diff --git a/SwiftyCar/Package.swift b/SwiftyCar/Package.swift
index a46de07..4f104bf 100644
--- a/SwiftyCar/Package.swift
+++ b/SwiftyCar/Package.swift
@@ -14,14 +14,15 @@ let package = Package(
         .package(url: "https://github.com/grpc/grpc-swift.git", from: "1.0.0-alpha.12"),
         .package(url: "https://github.com/uraimo/SwiftyGPIO.git", from: "1.0.0"),
         .package(url: "https://vato.ddns.net/gitlab/vato007/swiftrplidar.git", .branch("master")),
-        .package(url: "https://vato.ddns.net/gitlab/vato007/SwiftSerial.git", .branch("dtr_support"))
+        .package(url: "https://vato.ddns.net/gitlab/vato007/SwiftSerial.git", .branch("dtr_support")),
+        .package(url: "https://vato.ddns.net/gitlab/vato007/swift2dcar.git", .branch("master"))
     ],
     targets: [
         // Targets are the basic building blocks of a package. A target can define a module or a test suite.
         // Targets can depend on other targets in this package, and on products in packages which this package depends on.
         .target(
             name: "SwiftyCar",
-            dependencies: ["SwiftyGPIO", .product(name: "GRPC", package: "grpc-swift"), "SwiftRPLidar"]),
+            dependencies: ["SwiftyGPIO", .product(name: "GRPC", package: "grpc-swift"), "SwiftRPLidar", "Swift2dCar"]),
         .testTarget(
             name: "SwiftyCarTests",
             dependencies: ["SwiftyCar"]),
diff --git a/SwiftyCar/Sources/SwiftyCar/PwmWrappers.swift b/SwiftyCar/Sources/SwiftyCar/PwmWrappers.swift
deleted file mode 100644
index 688351e..0000000
--- a/SwiftyCar/Sources/SwiftyCar/PwmWrappers.swift
+++ /dev/null
@@ -1,104 +0,0 @@
-//
-//  PwmWrappers.swift
-//
-//  Simple wrappers for PwmOutput I'll create as I go along, to match gpioZero's implementation I'm currently using.
-//  See gpiozero code here: https://github.com/gpiozero/gpiozero/blob/master/gpiozero/output_devices.py
-//
-//  Created by Michael Pivato on 9/5/20.
-//
-
-import Foundation
-import SwiftyGPIO
-
-enum ServoError: Error{
-    case invalidMinPulseWidth
-    case invalidMaxPulseWidth
-}
-
-class Servo{
-    private (set) var frameWidth : Float
-    private var minDc: Float
-    private var dcRange: Float
-    private var minValue: Float
-    private var valueRange: Float
-    private var internalValue: Float
-    
-    // TODO: Use a factory to provide the correct pwm rather than passing the pin in.
-    private var device: PWMOutput
-    private var currentPulseWIdth: Float
-    
-    var minPulseWidth: Float {
-        get{
-            return self.minDc * self.frameWidth
-        }
-    }
-    
-    var maxPulseWidth: Float{
-        get{
-            return (self.dcRange * self.frameWidth) + self.minPulseWidth
-        }
-    }
-    
-    // TODO: Also store the pulse width (needs to be within this class)
-    //    var pulseWidth: Float{
-    //        get{
-    //            return self.device//self.pwm_device.pin.state * self.frame_width
-    //        }
-    //        set (value){
-    //
-    //        }
-    //    }
-    
-    var value: Float{
-        get{
-            internalValue
-        }
-        set(newValue){
-            self.internalValue = newValue
-            self.device.startPWM(period: Int(self.frameWidth),
-                                 // Multiple by 100 to get into percentage. I don't like that...
-                                 duty: self.minDc + self.dcRange * ((internalValue - self.minValue) / self.valueRange) * 100)
-        }
-    }
-    
-    // TODO: Change this to nanoseconds to match PWMOutput
-    init?(forPin pin: PWMOutput, startingAt initialValue: Float = 0, withMinPulseWidth minPulseWidth: Float = 1000000,
-          withMaxPulseWidth maxPulseWidth: Float = 2000000, withFrameWidth frameWidth: Float = 20000000) throws {
-        if(minPulseWidth >= maxPulseWidth){
-            throw ServoError.invalidMinPulseWidth
-        }
-        
-        if(maxPulseWidth >= frameWidth){
-            throw ServoError.invalidMaxPulseWidth
-        }
-        self.frameWidth = frameWidth
-        self.minDc = minPulseWidth / frameWidth
-        self.dcRange = (maxPulseWidth - minPulseWidth) / frameWidth
-        self.minValue = -1
-        self.valueRange = 2
-        
-        self.currentPulseWIdth = 0
-        
-        // Initialise pin immediately.
-        self.device = pin
-        self.device.initPWM()
-        self.internalValue = initialValue
-        self.device.startPWM(period: Int(self.frameWidth), duty: self.minDc + self.dcRange * ((internalValue - self.minValue) / self.valueRange) * 100)
-    }
-    
-    func min(){
-        self.value = -1
-    }
-    
-    func mid(){
-        self.value = 0
-    }
-    
-    func max() {
-        self.value = 1
-    }
-    
-    func detach(){
-        self.device.stopPWM()
-    }
-}
diff --git a/SwiftyCar/Sources/SwiftyCar/Vehicle.swift b/SwiftyCar/Sources/SwiftyCar/Vehicle.swift
index 957bc15..ab617c1 100644
--- a/SwiftyCar/Sources/SwiftyCar/Vehicle.swift
+++ b/SwiftyCar/Sources/SwiftyCar/Vehicle.swift
@@ -6,60 +6,47 @@
 //
 
 import Foundation
-import SwiftyGPIO
+import Swift2dCar
 
-protocol Vehicle{
-    mutating func move2D(magnitude: Float, angle: Float)
-}
+public typealias ThrottleHandler = (_ magnitude: Float) -> Float
+public typealias SteeringHandler = (_ angle: Float) -> Float
 
-protocol Vehicle2D: Vehicle{
-    var throttle: Float {get set}
-    var steering: Float {get set}
-}
 
-class MockVehicle: Vehicle2D{
-    var throttle: Float = 0
-    var steering: Float = 0
+public class IntelligentPiCar : RPiVehicle2D {
     
+    private var vehicleLength: Float?
+    private var throttleFunc: ThrottleHandler?
+    private var steeringFunc: SteeringHandler?
+    
+    /**:
+     Calibration function for how the car moves (acoording to a bicycle model) for a given throttle/steering angle. This sets the way the
+     - Parameters
+        - carLength
+     */
+    func calibrate(vehicleLength: Float, throttleFunc: @escaping ThrottleHandler, steeringFunc: @escaping SteeringHandler){
+        // Define a function that indicates how the throttle/steering should be set for given magnitude/angle to move.
+        self.vehicleLength = vehicleLength
+        self.throttleFunc = throttleFunc
+        self.steeringFunc = steeringFunc
+    }
+    
+    /**
+     Move the car by the given magnitude and angle, depending on how the is known to move with apriori throttle/steering.
+     */
     func move2D(magnitude: Float, angle: Float) {
+        if let throttleFunc = self.throttleFunc {
+            self.pwmThrottle.value = throttleFunc(magnitude)
+        }
         
+        if let steeringFunc = steeringFunc {
+            self.pwmSteering.value = steeringFunc(angle)
+        }
+    }
+    
+    /**
+     Move to the coordinates relative to the car. You must first calibrate the car. A bicycle model is assumed.
+     */
+    func moveRelativeTo2D(x: Float, y: Float) {
+        // TODO: This function, has a lot of edge cases. Also is really
     }
 }
-
-class RPiVehicle2D: Vehicle2D{
-    public let pwmThrottle: Servo
-    public let pwmSteering: Servo
-    
-    var throttle: Float{
-        get{
-            return pwmThrottle.value
-        }
-        set(value){
-            pwmThrottle.value = value
-        }
-    }
-    
-    var steering: Float{
-        get{
-            return pwmSteering.value
-        }
-        set(value){
-            pwmSteering.value = value
-        }
-    }
-    
-    init(withThrottlePin: Servo, withSteeringPin: Servo){
-        pwmThrottle = withThrottlePin
-        pwmSteering = withSteeringPin
-    }
-    
-    func move2D(magnitude: Float, angle: Float) {
-        
-    }
-    
-    func stop(){
-        pwmThrottle.detach()
-        pwmSteering.detach()
-    }
-    
-}