diff --git a/CMakeLists.txt b/CMakeLists.txt
index 41f5e38..caca5cf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,12 +2,12 @@ cmake_minimum_required(VERSION 3.13)  # CMake version check
 if(ESP_PLATFORM)
     set(sourcedirs
         .
-        VectorAlgebra/src
+        VectorAlgebra
     )
 
     set(includedirs
         .
-        VectorAlgebra/include
+        VectorAlgebra
     )
 
     idf_component_register(
@@ -37,7 +37,7 @@ FetchContent_MakeAvailable(googletest)
 
 include_directories(
     .
-    VectorAlgebra/include
+    VectorAlgebra
 )
 
 add_library(RoboidControl STATIC 
diff --git a/DifferentialDrive.cpp b/DifferentialDrive.cpp
index 242603f..c7f9612 100644
--- a/DifferentialDrive.cpp
+++ b/DifferentialDrive.cpp
@@ -1,5 +1,5 @@
 #include "DifferentialDrive.h"
-#include "VectorAlgebra/include/FloatSingle.h"
+#include "VectorAlgebra/FloatSingle.h"
 
 #include <math.h>
 
diff --git a/Motor.cpp b/Motor.cpp
index c2a2185..05ad7f0 100644
--- a/Motor.cpp
+++ b/Motor.cpp
@@ -1,4 +1,5 @@
 #include "Motor.h"
+
 #include <time.h>
 
 Motor::Motor() {
diff --git a/Perception.cpp b/Perception.cpp
index f15b3c1..ded98e0 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -2,7 +2,7 @@
 #include "DistanceSensor.h"
 #include "NetworkSync.h"
 #include "Switch.h"
-#include "VectorAlgebra/include/Angle.h"
+#include "VectorAlgebra/Angle.h"
 
 #include <math.h>
 
diff --git a/Perception.h b/Perception.h
index db19fb3..339431f 100644
--- a/Perception.h
+++ b/Perception.h
@@ -3,8 +3,8 @@
 #include "Placement.h"
 #include "Sensor.h"
 #include "TrackedObject.h"
-#include "VectorAlgebra/include/Polar.h"
-#include "VectorAlgebra/include/Quaternion.h"
+#include "VectorAlgebra/Polar.h"
+#include "VectorAlgebra/Quaternion.h"
 
 namespace Passer {
 namespace RoboidControl {
diff --git a/Placement.h b/Placement.h
index 8e53071..ab94dfa 100644
--- a/Placement.h
+++ b/Placement.h
@@ -1,8 +1,8 @@
 #pragma once
 
 #include "Thing.h"
-#include "VectorAlgebra/include/Vector2.h"
-#include "VectorAlgebra/include/Vector3.h"
+#include "VectorAlgebra/Vector2.h"
+#include "VectorAlgebra/Vector3.h"
 
 namespace Passer {
 namespace RoboidControl {
diff --git a/Propulsion.cpp b/Propulsion.cpp
index 1b8a265..7555c45 100644
--- a/Propulsion.cpp
+++ b/Propulsion.cpp
@@ -1,7 +1,7 @@
 #include "Propulsion.h"
 #include "Roboid.h"
 
-#include "VectorAlgebra/include/FloatSingle.h"
+#include "VectorAlgebra/FloatSingle.h"
 
 Propulsion::Propulsion() {
   this->placement = nullptr;
diff --git a/Propulsion.h b/Propulsion.h
index ea412fa..954d9c7 100644
--- a/Propulsion.h
+++ b/Propulsion.h
@@ -2,9 +2,9 @@
 
 #include "Motor.h"
 #include "Placement.h"
-#include "VectorAlgebra/include/Polar.h"
-#include "VectorAlgebra/include/Quaternion.h"
-#include "VectorAlgebra/include/Vector2.h"
+#include "VectorAlgebra/Polar.h"
+#include "VectorAlgebra/Quaternion.h"
+#include "VectorAlgebra/Vector2.h"
 
 namespace Passer {
 namespace RoboidControl {
diff --git a/Quadcopter.h b/Quadcopter.h
index 40322a4..5419c90 100644
--- a/Quadcopter.h
+++ b/Quadcopter.h
@@ -2,7 +2,7 @@
 
 #include "Propulsion.h"
 #include "Thing.h"
-#include "VectorAlgebra/include/Vector3.h"
+#include "VectorAlgebra/Vector3.h"
 
 namespace Passer {
 namespace RoboidControl {
diff --git a/TrackedObject.h b/TrackedObject.h
index f347b00..06c2d1b 100644
--- a/TrackedObject.h
+++ b/TrackedObject.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "Sensor.h"
-#include "VectorAlgebra/include/Polar.h"
+#include "VectorAlgebra/Polar.h"
 
 namespace Passer {
 namespace RoboidControl {
diff --git a/VectorAlgebra b/VectorAlgebra
index 5b2d515..37d45cd 160000
--- a/VectorAlgebra
+++ b/VectorAlgebra
@@ -1 +1 @@
-Subproject commit 5b2d515cccd8d9b66ca85391a1a45a5bc2052fa7
+Subproject commit 37d45cdda59948e6d2bf11ffd6912ca9b3476c2e
diff --git a/component.mk b/component.mk
index f3b1528..a1c1162 100644
--- a/component.mk
+++ b/component.mk
@@ -1 +1 @@
-COMPONENT_ADD_INCLUDEDIRS = ./VectorAlgebra/include
\ No newline at end of file
+COMPONENT_ADD_INCLUDEDIRS = ./VectorAlgebra
\ No newline at end of file
diff --git a/library.json b/library.json
index 8b014b3..4f93efb 100644
--- a/library.json
+++ b/library.json
@@ -5,7 +5,7 @@
         "srcDir": ".",
         "flags": [
             "-I .",
-            "-I ./VectorAlgebra/include"
+            "-I ./VectorAlgebra"
         ]
     }
 }
\ No newline at end of file