diff --git a/Sources/Swift2dCar/Servo.swift b/Sources/Swift2dCar/Servo.swift
index bbf2fe3..8f1c1a3 100644
--- a/Sources/Swift2dCar/Servo.swift
+++ b/Sources/Swift2dCar/Servo.swift
@@ -10,12 +10,12 @@
 import Foundation
 import SwiftyGPIO
 
-enum ServoError: Error{
+public enum ServoError: Error{
     case invalidMinPulseWidth
     case invalidMaxPulseWidth
 }
 
-protocol Servo {
+public protocol Servo {
     var value: Float {get set}
     
     var minPulseWidth: Float {get}
@@ -40,25 +40,25 @@ public class PWMHardwareServo : Servo{
     private var device: PWMOutput
     private var currentPulseWIdth: Float
     
-    var minPulseWidth: Float {
+    public var minPulseWidth: Float {
         get{
             return minDc * frameWidth
         }
     }
     
-    var maxPulseWidth: Float{
+    public var maxPulseWidth: Float{
         get{
             return (dcRange * frameWidth) + minPulseWidth
         }
     }
     
-    var pulseWidth: Float{
+    public var pulseWidth: Float{
         get{
             return internalValue * frameWidth
         }
     }
     
-    var value: Float{
+    public var value: Float{
         get{
             internalValue
         }
@@ -71,7 +71,7 @@ public class PWMHardwareServo : Servo{
     }
 
     
-    init?(forPin pin: PWMOutput, startingAt initialValue: Float = 0, withMinPulseWidth minPulseWidth: Float = 1000000,
+    public 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
@@ -95,19 +95,19 @@ public class PWMHardwareServo : Servo{
         self.device.startPWM(period: Int(self.frameWidth), duty: self.minDc + self.dcRange * ((internalValue - self.minValue) / self.valueRange) * 100)
     }
     
-    func min(){
+    public func min(){
         self.value = -1
     }
     
-    func mid(){
+    public func mid(){
         self.value = 0
     }
     
-    func max() {
+    public func max() {
         self.value = 1
     }
     
-    func detach(){
+    public func detach(){
         self.device.stopPWM()
     }
 }
diff --git a/Sources/Swift2dCar/Vehicle.swift b/Sources/Swift2dCar/Vehicle.swift
index 19d94d1..a3cf981 100644
--- a/Sources/Swift2dCar/Vehicle.swift
+++ b/Sources/Swift2dCar/Vehicle.swift
@@ -12,19 +12,15 @@ import SwiftyGPIO
 protocol Vehicle2D{
     var throttle: Float {get set}
     var steering: Float {get set}
-    mutating func move2D(magnitude: Float, angle: Float)
 }
 
 class MockVehicle: Vehicle2D {
     var throttle: Float = 0
     var steering: Float = 0
-    
-    func move2D(magnitude: Float, angle: Float) {
-        
-    }
 }
 
-class RPiVehicle2D: Vehicle2D{
+public class RPiVehicle2D: Vehicle2D{
+    
     public var pwmThrottle: Servo
     public var pwmSteering: Servo
     
@@ -51,13 +47,6 @@ class RPiVehicle2D: Vehicle2D{
         pwmSteering = withSteeringPin
     }
     
-    func calibrate(){
-        // Define a function that indicates how the throttle/steering should be set for given magnitude/angle to move.
-    }
-    
-    func move2D(magnitude: Float, angle: Float) {
-        
-    }
     
     func stop(){
         pwmThrottle.detach()
@@ -65,3 +54,46 @@ class RPiVehicle2D: Vehicle2D{
     }
     
 }
+
+public typealias ThrottleHandler = (_ magnitude: Float) -> Float
+public typealias SteeringHandler = (_ angle: Float) -> Float
+
+
+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
+    }
+}