFrontLeftFieldWeakMax: return "MotorControllerFrontLeftFieldWeakMax";
-    case MotorControllerFrontRightFieldWeakMax: return "MotorControllerFrontRightFieldWeakMax";
-    case MotorControllerBackLeftFieldWeakMax: return "MotorControllerBackLeftFieldWeakMax";
-    case MotorControllerBackRightFieldWeakMax: return "MotorControllerBackRightFieldWeakMax";
-    case MotorControllerFrontLeftPhaseAdvMax: return "MotorControllerFrontLeftPhaseAdvMax";
-    case MotorControllerFrontRightPhaseAdvMax: return "MotorControllerFrontRightPhaseAdvMax";
-    case MotorControllerBackLeftPhaseAdvMax: return "MotorControllerBackLeftPhaseAdvMax";
-    case MotorControllerBackRightPhaseAdvMax: return "MotorControllerBackRightPhaseAdvMax";
-    case MotorControllerFrontLeftBuzzerFreq: return "MotorControllerFrontLeftBuzzerFreq";
-    case MotorControllerFrontRightBuzzerFreq: return "MotorControllerFrontRightBuzzerFreq";
-    case MotorControllerBackLeftBuzzerFreq: return "MotorControllerBackLeftBuzzerFreq";
-    case MotorControllerBackRightBuzzerFreq: return "MotorControllerBackRightBuzzerFreq";
-    case MotorControllerFrontLeftBuzzerPattern: return "MotorControllerFrontLeftBuzzerPattern";
-    case MotorControllerFrontRightBuzzerPattern: return "MotorControllerFrontRightBuzzerPattern";
-    case MotorControllerBackLeftBuzzerPattern: return "MotorControllerBackLeftBuzzerPattern";
-    case MotorControllerBackRightBuzzerPattern: return "MotorControllerBackRightBuzzerPattern";
-    case MotorControllerFrontLeftLed: return "MotorControllerFrontLeftLed";
-    case MotorControllerFrontRightLed: return "MotorControllerFrontRightLed";
-    case MotorControllerBackLeftLed: return "MotorControllerBackLeftLed";
-    case MotorControllerBackRightLed: return "MotorControllerBackRightLed";
-    case MotorControllerFrontLeftPoweroff: return "MotorControllerFrontLeftPoweroff";
-    case MotorControllerFrontRightPoweroff: return "MotorControllerFrontRightPoweroff";
-    case MotorControllerBackLeftPoweroff: return "MotorControllerBackLeftPoweroff";
-    case MotorControllerBackRightPoweroff: return "MotorControllerBackRightPoweroff";
-    case MotorControllerFrontLeftDcLink: return "MotorControllerFrontLeftDcLink";
-    case MotorControllerFrontRightDcLink: return "MotorControllerFrontRightDcLink";
-    case MotorControllerBackLeftDcLink: return "MotorControllerBackLeftDcLink";
-    case MotorControllerBackRightDcLink: return "MotorControllerBackRightDcLink";
-    case MotorControllerFrontLeftSpeed: return "MotorControllerFrontLeftSpeed";
-    case MotorControllerFrontRightSpeed: return "MotorControllerFrontRightSpeed";
-    case MotorControllerBackLeftSpeed: return "MotorControllerBackLeftSpeed";
-    case MotorControllerBackRightSpeed: return "MotorControllerBackRightSpeed";
-    case MotorControllerFrontLeftError: return "MotorControllerFrontLeftError";
-    case MotorControllerFrontRightError: return "MotorControllerFrontRightError";
-    case MotorControllerBackLeftError: return "MotorControllerBackLeftError";
-    case MotorControllerBackRightError: return "MotorControllerBackRightError";
-    case MotorControllerFrontLeftAngle: return "MotorControllerFrontLeftAngle";
-    case MotorControllerFrontRightAngle: return "MotorControllerFrontRightAngle";
-    case MotorControllerBackLeftAngle: return "MotorControllerBackLeftAngle";
-    case MotorControllerBackRightAngle: return "MotorControllerBackRightAngle";
-    case MotorControllerFrontLeftDcPhaA: return "MotorControllerFrontLeftDcPhaA";
-    case MotorControllerFrontRightDcPhaA: return "MotorControllerFrontRightDcPhaA";
-    case MotorControllerBackLeftDcPhaA: return "MotorControllerBackLeftDcPhaA";
-    case MotorControllerBackRightDcPhaA: return "MotorControllerBackRightDcPhaA";
-    case MotorControllerFrontLeftDcPhaB: return "MotorControllerFrontLeftDcPhaB";
-    case MotorControllerFrontRightDcPhaB: return "MotorControllerFrontRightDcPhaB";
-    case MotorControllerBackLeftDcPhaB: return "MotorControllerBackLeftDcPhaB";
-    case MotorControllerBackRightDcPhaB: return "MotorControllerBackRightDcPhaB";
-    case MotorControllerFrontLeftDcPhaC: return "MotorControllerFrontLeftDcPhaC";
-    case MotorControllerFrontRightDcPhaC: return "MotorControllerFrontRightDcPhaC";
-    case MotorControllerBackLeftDcPhaC: return "MotorControllerBackLeftDcPhaC";
-    case MotorControllerBackRightDcPhaC: return "MotorControllerBackRightDcPhaC";
-    case MotorControllerFrontLeftChops: return "MotorControllerFrontLeftChops";
-    case MotorControllerFrontRightChops: return "MotorControllerFrontRightChops";
-    case MotorControllerBackLeftChops: return "MotorControllerBackLeftChops";
-    case MotorControllerBackRightChops: return "MotorControllerBackRightChops";
-    case MotorControllerFrontLeftHall: return "MotorControllerFrontLeftHall";
-    case MotorControllerFrontRightHall: return "MotorControllerFrontRightHall";
-    case MotorControllerBackLeftHall: return "MotorControllerBackLeftHall";
-    case MotorControllerBackRightHall: return "MotorControllerBackRightHall";
-    case MotorControllerFrontLeftVoltage: return "MotorControllerFrontLeftVoltage";
-    case MotorControllerFrontRightVoltage: return "MotorControllerFrontRightVoltage";
-    case MotorControllerBackLeftVoltage: return "MotorControllerBackLeftVoltage";
-    case MotorControllerBackRightVoltage: return "MotorControllerBackRightVoltage";
-    case MotorControllerFrontLeftTemp: return "MotorControllerFrontLeftTemp";
-    case MotorControllerFrontRightTemp: return "MotorControllerFrontRightTemp";
-    case MotorControllerBackLeftTemp: return "MotorControllerBackLeftTemp";
-    case MotorControllerBackRightTemp: return "MotorControllerBackRightTemp";
+    case MotorController<false, false>::Command::Enable: return "Enable (Command, Front, Left)";
+    case MotorController<false, true>::Command::Enable: return "Enable (Command, Front, Right)";
+    case MotorController<true, false>::Command::Enable: return "Enable (Command, Back, Left)";
+    case MotorController<true, true>::Command::Enable: return "Enable (Command, Back, Right)";
+    case MotorController<false, false>::Command::InpTgt: return "InpTgt (Command, Front, Left)";
+    case MotorController<false, true>::Command::InpTgt: return "InpTgt (Command, Front, Right)";
+    case MotorController<true, false>::Command::InpTgt: return "InpTgt (Command, Back, Left)";
+    case MotorController<true, true>::Command::InpTgt: return "InpTgt (Command, Back, Right)";
+    case MotorController<false, false>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Left)";
+    case MotorController<false, true>::Command::CtrlTyp: return "CtrlTyp (Command, Front, Right)";
+    case MotorController<true, false>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Left)";
+    case MotorController<true, true>::Command::CtrlTyp: return "CtrlTyp (Command, Back, Right)";
+    case MotorController<false, false>::Command::CtrlMod: return "CtrlMod (Command, Front, Left)";
+    case MotorController<false, true>::Command::CtrlMod: return "CtrlMod (Command, Front, Right)";
+    case MotorController<true, false>::Command::CtrlMod: return "CtrlMod (Command, Back, Left)";
+    case MotorController<true, true>::Command::CtrlMod: return "CtrlMod (Command, Back, Right)";
+    case MotorController<false, false>::Command::IMotMax: return "IMotMax (Command, Front, Left)";
+    case MotorController<false, true>::Command::IMotMax: return "IMotMax (Command, Front, Right)";
+    case MotorController<true, false>::Command::IMotMax: return "IMotMax (Command, Back, Left)";
+    case MotorController<true, true>::Command::IMotMax: return "IMotMax (Command, Back, Right)";
+    case MotorController<false, false>::Command::IDcMax: return "IDcMax (Command, Front, Left)";
+    case MotorController<false, true>::Command::IDcMax: return "IDcMax (Command, Front, Right)";
+    case MotorController<true, false>::Command::IDcMax: return "IDcMax (Command, Back, Left)";
+    case MotorController<true, true>::Command::IDcMax: return "IDcMax (Command, Back, Right)";
+    case MotorController<false, false>::Command::NMotMax: return "NMotMax (Command, Front, Left)";
+    case MotorController<false, true>::Command::NMotMax: return "NMotMax (Command, Front, Right)";
+    case MotorController<true, false>::Command::NMotMax: return "NMotMax (Command, Back, Left)";
+    case MotorController<true, true>::Command::NMotMax: return "NMotMax (Command, Back, Right)";
+    case MotorController<false, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Left)";
+    case MotorController<false, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Front, Right)";
+    case MotorController<true, false>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Left)";
+    case MotorController<true, true>::Command::FieldWeakMax: return "FieldWeakMax (Command, Back, Right)";
+    case MotorController<false, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Left)";
+    case MotorController<false, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Front, Right)";
+    case MotorController<true, false>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Left)";
+    case MotorController<true, true>::Command::PhaseAdvMax: return "PhaseAdvMax (Command, Back, Right)";
+    case MotorController<false, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Left)";
+    case MotorController<false, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Front, Right)";
+    case MotorController<true, false>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Left)";
+    case MotorController<true, true>::Command::BuzzerFreq: return "BuzzerFreq (Command, Back, Right)";
+    case MotorController<false, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Left)";
+    case MotorController<false, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Front, Right)";
+    case MotorController<true, false>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Left)";
+    case MotorController<true, true>::Command::BuzzerPattern: return "BuzzerPattern (Command, Back, Right)";
+    case MotorController<false, false>::Command::Led: return "Led (Command, Front, Left)";
+    case MotorController<false, true>::Command::Led: return "Led (Command, Front, Right)";
+    case MotorController<true, false>::Command::Led: return "Led (Command, Back, Left)";
+    case MotorController<true, true>::Command::Led: return "Led (Command, Back, Right)";
+    case MotorController<false, false>::Command::Poweroff: return "Poweroff (Command, Front, Left)";
+    case MotorController<false, true>::Command::Poweroff: return "Poweroff (Command, Front, Right)";
+    case MotorController<true, false>::Command::Poweroff: return "Poweroff (Command, Back, Left)";
+    case MotorController<true, true>::Command::Poweroff: return "Poweroff (Command, Back, Right)";
+    case MotorController<false, false>::Feedback::DcLink: return "DcLink (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::DcLink: return "DcLink (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::DcLink: return "DcLink (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::DcLink: return "DcLink (Feedback, Back, Right)";
+    case MotorController<false, false>::Feedback::Speed: return "Speed (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::Speed: return "Speed (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::Speed: return "Speed (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::Speed: return "Speed (Feedback, Back, Right)";
+    case MotorController<false, false>::Feedback::Error: return "Error (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::Error: return "Error (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::Error: return "Error (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::Error: return "Error (Feedback, Back, Right)";
+    case MotorController<false, false>::Feedback::Angle: return "Angle (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::Angle: return "Angle (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::Angle: return "Angle (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::Angle: return "Angle (Feedback, Back, Right)";
+    case MotorController<false, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::DcPhaA: return "DcPhaA (Feedback, Back, Right)";
+    case MotorController<false, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::DcPhaB: return "DcPhaB (Feedback, Back, Right)";
+    case MotorController<false, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::DcPhaC: return "DcPhaC (Feedback, Back, Right)";
+    case MotorController<false, false>::Feedback::Chops: return "Chops (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::Chops: return "Chops (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::Chops: return "Chops (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::Chops: return "Chops (Feedback, Back, Right)";
+    case MotorController<false, false>::Feedback::Hall: return "Hall (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::Hall: return "Hall (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::Hall: return "Hall (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::Hall: return "Hall (Feedback, Back, Right)";
+    case MotorController<false, false>::Feedback::Voltage: return "Voltage (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::Voltage: return "Voltage (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::Voltage: return "Voltage (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::Voltage: return "Voltage (Feedback, Back, Right)";
+    case MotorController<false, false>::Feedback::Temp: return "Temp (Feedback, Front, Left)";
+    case MotorController<false, true>::Feedback::Temp: return "Temp (Feedback, Front, Right)";
+    case MotorController<true, false>::Feedback::Temp: return "Temp (Feedback, Back, Left)";
+    case MotorController<true, true>::Feedback::Temp: return "Temp (Feedback, Back, Right)";
     }
     return "Unknown";
 }
+}
+}