diff --git a/Propulsion.cpp b/Propulsion.cpp
index 9ef4c4b..775ee88 100644
--- a/Propulsion.cpp
+++ b/Propulsion.cpp
@@ -1,59 +1,54 @@
-#include "ControlledMotor.h"
 #include "Propulsion.h"
+#include "ControlledMotor.h"
 
 #include "FloatSingle.h"
 
-extern "C" {
-    #include "debug.h"
-}
-
 Propulsion::Propulsion() {
   this->placement = nullptr;
   this->motorCount = 0;
 }
 
-//void Propulsion::AddMotors(MotorPlacement* motors, unsigned int motorCount) {
-//  this->palce = motors;
-//  this->motorCount = motorCount;
-//}
+// void Propulsion::AddMotors(MotorPlacement* motors, unsigned int motorCount) {
+//   this->palce = motors;
+//   this->motorCount = motorCount;
+// }
 
 void Propulsion::AddMotors(Placement* things, unsigned int thingCount) {
-  //this->placement = motors;
-  //this->motorCount = motorCount;
-    this->motorCount = 0;
-    for (unsigned int thingIx = 0; thingIx < thingCount; thingIx++) {
-        Thing* thing = things[thingIx].thing;
-        if (thing->isMotor)
-            motorCount++;
-    }
-    this->placement = new Placement[motorCount];
-
-    unsigned int motorIx = 0;
-    for (unsigned int thingIx = 0; thingIx < thingCount; thingIx++) {
-        Thing* thing = things[thingIx].thing;
-        if (thing->isMotor)
-            this->placement[motorIx++] = things[thingIx];
-    }
+  // this->placement = motors;
+  // this->motorCount = motorCount;
+  this->motorCount = 0;
+  for (unsigned int thingIx = 0; thingIx < thingCount; thingIx++) {
+    Thing* thing = things[thingIx].thing;
+    if (thing->isMotor)
+      motorCount++;
+  }
+  this->placement = new Placement[motorCount];
 
+  unsigned int motorIx = 0;
+  for (unsigned int thingIx = 0; thingIx < thingCount; thingIx++) {
+    Thing* thing = things[thingIx].thing;
+    if (thing->isMotor)
+      this->placement[motorIx++] = things[thingIx];
+  }
 }
 
 void Propulsion::AddQuadcopter(Quadcopter* quadcopter) {
-    this->quadcopter = quadcopter;
+  this->quadcopter = quadcopter;
 }
 
 unsigned int Propulsion::GetMotorCount() {
-    return this->motorCount;
+  return this->motorCount;
 }
 
 Motor* Propulsion::GetMotor(unsigned int motorId) {
-    if (motorId >= this->motorCount)
-        return nullptr;
-
-    Thing* thing = this->placement[motorId].thing;
-    if (thing->isMotor)
-        return (Motor*)thing;
-
+  if (motorId >= this->motorCount)
     return nullptr;
+
+  Thing* thing = this->placement[motorId].thing;
+  if (thing->isMotor)
+    return (Motor*)thing;
+
+  return nullptr;
 }
 
 void Propulsion::Update() {
@@ -63,14 +58,14 @@ void Propulsion::Update() {
   // lastMillis = curMillis;
 
   for (unsigned int motorIx = 0; motorIx < this->motorCount; motorIx++) {
-    //Placement placement = placement[motorIx];
-    // placement.controlledMotor->Update(timeStep);
+    // Placement placement = placement[motorIx];
+    //  placement.controlledMotor->Update(timeStep);
   }
 }
 
 void Propulsion::SetDiffDriveSpeed(float leftSpeed, float rightSpeed) {
   for (unsigned int motorIx = 0; motorIx < this->motorCount; motorIx++) {
-    Motor* motor = (Motor*) placement[motorIx].thing;
+    Motor* motor = (Motor*)placement[motorIx].thing;
     if (motor == nullptr)
       continue;
 
@@ -84,11 +79,11 @@ void Propulsion::SetDiffDriveSpeed(float leftSpeed, float rightSpeed) {
 
 void Propulsion::SetDiffDriveVelocities(float leftVelocity, float rightVelocity) {
   for (unsigned int motorIx = 0; motorIx < this->motorCount; motorIx++) {
-    //Placement placement = placement[motorIx];
-    //if (placement.position.x < 0)
-    //  placement.controlledMotor->SetTargetVelocity(leftVelocity);
-    //else if (placement.position.x > 0)
-    //  placement.controlledMotor->SetTargetVelocity(rightVelocity);
+    // Placement placement = placement[motorIx];
+    // if (placement.position.x < 0)
+    //   placement.controlledMotor->SetTargetVelocity(leftVelocity);
+    // else if (placement.position.x > 0)
+    //   placement.controlledMotor->SetTargetVelocity(rightVelocity);
   };
 }
 
@@ -105,13 +100,13 @@ void Propulsion::SetTwistSpeed(float forward, float yaw, float pitch) {
   SetDiffDriveSpeed(leftSpeed, rightSpeed);
 
   if (quadcopter != nullptr) {
-      quadcopter->SetTwistSpeed(forward, yaw, pitch);
+    quadcopter->SetTwistSpeed(forward, yaw, pitch);
   }
 }
 
 void Propulsion::SetTwistSpeed(Vector3 linear, float yaw) {
-    if (quadcopter != nullptr)
-        quadcopter->SetTwistSpeed(linear, yaw);
+  if (quadcopter != nullptr)
+    quadcopter->SetTwistSpeed(linear, yaw);
 }
 
 void Propulsion::SetTwistVelocity(float forwardVelocity, float turningVelocity) {
@@ -121,10 +116,10 @@ void Propulsion::SetTwistVelocity(float forwardVelocity, float turningVelocity)
 }
 
 void Propulsion::SetLinearSpeed(Vector3 velocity, float yawSpeed, float rollSpeed) {
-    if (quadcopter != nullptr)
-        quadcopter->LinearMotion(velocity, yawSpeed, rollSpeed);
+  if (quadcopter != nullptr)
+    quadcopter->LinearMotion(velocity, yawSpeed, rollSpeed);
 }
 
 Quadcopter* Propulsion::GetQuadcopter() {
-    return quadcopter;
+  return quadcopter;
 }
\ No newline at end of file
diff --git a/component.mk b/component.mk
new file mode 100644
index 0000000..f3b1528
--- /dev/null
+++ b/component.mk
@@ -0,0 +1 @@
+COMPONENT_ADD_INCLUDEDIRS = ./VectorAlgebra/include
\ No newline at end of file