diff --git a/src/APM/ServoGenerator.cpp b/src/APM/ServoGenerator.cpp
new file mode 100644
index 0000000..2c6fa71
--- /dev/null
+++ b/src/APM/ServoGenerator.cpp
@@ -0,0 +1,184 @@
+#include "ServoGenerator.h"
+
+#define TIMER_NUM 1
+
+#define EXPCAT(A,B,C) EXPANDEDCONCATENATE(A,B,C)
+#define EXPANDEDCONCATENATE(A,B,C) A ## B ## C
+#define TIMER_ISR(N,V) TIMER_ISR_EXP(N,V)
+#define TIMER_ISR_EXP(N,V) TIMER ## N ## _ ## V ## _vect
+
+namespace {
+    constexpr volatile uint8_t& TCCRA = EXPCAT(TCCR, TIMER_NUM,A);
+    constexpr volatile uint8_t& TCCRB = EXPCAT(TCCR, TIMER_NUM,B);
+    constexpr volatile uint8_t& TCCRC = EXPCAT(TCCR, TIMER_NUM,C);
+    constexpr volatile uint8_t& TIFR  = EXPCAT(TIFR, TIMER_NUM, );
+    constexpr volatile uint8_t& TIMSK = EXPCAT(TIMSK,TIMER_NUM, );
+    constexpr volatile uint16_t& ICR  = EXPCAT(ICR,  TIMER_NUM, );
+    constexpr volatile uint16_t& TCNT = EXPCAT(TCNT, TIMER_NUM, );
+    constexpr volatile uint16_t& OCRA = EXPCAT(OCR,  TIMER_NUM,A);
+    constexpr volatile uint16_t& OCRB = EXPCAT(OCR,  TIMER_NUM,B);
+
+    class Output{
+    public:
+        Output(): highTime(0xffff), pinMask(0), pinReg(0) {}
+        uint16_t highTime;
+        uint8_t pinMask;
+        volatile uint8_t* pinReg;
+        bool enabled() const volatile { return pinMask != 0; }
+        void disable() volatile { pinMask = 0; pinReg = 0; highTime = 0xffff; }
+        void setPin(int p) volatile {
+            pinMask = digitalPinToBitMask(p);
+            pinReg = portOutputRegister(digitalPinToPort(p));
+        }
+        void setHigh() const volatile { *pinReg |= pinMask; }
+        void setLow() const volatile { *pinReg &= ~pinMask; }
+    };
+
+    constexpr uint8_t MAX_OUTPUTS = 8;
+    volatile Output output[MAX_OUTPUTS];
+    volatile uint8_t activeOutputs = 0;
+
+    class Action{ //lawsuit
+    public:
+        uint16_t time;
+        uint8_t channel;
+    };
+    Action actions[MAX_OUTPUTS+1];
+    Action * next = actions;
+    // constructor attribute makes this get run once before main
+    void setupActions() __attribute__ ((constructor));
+    void setupActions() {
+        actions[MAX_OUTPUTS] = {0xffff, 0};
+        for(uint8_t i=0; i<MAX_OUTPUTS; i++){
+            actions[i] = {0xffff, i};
+        }
+    }
+
+    constexpr uint8_t PRESCALAR = 8;
+    //works for prescalars less than or equal to 16
+    constexpr uint8_t TICKS_PER_MS = (F_CPU / (PRESCALAR * 1e6L));
+
+    int16_t constexpr intervalFromMicros(uint32_t us){
+        return us * TICKS_PER_MS;
+    }
+}
+
+namespace ServoGenerator{
+    void set(int channel, uint16_t us){
+        output[channel].highTime = intervalFromMicros(us);
+    }
+
+    void disable(int channel){
+        if(output[channel].enabled()){
+            output[channel].disable();
+            activeOutputs--;
+        }
+    }
+
+    bool enable(int channel, int pin){
+        pinMode(pin, OUTPUT);
+        output[channel].setPin(pin);
+        if(!output[channel].enabled()){
+            activeOutputs++;
+            return true;
+        }
+        return false;
+    }
+
+    void setup(uint16_t refreshIntervalMicroseconds){
+        ATOMIC_BLOCK(ATOMIC_RESTORESTATE){
+            // CTC, clear when TCNT == ICR, prescalar = 8
+            TCCRA = 0;
+            TCCRB = _BV(WGM13) | _BV(WGM12) | _BV(CS11);
+
+            // enable the ICF (TCNT==ICR) and OCRA (TCNT==OCRA) interrupt
+            TIMSK |= _BV(ICIE1);
+            TIMSK |= _BV(OCIE1A);
+
+            ICR  = intervalFromMicros(refreshIntervalMicroseconds);
+            OCRA = 0xffff;
+
+            // clear the timer count and pending interrupts
+            TCNT   = 0;
+            TIFR  |= _BV(OCF1A);
+            TIFR  |= _BV(ICF1);
+        }
+    }
+
+    Servo::Servo(): channel(-1) {
+        setup(20000);
+    }
+    Servo::Servo(uint16_t frameUs): channel(-1) {
+        setup(frameUs);
+    }
+    bool Servo::attach(uint8_t arduinopin){
+        if(channel != -1) return false; //already attached
+
+        //find open channel, try to attach
+        uint8_t ch = -1;
+        for(uint8_t i; i<MAX_OUTPUTS; i++){
+            if(!output[i].enabled()){
+                ch = i;
+                break;
+            }
+        }
+        if(ch == -1) return false;
+        enable(ch, arduinopin);
+        channel = ch;
+        return true;
+    }
+    void Servo::detach(){
+        if(channel != -1)
+            disable(channel);
+        channel = -1;
+    }
+    void Servo::write(uint8_t sig){
+        if(channel != -1)
+            set(channel, sig*10 + 600); // convert [0,180] to [600,2400]
+    }
+    void Servo::writeMicroseconds(uint16_t us){
+        if(channel != -1)
+            set(channel, us);
+    }
+    bool Servo::attached() {
+        return channel != -1;
+    }
+}
+
+ISR(TIMER_ISR(TIMER_NUM, COMPA)){
+    do {
+        // stops when it finds an output with OCRA=0xffff at
+        // the end of actions[]
+        output[next->channel].setLow();
+        next++;
+        OCRA = next->time;
+    } while (OCRA <= TCNT);
+}
+
+ISR(TIMER_ISR(TIMER_NUM, CAPT)){
+    //update highTime values from outputs
+    for(uint8_t i=0; i<MAX_OUTPUTS; i++){
+        actions[i].time = output[actions[i].channel].highTime;
+    }
+    //sort actions by time
+    for(uint8_t i=1; i<MAX_OUTPUTS; i++){
+        uint16_t time = actions[i].time;
+        uint8_t j = i;
+        while(j>0 && time < actions[j-1].time){
+            Action a = actions[j-1];
+            actions[j-1] = actions[j];
+            actions[j] = a;
+            j--;
+        }
+    }
+    //set all signals high
+    //this preserves order because TCNT is monotonically increasing
+    for(uint8_t i=0; i<activeOutputs; i++){
+        output[actions[i].channel].setHigh();
+        actions[i].time += TCNT;
+    }
+
+    next = actions;
+    OCRA = next->time;
+}
+
diff --git a/src/APM/ServoGenerator.h b/src/APM/ServoGenerator.h
index bf41495..e667c6d 100644
--- a/src/APM/ServoGenerator.h
+++ b/src/APM/ServoGenerator.h
@@ -1,186 +1,23 @@
 #pragma once
-#include <util/atomic.h>
-
-#define TIMER_NUM 1
-
-#define EXPCAT(A,B,C) EXPANDEDCONCATENATE(A,B,C)
-#define EXPANDEDCONCATENATE(A,B,C) A ## B ## C
-#define TIMER_ISR(N,V) TIMER_ISR_EXP(N,V)
-#define TIMER_ISR_EXP(N,V) TIMER ## N ## _ ## V ## _vect
-
-namespace {
-    constexpr volatile uint8_t& TCCRA = EXPCAT(TCCR, TIMER_NUM,A);
-    constexpr volatile uint8_t& TCCRB = EXPCAT(TCCR, TIMER_NUM,B);
-    constexpr volatile uint8_t& TCCRC = EXPCAT(TCCR, TIMER_NUM,C);
-    constexpr volatile uint8_t& TIFR  = EXPCAT(TIFR, TIMER_NUM, );
-    constexpr volatile uint8_t& TIMSK = EXPCAT(TIMSK,TIMER_NUM, );
-    constexpr volatile uint16_t& ICR  = EXPCAT(ICR,  TIMER_NUM, );
-    constexpr volatile uint16_t& TCNT = EXPCAT(TCNT, TIMER_NUM, );
-    constexpr volatile uint16_t& OCRA = EXPCAT(OCR,  TIMER_NUM,A);
-    constexpr volatile uint16_t& OCRB = EXPCAT(OCR,  TIMER_NUM,B);
-
-    class Output{
-    public:
-        Output(): highTime(0xffff), pinMask(0), pinReg(0) {}
-        uint16_t highTime;
-        uint8_t pinMask;
-        volatile uint8_t* pinReg;
-        bool enabled() const volatile { return pinMask != 0; }
-        void disable() volatile { pinMask = 0; pinReg = 0; highTime = 0xffff; }
-        void setPin(int p) volatile {
-            pinMask = digitalPinToBitMask(p);
-            pinReg = portOutputRegister(digitalPinToPort(p));
-        }
-        void setHigh() const volatile { *pinReg |= pinMask; }
-        void setLow() const volatile { *pinReg &= ~pinMask; }
-    };
 
-    constexpr uint8_t MAX_OUTPUTS = 8;
-    volatile Output output[MAX_OUTPUTS];
-    volatile uint8_t activeOutputs = 0;
-
-    class Action{ //lawsuit
-    public:
-        uint16_t time;
-        uint8_t channel;
-    };
-    Action actions[MAX_OUTPUTS+1];
-    Action * next = actions;
-    // constructor attribute makes this get run once before main
-    void setupActions() __attribute__ ((constructor));
-    void setupActions() {
-        actions[MAX_OUTPUTS] = {0xffff, 0};
-        for(uint8_t i=0; i<MAX_OUTPUTS; i++){
-            actions[i] = {0xffff, i};
-        }
-    }
-
-    constexpr uint8_t PRESCALAR = 8;
-    //works for prescalars less than or equal to 16
-    constexpr uint8_t TICKS_PER_MS = (F_CPU / (PRESCALAR * 1e6L));
-
-    int16_t constexpr intervalFromMicros(uint32_t us){
-        return us * TICKS_PER_MS;
-    }
-}
+#include "Arduino.h"
+#include <util/atomic.h>
 
 namespace ServoGenerator{
-    void set(int channel, uint16_t us){
-        output[channel].highTime = intervalFromMicros(us);
-    }
-
-    void disable(int channel){
-        if(output[channel].enabled()){
-            output[channel].disable();
-            activeOutputs--;
-        }
-    }
-
-    bool enable(int channel, int pin){
-        pinMode(pin, OUTPUT);
-        output[channel].setPin(pin);
-        if(!output[channel].enabled()){
-            activeOutputs++;
-            return true;
-        }
-        return false;
-    }
-
-    void setup(uint16_t refreshIntervalMicroseconds){
-        ATOMIC_BLOCK(ATOMIC_RESTORESTATE){
-            // CTC, clear when TCNT == ICR, prescalar = 8
-            TCCRA = 0;
-            TCCRB = _BV(WGM13) | _BV(WGM12) | _BV(CS11);
-
-            // enable the ICF (TCNT==ICR) and OCRA (TCNT==OCRA) interrupt
-            TIMSK |= _BV(ICIE1);
-            TIMSK |= _BV(OCIE1A);
-
-            ICR  = intervalFromMicros(refreshIntervalMicroseconds);
-            OCRA = 0xffff;
-
-            // clear the timer count and pending interrupts
-            TCNT   = 0;
-            TIFR  |= _BV(OCF1A);
-            TIFR  |= _BV(ICF1);
-        }
-    }
+    void set(int channel, uint16_t us);
+    void disable(int channel);
+    bool enable(int channel, int pin);
+    void setup(uint16_t refreshIntervalMicroseconds);
 
     class Servo{
         uint8_t channel;
-        Servo(): channel(-1) {
-            setup(20000);
-        }
-        Servo(uint16_t frameUs): channel(-1) {
-            setup(frameUs);
-        }
-        bool attach(uint8_t arduinopin){
-            //find open channel, try to attach
-            uint8_t ch = -1;
-            for(uint8_t i; i<MAX_OUTPUTS; i++){
-                if(!output[i].enabled()){
-                    ch = i;
-                    break;
-                }
-            }
-            if(ch == -1) return false;
-            enable(ch, arduinopin);
-            channel = ch;
-            return true;
-        }
-        void detach(){
-            if(channel != -1)
-                disable(channel);
-            channel = -1;
-        }
-        void write(uint8_t sig){
-            if(channel != -1)
-                set(channel, sig*10 + 600); // convert [0,180] to [600,2400]
-        }
-        void writeMicroseconds(uint16_t us){
-            if(channel != -1)
-                set(channel, us);
-        }
-        bool attached() {
-            return channel != -1;
-        }
+    public:
+        Servo();
+        Servo(uint16_t frameUs);
+        bool attach(uint8_t arduinopin);
+        void detach();
+        void write(uint8_t sig);
+        void writeMicroseconds(uint16_t us);
+        bool attached();
     };
 }
-
-ISR(TIMER_ISR(TIMER_NUM, COMPA)){
-    do {
-        // stops when it finds an output with OCRA=0xffff at
-        // the end of actions[]
-        output[next->channel].setLow();
-        next++;
-        OCRA = next->time;
-    } while (OCRA <= TCNT);
-}
-
-ISR(TIMER_ISR(TIMER_NUM, CAPT)){
-    //update highTime values from outputs
-    for(uint8_t i=0; i<MAX_OUTPUTS; i++){
-        actions[i].time = output[actions[i].channel].highTime;
-    }
-    //sort actions by time
-    for(uint8_t i=1; i<MAX_OUTPUTS; i++){
-        uint16_t time = actions[i].time;
-        uint8_t j = i;
-        while(j>0 && time < actions[j-1].time){
-            Action a = actions[j-1];
-            actions[j-1] = actions[j];
-            actions[j] = a;
-            j--;
-        }
-    }
-    //set all signals high
-    //this preserves order because TCNT is monotonically increasing
-    for(uint8_t i=0; i<activeOutputs; i++){
-        output[actions[i].channel].setHigh();
-        actions[i].time += TCNT;
-    }
-
-    next = actions;
-    OCRA = next->time;
-}
-