diff --git a/odrive_server_main.py b/odrive_server_main.py
index 4aa7100..b5cbf5e 100644
--- a/odrive_server_main.py
+++ b/odrive_server_main.py
@@ -50,10 +50,10 @@ class Server:
         self.init_odrive()
         self.control_loop()
 
-    def init_odrive(self):
+    def init_odrive(self) -> None:
         self.drive = Odrive()
 
-    def control_loop(self):
+    def control_loop(self) -> None:
         while True:
             data, _ = self.sock.recvfrom(1024)
             print(f"Received Message: {data}, type: {type(data)}")
@@ -61,7 +61,7 @@ class Server:
                 angle_0, angle_1 = self.calculate_angles(data[0], data[1])
                 self.drive.goto_raw(angle_0, angle_1)
 
-    def calculate_angles(self, target_pos_x, target_pos_y):
+    def calculate_angles(self, target_pos_x, target_pos_y) -> float:
         x = (target_pos_x + self.x_offset) * self.x_multiplier
         y = (target_pos_y + self.y_offset) * self.y_multiplier
         pi = 3.142