From eb8e01cc2d91feb26ebcebe2d798e27c0678d200 Mon Sep 17 00:00:00 2001
From: Rewind <sploing1@gmail.com>
Date: Thu, 26 Jul 2018 12:00:56 -0700
Subject: [PATCH] Added MrModule and fixed ImageManagementModule

---
 .idea/workspace.xml                           | 678 +++++++++++-------
 .../com/apw/ImageManagement/ImageManager.java |   4 +-
 src/main/java/com/apw/apw3/DriverCons.java    |   2 +-
 .../java/com/apw/carcontrol/CarControl.java   |   1 +
 .../apw/carcontrol/ImageManagementModule.java |  58 +-
 .../java/com/apw/carcontrol/MrModule.java     |  68 ++
 .../apw/carcontrol/SpeedControlModule.java    |  15 +
 .../com/apw/carcontrol/SteeringModule.java    |  15 +
 .../com/apw/carcontrol/TrakSimControl.java    |   2 +-
 9 files changed, 547 insertions(+), 296 deletions(-)
 create mode 100644 src/main/java/com/apw/carcontrol/MrModule.java
 create mode 100644 src/main/java/com/apw/carcontrol/SpeedControlModule.java
 create mode 100644 src/main/java/com/apw/carcontrol/SteeringModule.java

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 185e40c..adf554e 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,8 +5,15 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="f525b4a3-b0b1-4062-9d6e-80535089a8f9" name="Default" comment="">
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/MrModule.java" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/SpeedControlModule.java" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/SteeringModule.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/build.gradle" beforeDir="false" afterPath="$PROJECT_DIR$/build.gradle" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImageManager.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImageManager.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/apw/apw3/DriverCons.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/apw/apw3/DriverCons.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/CarControl.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/CarControl.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/ImageManagementModule.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/ImageManagementModule.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/TrakSimControl.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/TrakSimControl.java" afterDir="false" />
     </list>
     <ignored path="$PROJECT_DIR$/out/" />
     <ignored path="$PROJECT_DIR$/gpu/target/" />
@@ -57,28 +64,30 @@
       <usages-collector id="statistics.file.extensions.open">
         <counts>
           <entry key="gradle" value="1" />
-          <entry key="java" value="2" />
+          <entry key="java" value="28" />
           <entry key="yml" value="1" />
         </counts>
       </usages-collector>
       <usages-collector id="statistics.file.types.open">
         <counts>
           <entry key="Groovy" value="1" />
-          <entry key="JAVA" value="2" />
+          <entry key="JAVA" value="28" />
           <entry key="YAML" value="1" />
         </counts>
       </usages-collector>
       <usages-collector id="statistics.file.extensions.edit">
         <counts>
+          <entry key="dummy" value="8" />
           <entry key="gradle" value="102" />
-          <entry key="java" value="13" />
+          <entry key="java" value="1519" />
           <entry key="yml" value="1" />
         </counts>
       </usages-collector>
       <usages-collector id="statistics.file.types.edit">
         <counts>
           <entry key="Groovy" value="102" />
-          <entry key="JAVA" value="13" />
+          <entry key="JAVA" value="1519" />
+          <entry key="PLAIN_TEXT" value="8" />
           <entry key="YAML" value="1" />
         </counts>
       </usages-collector>
@@ -86,98 +95,102 @@
   </component>
   <component name="FileEditorManager">
     <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/pedestrians/blobdetect/PrimitiveBlobDetection.java">
+      <file pinned="false" current-in-tab="true">
+        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/MrModule.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="348">
-              <caret line="88" column="10" selection-start-line="88" selection-start-column="10" selection-end-line="88" selection-end-column="10" />
+            <state relative-caret-position="240">
+              <caret line="10" lean-forward="true" selection-start-line="10" selection-end-line="10" />
               <folding>
                 <element signature="imports" expanded="true" />
+                <element signature="e#297#298#0" expanded="true" />
+                <element signature="e#324#325#0" expanded="true" />
               </folding>
             </state>
           </provider>
         </entry>
       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/gpu/ImageProcessing.java">
+        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/ImageManagementModule.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="312">
-              <caret line="18" selection-start-line="18" selection-end-line="18" />
+            <state relative-caret-position="492">
+              <caret line="82" lean-forward="true" selection-start-line="82" selection-end-line="82" />
             </state>
           </provider>
         </entry>
       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/gpu/MonochromeRasterKernel.java">
+        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/Module.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="264">
-              <caret line="11" selection-start-line="11" selection-end-line="11" />
+            <state relative-caret-position="360">
+              <caret line="15" column="17" selection-start-line="15" selection-start-column="17" selection-end-line="15" selection-end-column="17" />
             </state>
           </provider>
         </entry>
       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/drivedemo/DrDemo.java">
+        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImageManager.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="183">
-              <caret line="50" selection-start-line="50" selection-end-line="50" />
+            <state relative-caret-position="360">
+              <caret line="20" column="44" lean-forward="true" selection-start-line="20" selection-start-column="44" selection-end-line="20" selection-end-column="44" />
             </state>
           </provider>
         </entry>
       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/drivedemo/DriveTest.java">
+        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImageManipulator.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="207">
-              <caret line="177" column="37" selection-start-line="177" selection-start-column="37" selection-end-line="177" selection-end-column="37" />
+            <state relative-caret-position="48">
+              <caret line="2" column="13" selection-start-line="2" selection-start-column="13" selection-end-line="2" selection-end-column="13" />
             </state>
           </provider>
         </entry>
       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/apw3/DriverCons.java">
+        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImagePicker.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="888">
-              <caret line="52" column="75" selection-start-line="52" selection-start-column="75" selection-end-line="52" selection-end-column="75" />
+            <state relative-caret-position="36">
+              <caret line="17" column="29" lean-forward="true" selection-start-line="17" selection-start-column="29" selection-end-line="17" selection-end-column="29" />
+              <folding>
+                <element signature="imports" expanded="true" />
+                <element signature="e#1066#1067#0" expanded="true" />
+                <element signature="e#1103#1104#0" expanded="true" />
+              </folding>
             </state>
           </provider>
         </entry>
       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/drivedemo/TrakManager.java">
+        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/Steering/SteerControlCheck.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="180">
-              <caret line="117" column="19" selection-start-line="117" selection-start-column="19" selection-end-line="117" selection-end-column="19" />
+            <state relative-caret-position="288">
+              <caret line="20" selection-start-line="20" selection-end-line="20" />
             </state>
           </provider>
         </entry>
       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/Steering/Steering.java">
+        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/SpeedControlModule.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="552">
-              <caret line="23" column="56" selection-start-line="23" selection-start-column="56" selection-end-line="23" selection-end-column="56" />
-              <folding>
-                <element signature="imports" expanded="true" />
-              </folding>
+            <state relative-caret-position="240">
+              <caret line="10" column="8" lean-forward="true" selection-start-line="10" selection-start-column="8" selection-end-line="10" selection-end-column="8" />
             </state>
           </provider>
         </entry>
       </file>
-      <file pinned="false" current-in-tab="true">
-        <entry file="file://$PROJECT_DIR$/build.gradle">
+      <file pinned="false" current-in-tab="false">
+        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/SteeringModule.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="120">
-              <caret line="17" column="5" lean-forward="true" selection-start-line="17" selection-start-column="5" selection-end-line="17" selection-end-column="5" />
+            <state relative-caret-position="192">
+              <caret line="8" column="5" lean-forward="true" selection-start-line="8" selection-start-column="5" selection-end-line="8" selection-end-column="5" />
             </state>
           </provider>
         </entry>
       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/.travis.yml">
+        <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/TrakSimControl.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="264">
-              <caret line="11" column="56" selection-start-line="11" selection-start-column="56" selection-end-line="11" selection-end-column="56" />
+            <state relative-caret-position="840">
+              <caret line="40" column="17" lean-forward="true" selection-start-line="40" selection-start-column="17" selection-end-line="40" selection-end-column="17" />
             </state>
           </provider>
         </entry>
@@ -614,13 +627,6 @@
   <component name="IdeDocumentHistory">
     <option name="CHANGED_PATHS">
       <list>
-        <option value="$PROJECT_DIR$/src/main/java/com/apw/blobtrack/MovingBlob.java" />
-        <option value="$PROJECT_DIR$/src/main/java/com/apw/blobtrack/MovingBlobDetection.java" />
-        <option value="$PROJECT_DIR$/src/main/java/com/apw/blobtrack/MovingBlobDetectionTest.java" />
-        <option value="$PROJECT_DIR$/src/main/java/com/apw/blobtrack/UnifiedBlob.java" />
-        <option value="$PROJECT_DIR$/src/main/java/com/apw/oldimage/Image.java" />
-        <option value="$PROJECT_DIR$/src/main/java/com/apw/fly2cam/IAutoExposure.java" />
-        <option value="$PROJECT_DIR$/src/main/java/com/apw/fly2cam/ToggleExposure.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/oldimage/HDRImage.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/oldglobal/Main.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/fly2cam/OldFlyCamera.java" />
@@ -655,16 +661,23 @@
         <option value="$PROJECT_DIR$/src/main/java/com/apw/gpu/RGBRasterKernel.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/gpu/SimpleColorRasterKernel.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/gpu/SimpleToRGBKernel.java" />
-        <option value="$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImageManager.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/apw3/TrakSim.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/SpeedCon/SpeedController.java" />
-        <option value="$PROJECT_DIR$/src/main/java/com/apw/drivedemo/DriveTest.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/Steering/Steering.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/drivedemo/DrDemo.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/drivedemo/TrakManager.java" />
         <option value="$PROJECT_DIR$/src/main/java/com/apw/apw3/DriverCons.java" />
         <option value="$PROJECT_DIR$/.travis.yml" />
         <option value="$PROJECT_DIR$/build.gradle" />
+        <option value="$PROJECT_DIR$/src/main/java/com/apw/drivedemo/DriveTest.java" />
+        <option value="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/SpeedControlModule.java" />
+        <option value="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/SteeringModule.java" />
+        <option value="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/TrakSimControl.java" />
+        <option value="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/CarControl.java" />
+        <option value="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/Drive.java" />
+        <option value="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/ImageManagementModule.java" />
+        <option value="$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImageManager.java" />
+        <option value="$PROJECT_DIR$/src/main/java/com/apw/carcontrol/MrModule.java" />
       </list>
     </option>
   </component>
@@ -718,100 +731,6 @@
       <foldersAlwaysOnTop value="true" />
     </navigator>
     <panes>
-      <pane id="ProjectPane">
-        <subPane>
-          <expand>
-            <path>
-              <item name="CarControl" type="b2602c69:ProjectViewProjectNode" />
-              <item name="CarControl" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
-            </path>
-            <path>
-              <item name="CarControl" type="b2602c69:ProjectViewProjectNode" />
-              <item name="CarControl" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
-              <item name="src" type="462c0819:PsiDirectoryNode" />
-            </path>
-          </expand>
-          <select />
-        </subPane>
-      </pane>
-      <pane id="PackagesPane">
-        <subPane>
-          <expand>
-            <path>
-              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
-              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
-            </path>
-            <path>
-              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
-              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
-              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
-            </path>
-            <path>
-              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
-              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
-              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
-              <item name="com" type="1f31426a:PackageElementNode" />
-            </path>
-            <path>
-              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
-              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
-              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
-              <item name="com" type="1f31426a:PackageElementNode" />
-              <item name="apw" type="1f31426a:PackageElementNode" />
-            </path>
-            <path>
-              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
-              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
-              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
-              <item name="com" type="1f31426a:PackageElementNode" />
-              <item name="apw" type="1f31426a:PackageElementNode" />
-              <item name="drivedemo" type="1f31426a:PackageElementNode" />
-            </path>
-            <path>
-              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
-              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
-              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
-              <item name="com" type="1f31426a:PackageElementNode" />
-              <item name="apw" type="1f31426a:PackageElementNode" />
-              <item name="gpu" type="1f31426a:PackageElementNode" />
-            </path>
-            <path>
-              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
-              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
-              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
-              <item name="com" type="1f31426a:PackageElementNode" />
-              <item name="apw" type="1f31426a:PackageElementNode" />
-              <item name="ImageManagement" type="1f31426a:PackageElementNode" />
-            </path>
-            <path>
-              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
-              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
-              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
-              <item name="com" type="1f31426a:PackageElementNode" />
-              <item name="apw" type="1f31426a:PackageElementNode" />
-              <item name="pedestrians" type="1f31426a:PackageElementNode" />
-            </path>
-            <path>
-              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
-              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
-              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
-              <item name="com" type="1f31426a:PackageElementNode" />
-              <item name="apw" type="1f31426a:PackageElementNode" />
-              <item name="pedestrians" type="1f31426a:PackageElementNode" />
-              <item name="blobdetect" type="1f31426a:PackageElementNode" />
-            </path>
-            <path>
-              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
-              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
-              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
-              <item name="com" type="1f31426a:PackageElementNode" />
-              <item name="apw" type="1f31426a:PackageElementNode" />
-              <item name="SpeedCon" type="1f31426a:PackageElementNode" />
-            </path>
-          </expand>
-          <select />
-        </subPane>
-      </pane>
       <pane id="Scope">
         <subPane subId="Project Files">
           <expand>
@@ -918,6 +837,166 @@
           <select />
         </subPane>
       </pane>
+      <pane id="ProjectPane">
+        <subPane>
+          <expand>
+            <path>
+              <item name="CarControl" type="b2602c69:ProjectViewProjectNode" />
+              <item name="CarControl" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="b2602c69:ProjectViewProjectNode" />
+              <item name="CarControl" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="src" type="462c0819:PsiDirectoryNode" />
+            </path>
+          </expand>
+          <select />
+        </subPane>
+      </pane>
+      <pane id="PackagesPane">
+        <subPane>
+          <expand>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="apw3" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="carcontrol" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="drivedemo" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="fakefirm" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="fly2cam" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="gpu" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="ImageManagement" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="noJSSC" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="pedestrians" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="pedestrians" type="1f31426a:PackageElementNode" />
+              <item name="blobdetect" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="pedestrians" type="1f31426a:PackageElementNode" />
+              <item name="blobfilter" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="pedestrians" type="1f31426a:PackageElementNode" />
+              <item name="blobtrack" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="SpeedCon" type="1f31426a:PackageElementNode" />
+            </path>
+            <path>
+              <item name="CarControl" type="58d84e3e:PackageViewProjectNode" />
+              <item name="CarControl" type="eaaa3913:PackageViewModuleGroupNode" />
+              <item name="CarControl_main" type="616d4139:PackageViewModuleNode" />
+              <item name="com" type="1f31426a:PackageElementNode" />
+              <item name="apw" type="1f31426a:PackageElementNode" />
+              <item name="Steering" type="1f31426a:PackageElementNode" />
+            </path>
+          </expand>
+          <select />
+        </subPane>
+      </pane>
       <pane id="AndroidView" />
     </panes>
   </component>
@@ -968,7 +1047,7 @@
       </list>
     </option>
   </component>
-  <component name="RunManager" selected="Application.Run TrakSim">
+  <component name="RunManager" selected="Application.Run TSC">
     <configuration name="Run DriveTest" type="Application" factoryName="Application">
       <option name="MAIN_CLASS_NAME" value="com.apw.drivedemo.DriveTest" />
       <module name="CarControl_main" />
@@ -985,6 +1064,13 @@
         <option name="Make" enabled="true" />
       </method>
     </configuration>
+    <configuration name="Run TSC" type="Application" factoryName="Application">
+      <option name="MAIN_CLASS_NAME" value="com.apw.carcontrol.MrModule" />
+      <module name="CarControl_main" />
+      <method v="2">
+        <option name="Make" enabled="true" />
+      </method>
+    </configuration>
     <configuration name="Run TrakSim" type="Application" factoryName="Application">
       <option name="MAIN_CLASS_NAME" value="com.apw.drivedemo.DrDemo" />
       <module name="CarControl_main" />
@@ -1085,6 +1171,7 @@
       <item itemvalue="Application.Run GPU" />
       <item itemvalue="Application.Run DriveTest" />
       <item itemvalue="Application.Run TrakSim" />
+      <item itemvalue="Application.Run TSC" />
       <item itemvalue="Gradle.build" />
       <item itemvalue="Maven.convert cl" />
       <item itemvalue="Maven.package" />
@@ -1137,7 +1224,43 @@
     <frame x="-8" y="-8" width="1936" height="1066" extended-state="6" />
     <editor active="true" />
     <layout>
-      <window_info content_ui="combo" id="Project" order="0" sideWeight="0.6837607" visible="true" weight="0.114072494" />
+      <window_info content_ui="combo" id="Project" order="0" sideWeight="0.6837607" visible="true" weight="0.11727079" />
+      <window_info id="Structure" order="1" sideWeight="0.31623933" side_tool="true" weight="0.12708333" />
+      <window_info id="Designer" order="2" />
+      <window_info id="Image Layers" order="3" />
+      <window_info id="Capture Tool" order="4" />
+      <window_info id="Favorites" order="5" side_tool="true" />
+      <window_info id="UI Designer" order="6" />
+      <window_info anchor="bottom" id="Message" order="0" />
+      <window_info anchor="bottom" id="Find" order="1" weight="0.32903227" />
+      <window_info anchor="bottom" id="Run" order="2" weight="0.32897604" />
+      <window_info anchor="bottom" id="Debug" order="3" weight="0.4" />
+      <window_info anchor="bottom" id="Cvs" order="4" weight="0.25" />
+      <window_info anchor="bottom" id="Inspection" order="5" weight="0.4" />
+      <window_info anchor="bottom" id="TODO" order="6" />
+      <window_info anchor="bottom" id="Terminal" order="7" weight="0.31517094" />
+      <window_info anchor="bottom" id="Run with VisualVM" order="8" />
+      <window_info anchor="bottom" id="Database Changes" order="9" show_stripe_button="false" />
+      <window_info anchor="bottom" id="Debug with VisualVM" order="10" />
+      <window_info anchor="bottom" id="Event Log" order="11" side_tool="true" weight="0.32905984" />
+      <window_info anchor="bottom" id="Version Control" order="12" weight="0.23028392" />
+      <window_info anchor="bottom" id="Messages" order="13" weight="0.32352942" />
+      <window_info anchor="bottom" id="Build" order="14" weight="0.32799146" />
+      <window_info anchor="right" id="Commander" internal_type="SLIDING" order="0" type="SLIDING" weight="0.4" />
+      <window_info anchor="right" id="Ant Build" order="1" weight="0.25" />
+      <window_info anchor="right" content_ui="combo" id="Hierarchy" order="2" weight="0.25" />
+      <window_info anchor="right" id="Palette" order="3" />
+      <window_info anchor="right" id="Capture Analysis" order="4" />
+      <window_info anchor="right" id="Key Promoter X" order="5" />
+      <window_info anchor="right" id="Database" order="6" />
+      <window_info anchor="right" id="Theme Preview" order="7" />
+      <window_info anchor="right" id="Maven Projects" order="8" weight="0.3296875" />
+      <window_info anchor="right" id="Palette&#9;" order="9" />
+      <window_info anchor="right" id="Coverage" order="10" side_tool="true" weight="0.3296875" />
+      <window_info anchor="right" id="Gradle" order="11" weight="0.32916668" />
+    </layout>
+    <layout-to-restore>
+      <window_info content_ui="combo" id="Project" order="0" sideWeight="0.6837607" visible="true" weight="0.11727079" />
       <window_info id="Structure" order="1" sideWeight="0.31623933" side_tool="true" weight="0.12708333" />
       <window_info id="Designer" order="2" />
       <window_info id="Image Layers" order="3" />
@@ -1171,7 +1294,7 @@
       <window_info anchor="right" id="Palette&#9;" order="9" />
       <window_info anchor="right" id="Coverage" order="10" side_tool="true" weight="0.3296875" />
       <window_info anchor="right" id="Gradle" order="11" weight="0.32916668" />
-    </layout>
+    </layout-to-restore>
   </component>
   <component name="TypeScriptGeneratedFilesManager">
     <option name="version" value="1" />
@@ -1189,73 +1312,6 @@
     <option name="LAST_COMMIT_MESSAGE" value="Add .imls for consistency&#10;&#10;See .gitignore for details" />
   </component>
   <component name="editorHistoryManager">
-    <entry file="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/com.aparapi/aparapi/1.9.0/21334c12317113cfd56d55e3c7c07c51b99d1ac4/aparapi-1.9.0-sources.jar!/com/aparapi/Kernel.java" />
-    <entry file="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/com.aparapi/aparapi/1.9.0/21334c12317113cfd56d55e3c7c07c51b99d1ac4/aparapi-1.9.0-sources.jar!/com/aparapi/Range.java" />
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/gpu/MonoToRGBKernel.java">
-      <provider selected="true" editor-type-id="text-editor">
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-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/SpeedCon/.gitignore" />
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/Steering/SteerControlCheck.java">
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-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/gpu/SimpleColorRasterKernel.java">
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-        </state>
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-    </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/gpu/SimpleToRGBKernel.java">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-158">
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-        </state>
-      </provider>
-    </entry>
-    <entry file="jar://C:/Program Files/Java/jdk1.8.0_131/src.zip!/java/lang/System.java" />
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/SpeedCon/SpeedFinder.java">
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     <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/gpu/RGBRasterKernel.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="1440">
@@ -1279,8 +1335,8 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/apw3/SimCamera.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="225">
-          <caret line="27" selection-start-line="27" selection-end-line="27" />
+        <state relative-caret-position="384">
+          <caret line="52" column="68" selection-start-line="52" selection-end-line="53" />
         </state>
       </provider>
     </entry>
@@ -1314,16 +1370,6 @@
     <entry file="file://$PROJECT_DIR$/wasted.png">
       <provider selected="true" editor-type-id="images" />
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/apw3/TrakSim.java">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="81780">
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-            <element signature="imports" expanded="true" />
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-    </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/fakefirm/Arduino.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="192">
@@ -1376,13 +1422,6 @@
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/SpeedCon/SpeedController.java">
-      <provider selected="true" editor-type-id="text-editor">
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     <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/gpu/ImageProcessing.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="312">
@@ -1397,79 +1436,198 @@
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/Steering/Steering.java">
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/drivedemo/DrDemo.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="552">
-          <caret line="23" column="56" selection-start-line="23" selection-start-column="56" selection-end-line="23" selection-end-column="56" />
+        <state relative-caret-position="183">
+          <caret line="50" selection-start-line="50" selection-end-line="50" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/apw3/DriverCons.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="96">
+          <caret line="19" column="7" selection-start-line="19" selection-start-column="7" selection-end-line="19" selection-end-column="7" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/pedestrians/blobdetect/PrimitiveBlobDetection.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="348">
+          <caret line="88" column="10" selection-start-line="88" selection-start-column="10" selection-end-line="88" selection-end-column="10" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/.travis.yml">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="264">
+          <caret line="11" column="56" selection-start-line="11" selection-start-column="56" selection-end-line="11" selection-end-column="56" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/build.gradle">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="120">
+          <caret line="17" column="5" lean-forward="true" selection-start-line="17" selection-start-column="5" selection-end-line="17" selection-end-column="5" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/apw3/TrakSim.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="284">
+          <caret line="28" column="13" selection-start-line="28" selection-start-column="13" selection-end-line="28" selection-end-column="13" />
           <folding>
             <element signature="imports" expanded="true" />
           </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/drivedemo/DrDemo.java">
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/apw3/MyMath.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="183">
-          <caret line="50" selection-start-line="50" selection-end-line="50" />
+        <state relative-caret-position="144">
+          <caret line="21" column="13" selection-start-line="21" selection-start-column="13" selection-end-line="21" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="jar://C:/Program Files/Java/jdk1.8.0_131/src.zip!/java/awt/Component.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="1515">
+          <caret line="3309" column="16" selection-start-line="3309" selection-start-column="16" selection-end-line="3309" selection-end-column="16" />
+          <folding>
+            <element signature="e#114480#114481#0" expanded="true" />
+            <element signature="e#114527#114528#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="jar://C:/Program Files/Java/jdk1.8.0_131/src.zip!/java/util/TimerTask.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="-2172">
+          <caret line="38" column="7" lean-forward="true" selection-start-line="38" selection-start-column="7" selection-end-line="38" selection-end-column="7" />
         </state>
       </provider>
     </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/drivedemo/TimerRepaint.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="96">
-          <caret line="4" column="13" selection-start-line="4" selection-start-column="13" selection-end-line="4" selection-end-column="13" />
+        <state relative-caret-position="264">
+          <caret line="11" column="13" lean-forward="true" selection-start-line="11" selection-start-column="13" selection-end-line="11" selection-end-column="13" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImageManager.java">
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/CarControl.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="2520">
-          <caret line="118" selection-start-line="118" selection-end-line="118" />
+        <state relative-caret-position="286">
+          <caret line="17" lean-forward="true" selection-start-line="17" selection-end-line="17" />
         </state>
       </provider>
     </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/drivedemo/DriveTest.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="207">
-          <caret line="177" column="37" selection-start-line="177" selection-start-column="37" selection-end-line="177" selection-end-column="37" />
+        <state relative-caret-position="24">
+          <caret line="61" column="34" selection-start-line="61" selection-start-column="34" selection-end-line="61" selection-end-column="34" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/apw3/DriverCons.java">
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/drivedemo/TrakManager.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="888">
-          <caret line="52" column="75" selection-start-line="52" selection-start-column="75" selection-end-line="52" selection-end-column="75" />
+        <state relative-caret-position="168">
+          <caret line="24" column="29" lean-forward="true" selection-start-line="24" selection-start-column="29" selection-end-line="24" selection-end-column="29" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/drivedemo/TrakManager.java">
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/SpeedCon/SpeedController.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="624">
+          <caret line="47" column="13" selection-start-line="47" selection-start-column="13" selection-end-line="47" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/Steering/Steering.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="180">
-          <caret line="117" column="19" selection-start-line="117" selection-start-column="19" selection-end-line="117" selection-end-column="19" />
+        <state relative-caret-position="-456">
+          <caret line="23" column="56" selection-start-line="23" selection-start-column="56" selection-end-line="23" selection-end-column="56" />
+          <folding>
+            <element signature="imports" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/pedestrians/blobdetect/PrimitiveBlobDetection.java">
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/Steering/SteerControlCheck.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="348">
-          <caret line="88" column="10" selection-start-line="88" selection-start-column="10" selection-end-line="88" selection-end-column="10" />
+        <state relative-caret-position="288">
+          <caret line="20" selection-start-line="20" selection-end-line="20" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImagePicker.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="36">
+          <caret line="17" column="29" lean-forward="true" selection-start-line="17" selection-start-column="29" selection-end-line="17" selection-end-column="29" />
           <folding>
             <element signature="imports" expanded="true" />
+            <element signature="e#1066#1067#0" expanded="true" />
+            <element signature="e#1103#1104#0" expanded="true" />
           </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/.travis.yml">
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImageManager.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="264">
-          <caret line="11" column="56" selection-start-line="11" selection-start-column="56" selection-end-line="11" selection-end-column="56" />
+        <state relative-caret-position="360">
+          <caret line="20" column="44" lean-forward="true" selection-start-line="20" selection-start-column="44" selection-end-line="20" selection-end-column="44" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/build.gradle">
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/ImageManagement/ImageManipulator.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="120">
-          <caret line="17" column="5" lean-forward="true" selection-start-line="17" selection-start-column="5" selection-end-line="17" selection-end-column="5" />
+        <state relative-caret-position="48">
+          <caret line="2" column="13" selection-start-line="2" selection-start-column="13" selection-end-line="2" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/ImageManagementModule.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="492">
+          <caret line="82" lean-forward="true" selection-start-line="82" selection-end-line="82" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/Module.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="360">
+          <caret line="15" column="17" selection-start-line="15" selection-start-column="17" selection-end-line="15" selection-end-column="17" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/SpeedControlModule.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="240">
+          <caret line="10" column="8" lean-forward="true" selection-start-line="10" selection-start-column="8" selection-end-line="10" selection-end-column="8" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/SteeringModule.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="192">
+          <caret line="8" column="5" lean-forward="true" selection-start-line="8" selection-start-column="5" selection-end-line="8" selection-end-column="5" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/TrakSimControl.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="840">
+          <caret line="40" column="17" lean-forward="true" selection-start-line="40" selection-start-column="17" selection-end-line="40" selection-end-column="17" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/com/apw/carcontrol/MrModule.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="240">
+          <caret line="10" lean-forward="true" selection-start-line="10" selection-end-line="10" />
+          <folding>
+            <element signature="imports" expanded="true" />
+            <element signature="e#297#298#0" expanded="true" />
+            <element signature="e#324#325#0" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
diff --git a/src/main/java/com/apw/ImageManagement/ImageManager.java b/src/main/java/com/apw/ImageManagement/ImageManager.java
index bb5b629..34b5eef 100644
--- a/src/main/java/com/apw/ImageManagement/ImageManager.java
+++ b/src/main/java/com/apw/ImageManagement/ImageManager.java
@@ -9,16 +9,16 @@
 import java.lang.invoke.LambdaMetafactory;
 import java.util.Arrays;
 
+@Deprecated
 public class ImageManager {
 
     int nrows, ncols;
-    private ImagePicker picker;
+    ImagePicker picker;
     private byte mono[];
     private byte simple[];
     private int rgb[];
 
     public ImageManager(FlyCamera trakcam) {
-        picker = new ImagePicker(trakcam, 30);
         nrows = picker.getNrows();
         ncols = picker.getNcols();
         mono = new byte[nrows * ncols];
diff --git a/src/main/java/com/apw/apw3/DriverCons.java b/src/main/java/com/apw/apw3/DriverCons.java
index 9425f33..b9b06e7 100644
--- a/src/main/java/com/apw/apw3/DriverCons.java
+++ b/src/main/java/com/apw/apw3/DriverCons.java
@@ -44,7 +44,7 @@ public abstract class DriverCons { // TrakSim constant parameters
             D_StartInCalibrate = false, // T: use this to calibrate servo limits
             D_Log_Draw = false, D_Log_Log = false, D_Fax_Log = false,
             D_Mini_Log = false, D_NoisyMap = true,
-            D_DrawOnSides = true, D_DrawPredicted = true, D_DrawCurrent = true; //Drive lines.
+            D_DrawOnSides = true, D_DrawPredicted = true, D_DrawCurrent = true; //MrModule lines.
 
     public static final int
 
diff --git a/src/main/java/com/apw/carcontrol/CarControl.java b/src/main/java/com/apw/carcontrol/CarControl.java
index 80da15a..569793d 100644
--- a/src/main/java/com/apw/carcontrol/CarControl.java
+++ b/src/main/java/com/apw/carcontrol/CarControl.java
@@ -46,4 +46,5 @@ public interface CarControl {
      * @param angle The angle to set the car's angle to or increment it by.
      */
     void steer(boolean absolute, int angle);
+
 }
diff --git a/src/main/java/com/apw/carcontrol/ImageManagementModule.java b/src/main/java/com/apw/carcontrol/ImageManagementModule.java
index 025975c..f66947a 100644
--- a/src/main/java/com/apw/carcontrol/ImageManagementModule.java
+++ b/src/main/java/com/apw/carcontrol/ImageManagementModule.java
@@ -16,23 +16,18 @@
 public class ImageManagementModule implements Module {
 
     private int viewType = 1;
-    private int width, height;
     private int ncols, nrows;
     private int[] imagePixels;
-    private ImagePicker picker;
     private byte mono[];
     private byte simple[];
     private int rgb[];
 
-
-    public ImageManagementModule(FlyCamera trakcam) {
-        picker = new ImagePicker(trakcam, 30);
-        nrows = picker.getNrows();
-        ncols = picker.getNcols();
+    public ImageManagementModule(int nrows, int ncols) {
+        this.nrows = nrows;
+        this.ncols = ncols;
         mono = new byte[nrows * ncols];
         simple = new byte[nrows * ncols];
         rgb = new int[nrows * ncols];
-
     }
 
     public int getNrows() {
@@ -51,22 +46,21 @@ public void setNcols(int ncols) {
         this.ncols = ncols;
     }
 
-
     /*Serves monochrome raster of camera feed
      * Formatted in 1D array of bytes*/
-    public byte[] getMonochromeRaster() {
-        ImageManipulator.convertToMonochromeRaster(picker.getPixels(), mono, nrows, ncols);
+    public byte[] getMonochromeRaster(byte[] pixels) {
+        ImageManipulator.convertToMonochromeRaster(pixels, mono, nrows, ncols);
         return mono;
 
     }
-    public byte[] getMonochrome2Raster(){
-        ImageManipulator.convertToMonochrome2Raster(picker.getPixels(), mono, nrows, ncols);
+    public byte[] getMonochrome2Raster(byte[] pixels){
+        ImageManipulator.convertToMonochrome2Raster(pixels, mono, nrows, ncols);
         return mono;
     }
 
-    public byte[] getBlackWhiteRaster() {
+    public byte[] getBlackWhiteRaster(byte[] pixels) {
 
-        ImageManipulator.convertToBlackWhiteRaster(picker.getPixels(), mono, nrows, ncols);
+        ImageManipulator.convertToBlackWhiteRaster(pixels, mono, nrows, ncols);
         return mono;
 
     }
@@ -79,46 +73,46 @@ public byte[] getBlackWhiteRaster() {
      * 4 = GREY
      * 5 = BLACK
      */
-    public byte[] getSimpleColorRaster() {
+    public byte[] getSimpleColorRaster(byte[] pixels) {
 
-        ImageManipulator.convertToSimpleColorRaster(picker.getPixels(), simple, nrows, ncols);
+        ImageManipulator.convertToSimpleColorRaster(pixels, simple, nrows, ncols);
         return simple;
 
 
     }
 
-    public int[] getRGBRaster() {
+    public int[] getRGBRaster(byte[] pixels) {
 
-        ImageManipulator.convertToRGBRaster(picker.getPixels(), rgb, nrows, ncols);
+        ImageManipulator.convertToRGBRaster(pixels, rgb, nrows, ncols);
         return rgb;
 
     }
 
-    public int[] getSimpleRGBRaster() {
+    public int[] getSimpleRGBRaster(byte[] pixels) {
 
-        ImageManipulator.convertToSimpleColorRaster(picker.getPixels(), simple, nrows, ncols);
+        ImageManipulator.convertToSimpleColorRaster(pixels, simple, nrows, ncols);
         ImageManipulator.convertSimpleToRGB(simple, rgb, simple.length);
         return rgb;
 
     }
 
-    public int[] getBWRGBRaster() {
+    public int[] getBWRGBRaster(byte[] pixels) {
 
-        ImageManipulator.convertToBlackWhiteRaster(picker.getPixels(), mono, nrows, ncols);
+        ImageManipulator.convertToBlackWhiteRaster(pixels, mono, nrows, ncols);
         ImageManipulator.convertBWToRGB(mono, rgb, mono.length);
         return rgb;
 
     }
 
-    public int[] getMonoRGBRaster() {
+    public int[] getMonoRGBRaster(byte[] pixels) {
 
-        ImageManipulator.convertToMonochromeRaster(picker.getPixels(), mono, nrows, ncols);
+        ImageManipulator.convertToMonochromeRaster(pixels, mono, nrows, ncols);
         ImageManipulator.convertMonotoRGB(mono, rgb, mono.length);
         return rgb;
 
     }
-    public int[] getMonoRGB2Raster() {
-        ImageManipulator.convertToMonochromeRaster(picker.getPixels(), mono, nrows, ncols);
+    public int[] getMonoRGB2Raster(byte[] pixels) {
+        ImageManipulator.convertToMonochromeRaster(pixels, mono, nrows, ncols);
         ImageManipulator.convertMonotoRGB(mono, rgb, mono.length);
         return rgb;
     }
@@ -133,19 +127,19 @@ public void update(CarControl control) {
         imagePixels = null;
         switch(viewType) {
             case 1:
-                imagePixels = getRGBRaster();
+                imagePixels = getRGBRaster(control.getRecentCameraImage());
                 break;
             case 2:
-                imagePixels = getMonoRGBRaster();
+                imagePixels = getMonoRGBRaster(control.getRecentCameraImage());
                 break;
             case 3:
-                imagePixels = getSimpleRGBRaster();
+                imagePixels = getSimpleRGBRaster(control.getRecentCameraImage());
                 break;
             case 4:
-                imagePixels = getBWRGBRaster();
+                imagePixels = getBWRGBRaster(control.getRecentCameraImage());
                 break;
             case 5:
-                imagePixels = getMonoRGB2Raster();
+                imagePixels = getMonoRGB2Raster(control.getRecentCameraImage());
                 break;
             default:
                 throw new IllegalStateException("No image management viewType: " + viewType);
diff --git a/src/main/java/com/apw/carcontrol/MrModule.java b/src/main/java/com/apw/carcontrol/MrModule.java
new file mode 100644
index 0000000..ec97513
--- /dev/null
+++ b/src/main/java/com/apw/carcontrol/MrModule.java
@@ -0,0 +1,68 @@
+package com.apw.carcontrol;
+
+import javax.swing.*;
+import java.awt.image.BufferedImage;
+import java.util.ArrayList;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+
+public class MrModule extends JFrame implements Runnable {
+
+    private ScheduledExecutorService executorService;
+    private ArrayList<Module> modules;
+    private TrakSimControl trakSimControl;
+    private BufferedImage displayImage;
+
+    private final int width = 1920;
+    private final int height = 1080;
+
+    private MrModule() {
+        init();
+        setupWindow();
+        createModules();
+    }
+
+    private void init() {
+        executorService = Executors.newSingleThreadScheduledExecutor();
+        displayImage = new BufferedImage(width, height, BufferedImage.TYPE_INT_RGB);
+
+        trakSimControl = new TrakSimControl();
+        modules = new ArrayList<>();
+    }
+
+    private void setupWindow() {
+        executorService.scheduleAtFixedRate(this, 0, 1000 / 60, TimeUnit.MILLISECONDS);
+
+        setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        setSize(width, height);
+        setVisible(true);
+    }
+
+    private void createModules() {
+        modules.add(new ImageManagementModule(width, height));
+        modules.add(new SpeedControlModule());
+        modules.add(new SteeringModule());
+    }
+
+    private void update() {
+        trakSimControl.readCameraImage();
+        for (Module module : modules)
+            module.update(trakSimControl);
+    }
+
+    private void paint() {
+        for (Module module : modules)
+            module.paint(trakSimControl, displayImage);
+    }
+
+    @Override
+    public void run() {
+        update();
+        paint();
+    }
+
+    public static void main(String[] args) {
+        new MrModule();
+    }
+}
diff --git a/src/main/java/com/apw/carcontrol/SpeedControlModule.java b/src/main/java/com/apw/carcontrol/SpeedControlModule.java
new file mode 100644
index 0000000..1b34430
--- /dev/null
+++ b/src/main/java/com/apw/carcontrol/SpeedControlModule.java
@@ -0,0 +1,15 @@
+package com.apw.carcontrol;
+
+import java.awt.image.BufferedImage;
+
+public class SpeedControlModule implements Module {
+    @Override
+    public void update(CarControl control) {
+
+    }
+
+    @Override
+    public void paint(CarControl control, BufferedImage image) {
+
+    }
+}
diff --git a/src/main/java/com/apw/carcontrol/SteeringModule.java b/src/main/java/com/apw/carcontrol/SteeringModule.java
new file mode 100644
index 0000000..9a980ef
--- /dev/null
+++ b/src/main/java/com/apw/carcontrol/SteeringModule.java
@@ -0,0 +1,15 @@
+package com.apw.carcontrol;
+
+import java.awt.image.BufferedImage;
+
+public class SteeringModule implements Module {
+    @Override
+    public void update(CarControl control) {
+
+    }
+
+    @Override
+    public void paint(CarControl control, BufferedImage image) {
+
+    }
+}
diff --git a/src/main/java/com/apw/carcontrol/TrakSimControl.java b/src/main/java/com/apw/carcontrol/TrakSimControl.java
index a06c7ff..166957f 100644
--- a/src/main/java/com/apw/carcontrol/TrakSimControl.java
+++ b/src/main/java/com/apw/carcontrol/TrakSimControl.java
@@ -7,7 +7,7 @@
 
 import javax.swing.JFrame;
 
-public class TrakSimControl extends JFrame implements CarControl {
+public class TrakSimControl implements CarControl {
     private SimCamera cam;
     private Arduino driveSys;