diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json
index 01972a03..8fc76af9 100644
--- a/PathWeaver/pathweaver.json
+++ b/PathWeaver/pathweaver.json
@@ -1,8 +1,6 @@
 {
-  "timeStep": 0.02,
   "maxVelocity": 10.0,
   "maxAcceleration": 60.0,
-  "maxJerk": 60.0,
   "wheelBase": 2.0,
   "gameName": "FIRST Power Up"
 }
\ No newline at end of file
diff --git a/build.gradle.kts b/build.gradle.kts
index 816af293..ffc69515 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -124,8 +124,9 @@ dependencies {
     compile(group = "org.fxmisc.easybind", name = "easybind", version = "1.0.3")
 
     compile(group = "javax.measure", name = "unit-api", version = "1.0")
-    compile(group = "si.uom", name = "si-units", version = "0.9")
-    compile(group = "systems.uom", name = "systems-common", version = "0.8")
+    compile(group = "si.uom", name = "si-units", version = "2.0.1")
+    compile(group = "systems.uom", name = "systems-common", version = "2.0")
+    compile(group = "tech.units", name = "indriya", version = "2.0.1")
 
     compile(group = "com.google.code.gson", name = "gson", version = "2.8.5")
     compile(group = "org.apache.commons", name = "commons-csv", version = "1.5")
@@ -134,6 +135,10 @@ dependencies {
     compile(group = "edu.wpi.first.wpiutil", name = "wpiutil-java", version = "2020.+")
     compile(group = "edu.wpi.first.wpilibj", name = "wpilibj-java", version = "2020.+")
 
+    compile(group = "com.fasterxml.jackson.core", name = "jackson-annotations", version = "2.10.0")
+    compile(group = "com.fasterxml.jackson.core", name = "jackson-core", version = "2.10.0")
+    compile(group = "com.fasterxml.jackson.core", name = "jackson-databind", version = "2.10.0")
+
     fun junitJupiter(name: String, version: String = "5.5.0") =
         create(group = "org.junit.jupiter", name = name, version = version)
 
diff --git a/src/main/java/edu/wpi/first/pathweaver/CreateProjectController.java b/src/main/java/edu/wpi/first/pathweaver/CreateProjectController.java
index edf55350..0c98b82e 100644
--- a/src/main/java/edu/wpi/first/pathweaver/CreateProjectController.java
+++ b/src/main/java/edu/wpi/first/pathweaver/CreateProjectController.java
@@ -1,6 +1,5 @@
 package edu.wpi.first.pathweaver;
 
-
 import org.fxmisc.easybind.EasyBind;
 
 import java.io.File;
@@ -25,237 +24,211 @@
 import javafx.stage.DirectoryChooser;
 import javafx.util.StringConverter;
 import javafx.util.Duration;
-import tec.units.ri.format.SimpleUnitFormat;
+import tech.units.indriya.format.SimpleUnitFormat;
 
 import javax.measure.Unit;
 import javax.measure.quantity.Length;
 
 @SuppressWarnings("PMD")
 public class CreateProjectController {
-  @FXML
-  private Label title;
-  @FXML
-  private Button browse;
-  @FXML
-  private Button browseOutput;
-  @FXML
-  private Button create;
-  @FXML
-  private Button cancel;
-  @FXML
-  private VBox vBox;
-  @FXML
-  private TextField directory;
-  @FXML
-  private TextField outputDirectory;
-  @FXML
-  private TextField timeStep;
-  @FXML
-  private TextField maxVelocity;
-  @FXML
-  private TextField maxAcceleration;
-  @FXML
-  private TextField maxJerk;
-  @FXML
-  private TextField wheelBase;
-  @FXML
-  private ChoiceBox<Game> game;
-  @FXML
-  private ChoiceBox<Unit<Length>> length;
-  @FXML
-  private Label browseLabel;
-  @FXML
-  private Label timeLabel;
-  @FXML
-  private Label outputLabel;
-  @FXML
-  private Label velocityLabel;
-  @FXML
-  private Label accelerationLabel;
-  @FXML
-  private Label jerkLabel;
-  @FXML
-  private Label wheelBaseLabel;
-  @FXML
-  private Label timeUnits;
-  @FXML
-  private Label velocityUnits;
-  @FXML
-  private Label accelerationUnits;
-  @FXML
-  private Label jerkUnits;
-  @FXML
-  private Label wheelBaseUnits;
-
-  private boolean editing = false;
-
-  @FXML
-
-  private void initialize() {
-    ObservableList<TextField> numericFields = FXCollections.observableArrayList(timeStep, maxVelocity,
-        maxAcceleration, maxJerk, wheelBase);
-    ObservableList<TextField> allFields = FXCollections.observableArrayList(numericFields);
-    allFields.add(directory);
-
-    var directoryControls = List.of(browseLabel, directory, browse);
-    var outputControls = List.of(outputLabel, outputDirectory, browseOutput);
-    var timeControls = List.of(timeLabel, timeStep, timeUnits);
-    var velocityControls = List.of(velocityLabel, maxVelocity, velocityUnits);
-    var accelerationControls = List.of(accelerationLabel, maxAcceleration, accelerationUnits);
-    var jerkControls = List.of(jerkLabel, maxJerk, jerkUnits);
-    var wheelBaseControls = List.of(wheelBaseLabel, wheelBase, wheelBaseUnits);
-
-    BooleanBinding bind = new SimpleBooleanProperty(true).not();
-    for (TextField field : allFields) {
-      bind = bind.or(field.textProperty().isEmpty());
-    }
-    bind = bind.or(game.valueProperty().isNull());
-    create.disableProperty().bind(bind);
-
-
-    // Validate that numericFields contain decimal numbers
-    numericFields.forEach(textField -> textField.setTextFormatter(FxUtils.onlyPositiveDoubleText()));
-
-    game.getItems().addAll(Game.getGames());
-    game.getSelectionModel().selectFirst();
-    game.converterProperty().setValue(new StringConverter<>() {
-      @Override
-      public String toString(Game object) {
-        return object.getName();
-      }
-
-      @Override
-      public Game fromString(String string) {
-        return Game.fromPrettyName(string);
-      }
-    });
-
-    length.getItems().addAll(PathUnits.LENGTHS);
-    length.getSelectionModel().selectFirst();
-    length.setConverter(new StringConverter<>() {
-      @Override
-      public String toString(Unit<Length> object) {
-        return object.getName();
-      }
-
-      @Override
-      public Unit<Length> fromString(String string) {
-        throw new UnsupportedOperationException();
-      }
-    });
-
-    var lengthUnit = EasyBind.monadic(length.getSelectionModel().selectedItemProperty());
-    directoryControls.forEach(control -> control
-        .setTooltip(new Tooltip("The directory to store your project.\n"
-            + "It will be stored at a PathWeaver subdirectory of this location.\n"
-            + "It is recommended this be the root folder of your robot code\n"
-            + "to simplify version control and path deployment.")));
-    outputControls.forEach(control -> control
-        .setTooltip(new Tooltip("(Optional) The directory to output paths to.\n"
-            + "If it is the root folder of your FRC robot project,\nthe paths will automatically be copied to the "
-            + "robot at deploy time.\nDefault: will search relative to your project directory,\n"
-            + "attempting to find deploy folder.")));
-    timeControls.forEach(control -> control
-        .setTooltip(new Tooltip("Time delta between points")));
-    velocityControls.forEach(control -> control
-        .setTooltip(new Tooltip("The maximum velocity your robot can travel.")));
-    velocityUnits.textProperty().bind(lengthUnit.map(PathUnits::velocity));
-    accelerationControls.forEach(control -> control
-        .setTooltip(new Tooltip("The maximum capable acceleration of your robot.")));
-    accelerationUnits.textProperty().bind(lengthUnit.map(PathUnits::acceleration));
-    jerkControls.forEach(control -> control
-        .setTooltip(new Tooltip("The maximum jerk to use when calculating motion profiles. "
-            + "This is user preference.")));
-    jerkUnits.textProperty().bind(lengthUnit.map(PathUnits::jerk));
-    wheelBaseControls.forEach(control -> control
-        .setTooltip(new Tooltip("Distance between the left and right of the wheel base.")));
-    wheelBaseUnits.textProperty().bind(lengthUnit.map(SimpleUnitFormat.getInstance()::format));
-    // Show longer text for an extended period of time
-    Stream.of(directoryControls, outputControls)
-        .flatMap(List::stream)
-        .forEach(control -> control.getTooltip().setShowDuration(Duration.seconds(10)));
-    Stream.of(directoryControls, outputControls, timeControls, velocityControls, accelerationControls, jerkControls,
-        wheelBaseControls)
-        .flatMap(List::stream)
-        .forEach(control -> control.getTooltip().setShowDelay(Duration.millis(150)));
-
-    // We are editing a project
-    if (ProjectPreferences.getInstance() != null) {
-      setupEditProject();
-    }
-  }
-
-  @FXML
-
-  private void createProject() {
-    String folderString = directory.getText().trim();
-    // create a "PathWeaver" subdirectory if not editing an existing project
-    File directory = editing ? new File(folderString) : new File(folderString, "PathWeaver");
-    directory.mkdir();
-    String outputString = outputDirectory.getText();
-    String outputPath = outputString;
-    boolean newOutput = !editing
-        || !Objects.equals(outputString, ProjectPreferences.getInstance().getValues().getOutputDir());
-    if (outputString != null && !outputString.isEmpty() && newOutput) {
-      // Find the relative path for the output directory to the project directory, using / file separators
-      outputPath = directory.toPath().relativize(new File(outputString.trim()).toPath()).toString()
-          .replace("\\", "/");
-    }
-    ProgramPreferences.getInstance().addProject(directory.getAbsolutePath());
-    String lengthUnit = length.getValue().getName();
-    double timeDelta = Double.parseDouble(timeStep.getText());
-    double velocityMax = Double.parseDouble(maxVelocity.getText());
-    double accelerationMax = Double.parseDouble(maxAcceleration.getText());
-    double jerkMax = Double.parseDouble(maxJerk.getText());
-    double wheelBaseDistance = Double.parseDouble(wheelBase.getText());
-    ProjectPreferences.Values values = new ProjectPreferences.Values(lengthUnit, timeDelta, velocityMax,
-        accelerationMax, jerkMax, wheelBaseDistance, game.getValue().getName(), outputPath);
-    ProjectPreferences prefs = ProjectPreferences.getInstance(directory.getAbsolutePath());
-    prefs.setValues(values);
-    editing = false;
-    FxUtils.loadMainScreen(vBox.getScene(), getClass());
-  }
-
-  @FXML
-  private void browseDirectory() {
-    browse(directory);
-  }
-
-  @FXML
-  private void browseOutput() {
-    browse(outputDirectory);
-  }
-
-  private void browse(TextField location) {
-    DirectoryChooser chooser = new DirectoryChooser();
-    File selectedDirectory = chooser.showDialog(vBox.getScene().getWindow());
-    if (selectedDirectory != null) {
-      location.setText(selectedDirectory.getPath());
-      location.positionCaret(selectedDirectory.getPath().length());
-    }
-  }
-
-  @FXML
-  private void cancel() throws IOException {
-    Pane root = FXMLLoader.load(getClass().getResource("welcomeScreen.fxml"));
-    vBox.getScene().setRoot(root);
-  }
-
-  private void setupEditProject() {
-    ProjectPreferences.Values values = ProjectPreferences.getInstance().getValues();
-    directory.setText(ProjectPreferences.getInstance().getDirectory());
-    outputDirectory.setText(ProjectPreferences.getInstance().getValues().getOutputDir());
-    create.setText("Edit Project");
-    title.setText("Edit Project");
-    browse.setVisible(false);
-    cancel.setVisible(false);
-    game.setValue(Game.fromPrettyName(values.getGameName()));
-    length.setValue(values.getLengthUnit());
-    timeStep.setText(String.valueOf(values.getTimeStep()));
-    maxVelocity.setText(String.valueOf(values.getMaxVelocity()));
-    maxAcceleration.setText(String.valueOf(values.getMaxAcceleration()));
-    maxJerk.setText(String.valueOf(values.getMaxJerk()));
-    wheelBase.setText(String.valueOf(values.getWheelBase()));
-    editing = true;
-  }
+	@FXML
+	private Label title;
+	@FXML
+	private Button browse;
+	@FXML
+	private Button browseOutput;
+	@FXML
+	private Button create;
+	@FXML
+	private Button cancel;
+	@FXML
+	private VBox vBox;
+	@FXML
+	private TextField directory;
+	@FXML
+	private TextField outputDirectory;
+	@FXML
+	private TextField maxVelocity;
+	@FXML
+	private TextField maxAcceleration;
+	@FXML
+	private TextField wheelBase;
+	@FXML
+	private ChoiceBox<Game> game;
+	@FXML
+	private ChoiceBox<Unit<Length>> length;
+	@FXML
+	private Label browseLabel;
+	@FXML
+	private Label outputLabel;
+	@FXML
+	private Label velocityLabel;
+	@FXML
+	private Label accelerationLabel;
+	@FXML
+	private Label wheelBaseLabel;
+	@FXML
+	private Label velocityUnits;
+	@FXML
+	private Label accelerationUnits;
+	@FXML
+	private Label wheelBaseUnits;
+
+	private boolean editing = false;
+
+	@FXML
+
+	private void initialize() {
+		ObservableList<TextField> numericFields = FXCollections.observableArrayList(maxVelocity,
+				maxAcceleration, wheelBase);
+		ObservableList<TextField> allFields = FXCollections.observableArrayList(numericFields);
+		allFields.add(directory);
+
+		var directoryControls = List.of(browseLabel, directory, browse);
+		var outputControls = List.of(outputLabel, outputDirectory, browseOutput);
+		var velocityControls = List.of(velocityLabel, maxVelocity, velocityUnits);
+		var accelerationControls = List.of(accelerationLabel, maxAcceleration, accelerationUnits);
+		var wheelBaseControls = List.of(wheelBaseLabel, wheelBase, wheelBaseUnits);
+
+		BooleanBinding bind = new SimpleBooleanProperty(true).not();
+		for (TextField field : allFields) {
+			bind = bind.or(field.textProperty().isEmpty());
+		}
+		bind = bind.or(game.valueProperty().isNull());
+		create.disableProperty().bind(bind);
+
+		// Validate that numericFields contain decimal numbers
+		numericFields.forEach(textField -> textField.setTextFormatter(FxUtils.onlyPositiveDoubleText()));
+
+		game.getItems().addAll(Game.getGames());
+		game.getSelectionModel().selectFirst();
+		game.converterProperty().setValue(new StringConverter<>() {
+			@Override
+			public String toString(Game object) {
+				return object.getName();
+			}
+
+			@Override
+			public Game fromString(String string) {
+				return Game.fromPrettyName(string);
+			}
+		});
+
+		length.getItems().addAll(PathUnits.LENGTHS);
+		length.getSelectionModel().selectFirst();
+		length.setConverter(new StringConverter<>() {
+			@Override
+			public String toString(Unit<Length> object) {
+				return object.getName();
+			}
+
+			@Override
+			public Unit<Length> fromString(String string) {
+				throw new UnsupportedOperationException();
+			}
+		});
+
+		var lengthUnit = EasyBind.monadic(length.getSelectionModel().selectedItemProperty());
+		directoryControls.forEach(control -> control.setTooltip(new Tooltip("The directory to store your project.\n"
+				+ "It will be stored at a PathWeaver subdirectory of this location.\n"
+				+ "It is recommended this be the root folder of your robot code\n"
+				+ "to simplify version control and path deployment.")));
+		outputControls
+				.forEach(control -> control.setTooltip(new Tooltip("(Optional) The directory to output paths to.\n"
+						+ "If it is the root folder of your FRC robot project,\nthe paths will automatically be copied to the "
+						+ "robot at deploy time.\nDefault: will search relative to your project directory,\n"
+						+ "attempting to find deploy folder.")));
+		velocityControls
+				.forEach(control -> control.setTooltip(new Tooltip("The maximum velocity your robot can travel.")));
+		velocityUnits.textProperty()
+				.bind(lengthUnit.map(PathUnits.getInstance()::speedUnit).map(SimpleUnitFormat.getInstance()::format));
+		accelerationControls
+				.forEach(control -> control.setTooltip(new Tooltip("The maximum capable acceleration of your robot.")));
+		accelerationUnits.textProperty().bind(
+				lengthUnit.map(PathUnits.getInstance()::accelerationUnit).map(SimpleUnitFormat.getInstance()::format));
+		wheelBaseControls.forEach(
+				control -> control.setTooltip(new Tooltip("Distance between the left and right of the wheel base.")));
+		wheelBaseUnits.textProperty().bind(lengthUnit.map(SimpleUnitFormat.getInstance()::format));
+		// Show longer text for an extended period of time
+		Stream.of(directoryControls, outputControls).flatMap(List::stream)
+				.forEach(control -> control.getTooltip().setShowDuration(Duration.seconds(10)));
+		Stream.of(directoryControls, outputControls, velocityControls, accelerationControls,
+				wheelBaseControls).flatMap(List::stream)
+				.forEach(control -> control.getTooltip().setShowDelay(Duration.millis(150)));
+
+		// We are editing a project
+		if (ProjectPreferences.getInstance() != null) {
+			setupEditProject();
+		}
+	}
+
+	@FXML
+	private void createProject() {
+		String folderString = directory.getText().trim();
+		// create a "PathWeaver" subdirectory if not editing an existing project
+		File directory = editing ? new File(folderString) : new File(folderString, "PathWeaver");
+		directory.mkdir();
+		String outputString = outputDirectory.getText();
+		String outputPath = outputString;
+		boolean newOutput = !editing
+				|| !Objects.equals(outputString, ProjectPreferences.getInstance().getValues().getOutputDir());
+		if (outputString != null && !outputString.isEmpty() && newOutput) {
+			// Find the relative path for the output directory to the project directory,
+			// using / file separators
+			outputPath = directory.toPath().relativize(new File(outputString.trim()).toPath()).toString().replace("\\",
+					"/");
+		}
+		ProgramPreferences.getInstance().addProject(directory.getAbsolutePath());
+		String lengthUnit = length.getValue().getName();
+		double velocityMax = Double.parseDouble(maxVelocity.getText());
+		double accelerationMax = Double.parseDouble(maxAcceleration.getText());
+		double wheelBaseDistance = Double.parseDouble(wheelBase.getText());
+		ProjectPreferences.Values values = new ProjectPreferences.Values(lengthUnit, velocityMax,
+				accelerationMax, wheelBaseDistance, game.getValue().getName(), outputPath);
+		ProjectPreferences prefs = ProjectPreferences.getInstance(directory.getAbsolutePath());
+		prefs.setValues(values);
+		editing = false;
+		FxUtils.loadMainScreen(vBox.getScene(), getClass());
+	}
+
+	@FXML
+	private void browseDirectory() {
+		browse(directory);
+	}
+
+	@FXML
+	private void browseOutput() {
+		browse(outputDirectory);
+	}
+
+	private void browse(TextField location) {
+		DirectoryChooser chooser = new DirectoryChooser();
+		File selectedDirectory = chooser.showDialog(vBox.getScene().getWindow());
+		if (selectedDirectory != null) {
+			location.setText(selectedDirectory.getPath());
+			location.positionCaret(selectedDirectory.getPath().length());
+		}
+	}
+
+	@FXML
+	private void cancel() throws IOException {
+		Pane root = FXMLLoader.load(getClass().getResource("welcomeScreen.fxml"));
+		vBox.getScene().setRoot(root);
+	}
+
+	private void setupEditProject() {
+		ProjectPreferences.Values values = ProjectPreferences.getInstance().getValues();
+		directory.setText(ProjectPreferences.getInstance().getDirectory());
+		outputDirectory.setText(ProjectPreferences.getInstance().getValues().getOutputDir());
+		create.setText("Edit Project");
+		title.setText("Edit Project");
+		browse.setVisible(false);
+		cancel.setVisible(false);
+		game.setValue(Game.fromPrettyName(values.getGameName()));
+		length.setValue(values.getLengthUnit());
+		maxVelocity.setText(String.valueOf(values.getMaxVelocity()));
+		maxAcceleration.setText(String.valueOf(values.getMaxAcceleration()));
+		wheelBase.setText(String.valueOf(values.getWheelBase()));
+		editing = true;
+	}
 }
diff --git a/src/main/java/edu/wpi/first/pathweaver/Field.java b/src/main/java/edu/wpi/first/pathweaver/Field.java
index 1e84f0a3..d469b995 100644
--- a/src/main/java/edu/wpi/first/pathweaver/Field.java
+++ b/src/main/java/edu/wpi/first/pathweaver/Field.java
@@ -1,145 +1,154 @@
 package edu.wpi.first.pathweaver;
 
-import tec.units.indriya.quantity.Quantities;
-
 import java.util.function.Supplier;
 
 import javafx.geometry.Point2D;
 import javafx.scene.image.Image;
+import tech.units.indriya.quantity.Quantities;
 
 import javax.measure.Quantity;
 import javax.measure.Unit;
 import javax.measure.quantity.Length;
 
-
 public class Field {
-  private Supplier<Image> imageSupplier;
-  private Image image;
-  private Quantity<Length> rWidth;
-  private Quantity<Length> rLength;
-  private double xPixel;
-  private double yPixel;
-  private double pixelWidth;
-  private double pixelLength;
-  private double scale;
-  private Point2D coord;
-  public Unit<Length> unit;
-
-  /**
-   * Creates a new Field Object.
-   *
-   * @param imageSupplier a supplier for image of the field
-   * @param unit          unit which the field is measured
-   * @param realWidth     width of field in real units
-   * @param realLength    length of field in real units
-   * @param xPixel        x pixel top left x pixels
-   * @param yPixel        y pixel top left y pixels
-   * @param pixelWidth    width of drawable area in pixels
-   * @param pixelLength   length of drawable area in pixels
-   */
-  public Field(Supplier<Image> imageSupplier,
-               Unit<Length> unit,
-               double realWidth, double realLength,
-               double xPixel, double yPixel,
-               double pixelWidth, double pixelLength) {
-    this.imageSupplier = imageSupplier;
-    this.xPixel = xPixel;
-    this.yPixel = yPixel;
-    this.pixelWidth = pixelWidth;
-    this.pixelLength = pixelLength;
-    setRealWidth(Quantities.getQuantity(realWidth, unit));
-    setRealLength(Quantities.getQuantity(realLength, unit));
-    updateCoord();
-    updateScale();
-    setUnit(unit);
-  }
-
-  /**
-   * Creates a new Field Object.
-   *
-   * @param image       image of the field
-   * @param unit        unit which the field is measured
-   * @param realWidth   width of field in real units
-   * @param realLength  length of field in real units
-   * @param xPixel      x pixel top left x pixels
-   * @param yPixel      y pixel top left y pixels
-   * @param pixelWidth  width of drawable area in pixels
-   * @param pixelLength length of drawable area in pixels
-   */
-  public Field(Image image,
-               Unit<Length> unit,
-               double realWidth, double realLength,
-               double xPixel, double yPixel,
-               double pixelWidth, double pixelLength) {
-    this(() -> image, unit, realWidth, realLength, xPixel, yPixel, pixelWidth, pixelLength);
-  }
-
-  public Image getImage() {
-    if (image == null) {
-      image = imageSupplier.get();
-    }
-    return image;
-  }
-
-  public Quantity<Length> getRealWidth() {
-    return rWidth;
-  }
-
-  private void setRealWidth(Quantity<Length> width) {
-    this.rWidth = width;
-  }
-
-  public Quantity<Length> getRealLength() {
-    return rLength;
-  }
-
-  private void setRealLength(Quantity<Length> length) {
-    this.rLength = length;
-  }
-
-  public double getScale() {
-    return scale;
-  }
-
-
-  public Point2D getCoord() {
-    return coord;
-  }
-
-
-  private double realWidth() {
-    return rWidth.getValue().doubleValue();
-  }
-
-  private double realLength() {
-    return rLength.getValue().doubleValue();
-  }
-
-  private void updateCoord() {
-    this.coord = new Point2D(xPixel + pixelWidth / 2 - realWidth() / 2, yPixel + pixelLength / 2 - realLength() / 2);
-  }
-
-  private void updateScale() {
-    this.scale = ((pixelWidth / realWidth()) + (pixelLength / realLength())) / 2;
-  }
-
-  public Unit<Length> getUnit() {
-    return unit;
-  }
-
-  private void setUnit(Unit<Length> unit) {
-    this.unit = unit;
-  }
-
-  /**
-   * Converts the Field from the current Unit systems to the supplied Unit system.
-   * @param unit The unit system to convert the Field to.
-   */
-  public void convertUnit(Unit<Length> unit) {
-    setUnit(unit);
-    setRealWidth(rWidth.to(unit));
-    setRealLength(rLength.to(unit));
-    updateCoord();
-    updateScale();
-  }
+	private Supplier<Image> imageSupplier;
+	private Image image;
+	private Quantity<Length> rWidth;
+	private Quantity<Length> rLength;
+	private double xPixel;
+	private double yPixel;
+	private double pixelWidth;
+	private double pixelLength;
+	private double scale;
+	private Point2D coord;
+	public Unit<Length> unit;
+
+	/**
+	 * Creates a new Field Object.
+	 *
+	 * @param imageSupplier
+	 *            a supplier for image of the field
+	 * @param unit
+	 *            unit which the field is measured
+	 * @param realWidth
+	 *            width of field in real units
+	 * @param realLength
+	 *            length of field in real units
+	 * @param xPixel
+	 *            x pixel top left x pixels
+	 * @param yPixel
+	 *            y pixel top left y pixels
+	 * @param pixelWidth
+	 *            width of drawable area in pixels
+	 * @param pixelLength
+	 *            length of drawable area in pixels
+	 */
+	public Field(Supplier<Image> imageSupplier, Unit<Length> unit, double realWidth, double realLength, double xPixel,
+			double yPixel, double pixelWidth, double pixelLength) {
+		this.imageSupplier = imageSupplier;
+		this.xPixel = xPixel;
+		this.yPixel = yPixel;
+		this.pixelWidth = pixelWidth;
+		this.pixelLength = pixelLength;
+		setRealWidth(Quantities.getQuantity(realWidth, unit));
+		setRealLength(Quantities.getQuantity(realLength, unit));
+		updateCoord();
+		updateScale();
+		setUnit(unit);
+	}
+
+	/**
+	 * Creates a new Field Object.
+	 *
+	 * @param image
+	 *            image of the field
+	 * @param unit
+	 *            unit which the field is measured
+	 * @param realWidth
+	 *            width of field in real units
+	 * @param realLength
+	 *            length of field in real units
+	 * @param xPixel
+	 *            x pixel top left x pixels
+	 * @param yPixel
+	 *            y pixel top left y pixels
+	 * @param pixelWidth
+	 *            width of drawable area in pixels
+	 * @param pixelLength
+	 *            length of drawable area in pixels
+	 */
+	public Field(Image image, Unit<Length> unit, double realWidth, double realLength, double xPixel, double yPixel,
+			double pixelWidth, double pixelLength) {
+		this(() -> image, unit, realWidth, realLength, xPixel, yPixel, pixelWidth, pixelLength);
+	}
+
+	public Image getImage() {
+		if (image == null) {
+			image = imageSupplier.get();
+		}
+		return image;
+	}
+
+	public Quantity<Length> getRealWidth() {
+		return rWidth;
+	}
+
+	private void setRealWidth(Quantity<Length> width) {
+		this.rWidth = width;
+	}
+
+	public Quantity<Length> getRealLength() {
+		return rLength;
+	}
+
+	private void setRealLength(Quantity<Length> length) {
+		this.rLength = length;
+	}
+
+	public double getScale() {
+		return scale;
+	}
+
+	public Point2D getCoord() {
+		return coord;
+	}
+
+	private double realWidth() {
+		return rWidth.getValue().doubleValue();
+	}
+
+	private double realLength() {
+		return rLength.getValue().doubleValue();
+	}
+
+	private void updateCoord() {
+		this.coord = new Point2D(xPixel + pixelWidth / 2 - realWidth() / 2,
+				yPixel + pixelLength / 2 - realLength() / 2);
+	}
+
+	private void updateScale() {
+		this.scale = ((pixelWidth / realWidth()) + (pixelLength / realLength())) / 2;
+	}
+
+	public Unit<Length> getUnit() {
+		return unit;
+	}
+
+	private void setUnit(Unit<Length> unit) {
+		this.unit = unit;
+	}
+
+	/**
+	 * Converts the Field from the current Unit systems to the supplied Unit system.
+	 *
+	 * @param unit
+	 *            The unit system to convert the Field to.
+	 */
+	public void convertUnit(Unit<Length> unit) {
+		setUnit(unit);
+		setRealWidth(rWidth.to(unit));
+		setRealLength(rLength.to(unit));
+		updateCoord();
+		updateScale();
+	}
 }
diff --git a/src/main/java/edu/wpi/first/pathweaver/FieldDisplayController.java b/src/main/java/edu/wpi/first/pathweaver/FieldDisplayController.java
index da822e17..92bcae0c 100644
--- a/src/main/java/edu/wpi/first/pathweaver/FieldDisplayController.java
+++ b/src/main/java/edu/wpi/first/pathweaver/FieldDisplayController.java
@@ -164,11 +164,12 @@ public Path duplicate(String pathDirectory) {
     /**
      * Checks if the given x, y coordinates are within the valid area of the drawpane.
      *
-     * @param x X coordinate
-     * @param y Y coordinate
+     * @param x X coordinate, following {@link Waypoint} convention
+     * @param y Y coordinate following {@link Waypoint} convention
      * @return True if X, Y is within the bounds of the drawpane.
      */
     public boolean checkBounds(double x, double y) {
-        return drawPane.getLayoutBounds().contains(x, y);
+        //Convert waypoint convention to JavaFX
+        return drawPane.getLayoutBounds().contains(x, -y);
     }
 }
diff --git a/src/main/java/edu/wpi/first/pathweaver/MainController.java b/src/main/java/edu/wpi/first/pathweaver/MainController.java
index 87384ff9..6f1d1853 100644
--- a/src/main/java/edu/wpi/first/pathweaver/MainController.java
+++ b/src/main/java/edu/wpi/first/pathweaver/MainController.java
@@ -1,7 +1,7 @@
 package edu.wpi.first.pathweaver;
 
-import java.io.File;
 import java.io.IOException;
+import java.nio.file.Files;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.logging.Level;
@@ -330,26 +330,27 @@ private void buildPaths() {
     if (!SaveManager.getInstance().promptSaveAll()) {
       return;
     }
-    File output = ProjectPreferences.getInstance().getOutputDir();
-    output.mkdirs();
+
+    java.nio.file.Path output = ProjectPreferences.getInstance().getOutputDir().toPath();
+    try {
+      Files.createDirectories(output);
+    } catch (IOException e) {
+      LOGGER.log(Level.WARNING, "Could not export to " + output, e);
+    }
     for (TreeItem<String> pathName : pathRoot.getChildren()) {
       Path path = PathIOUtil.importPath(pathDirectory, pathName.getValue());
 
-      File f = new File(output, path.getPathNameNoExtension() + ".wpilib.csv");
+      java.nio.file.Path pathNameFile = output.resolve(path.getPathNameNoExtension());
 
-      if(!path.getSpline().writeToFile(f.toPath())) {
+      if(!path.getSpline().writeToFile(pathNameFile)) {
         Alert alert = new Alert(Alert.AlertType.WARNING);
         alert.setTitle("Path export failure!");
-        alert.setContentText("Could not export to: " + f.getAbsolutePath());
+        alert.setContentText("Could not export to: " + output.toAbsolutePath());
       }
     }
     Alert alert = new Alert(Alert.AlertType.INFORMATION);
     alert.setTitle("Paths exported!");
-    try {
-      alert.setContentText("Paths exported to: " + output.getCanonicalPath());
-    } catch (IOException e) {
-      LOGGER.log(Level.WARNING, "Could not export to " + output.getPath(), e);
-    }
+
     alert.show();
   }
 
diff --git a/src/main/java/edu/wpi/first/pathweaver/PathUnits.java b/src/main/java/edu/wpi/first/pathweaver/PathUnits.java
index 86a47453..0ff995dc 100644
--- a/src/main/java/edu/wpi/first/pathweaver/PathUnits.java
+++ b/src/main/java/edu/wpi/first/pathweaver/PathUnits.java
@@ -1,133 +1,194 @@
 package edu.wpi.first.pathweaver;
 
+import si.uom.SI;
 import systems.uom.common.USCustomary;
-import tec.units.ri.AbstractSystemOfUnits;
-import tec.units.ri.AbstractUnit;
-import tec.units.ri.format.SimpleUnitFormat;
+import tech.units.indriya.AbstractSystemOfUnits;
+import tech.units.indriya.AbstractUnit;
+import tech.units.indriya.format.SimpleUnitFormat;
 
+import java.util.Collections;
 import java.util.List;
 import java.util.Locale;
 
+import javax.measure.MetricPrefix;
 import javax.measure.Unit;
-import javax.measure.quantity.Length;
-import javax.measure.quantity.Time;
+import javax.measure.quantity.*;
 
 public final class PathUnits extends AbstractSystemOfUnits {
-  private static final String SYSTEM_NAME = "PathWeaver Units";
-  private static final PathUnits INSTANCE = new PathUnits();
-
-  public static final Unit<Length> METER = addUnit(USCustomary.METER, "Meter", "m");
-  public static final Unit<Length> CENTIMETER = addUnit(METER.divide(100), "Centimeter", "cm");
-  public static final Unit<Length> MILLIMETER = addUnit(METER.divide(1000), "Millimeter", "mm");
-  public static final Unit<Length> INCH = addUnit(USCustomary.INCH, "Inch", "in");
-  public static final Unit<Length> FOOT = addUnit(USCustomary.FOOT, "Foot", "ft");
-  public static final Unit<Length> YARD = addUnit(USCustomary.YARD, "Yard", "yd");
-  public static final Unit<Length> MILE = addUnit(USCustomary.MILE, "Mile", "mi");
-
-  public static final List<Unit<Length>> LENGTHS = List.of(METER, CENTIMETER, MILLIMETER, INCH, FOOT, YARD, MILE);
-
-  public static final Unit<Time> MINUTE = addUnit(USCustomary.MINUTE, "Minute", "min");
-  public static final Unit<Time> HOUR = addUnit(USCustomary.HOUR, "Hour", "hr");
-  public static final Unit<Time> SECOND = addUnit(MINUTE.divide(60), "Second", "sec");
-
-  private PathUnits() {
-    super();
-  }
-
-  @Override
-  public String getName() {
-    return SYSTEM_NAME;
-  }
-
-  public static PathUnits getInstance() {
-    return INSTANCE;
-  }
-
-  private static <U extends Unit<?>> U addUnit(U unit, String name, String label) {
-    return addUnit(unit, name, label, true);
-  }
-
-  private static <U extends Unit<?>> U addUnit(U unit, String name, String label, boolean isLabel) {
-    if (isLabel) {
-      SimpleUnitFormat.getInstance().label(unit, label);
-    }
-    if (name != null && unit instanceof AbstractUnit) {
-      return Helper.addUnit(INSTANCE.units, unit, name);
-    } else {
-      INSTANCE.units.add(unit);
-    }
-    return unit;
-  }
-
-  /**
-   * Gets the unit of length with the given name, case-insensitive.
-   *
-   * @param unit the name of the unit of length to get
-   * @return the unit represented by the string
-   * @throws IllegalArgumentException if no such unit exists
-   */
-  public Unit<Length> length(String unit) {
-    switch (unit.toLowerCase(Locale.US)) {
-      // Metric
-      case "meter":
-      case "metre":
-      case "meters":
-      case "metres":
-      case "m":
-        return METER;
-      case "centimeter":
-      case "centimetre":
-      case "centimeters":
-      case "centimetres":
-      case "cm":
-        return CENTIMETER;
-      case "millimeter":
-      case "millimetre":
-      case "millimeters":
-      case "millimetres":
-      case "mm":
-        return MILLIMETER;
-      // Imperial
-      case "inch":
-      case "inches":
-      case "in":
-        return INCH;
-      case "foot":
-      case "feet":
-      case "ft":
-        return FOOT;
-      case "yard":
-      case "yards":
-      case "yd":
-        return YARD;
-      case "mile":
-      case "miles":
-      case "mi":
-        return MILE;
-      default:
-        throw new IllegalArgumentException("Unsupported length unit: " + unit);
-    }
-  }
-
-  /*
-   * Generates a velocity string for {unit} per second such as m/s, ft/s, etc.
-   */
-  public static String velocity(Unit<Length> unit) {
-    return SimpleUnitFormat.getInstance().format(unit) + "/s";
-  }
-
-  /*
-   * Generates an acceleration string for {unit} per second per second such as m/s², ft/s², etc.
-   */
-  public static String acceleration(Unit<Length> unit) {
-    return SimpleUnitFormat.getInstance().format(unit) + "/s²";
-  }
-
-  /*
-   * Generates a jerk string for {unit} per second per second per second such as m/s³, ft/s³, etc.
-   */
-  public static String jerk(Unit<Length> unit) {
-    return SimpleUnitFormat.getInstance().format(unit) + "/s³";
-  }
-
+	private static final String SYSTEM_NAME = "PathWeaver Units";
+	private static final PathUnits INSTANCE = new PathUnits();
+
+	public static final Unit<Time> SECOND = addUnit(SI.SECOND, "Second", "sec");
+
+	public static final Unit<Length> INCH = addUnit(USCustomary.INCH, "Inch", "in");
+	public static final Unit<Length> FOOT = addUnit(USCustomary.FOOT, "Foot", "ft");
+	public static final Unit<Length> YARD = addUnit(USCustomary.YARD, "Yard", "yd");
+	public static final Unit<Length> METER = addUnit(SI.METRE, "Meter", "m");
+	public static final Unit<Length> CENTIMETER = addUnit(MetricPrefix.CENTI(USCustomary.METER), "Centimeter", "cm");
+
+	public static final List<Unit<Length>> LENGTHS = Collections
+			.unmodifiableList(List.of(INCH, FOOT, YARD, METER, CENTIMETER));
+	// public static final List<Unit<Length>> LENGTHS =
+	// Collections.unmodifiableList(List.of(METER));
+
+	public static final Unit<Speed> INCH_PER_SECOND = addUnit(INCH.divide(SECOND)).asType(Speed.class);
+	public static final Unit<Speed> FOOT_PER_SECOND = addUnit(FOOT.divide(SECOND)).asType(Speed.class);
+	public static final Unit<Speed> YARD_PER_SECOND = addUnit(YARD.divide(SECOND)).asType(Speed.class);
+	public static final Unit<Speed> METER_PER_SECOND = addUnit(METER.divide(SECOND)).asType(Speed.class);
+	public static final Unit<Speed> CENTIMETER_PER_SECOND = addUnit(CENTIMETER.divide(SECOND)).asType(Speed.class);
+
+	public static final List<Unit<Speed>> SPEEDS = Collections.unmodifiableList(
+			List.of(INCH_PER_SECOND, FOOT_PER_SECOND, YARD_PER_SECOND, METER_PER_SECOND, CENTIMETER_PER_SECOND));
+
+	public static final Unit<Acceleration> INCH_PER_SQUARE_SECOND = addUnit(INCH_PER_SECOND.divide(SECOND))
+			.asType(Acceleration.class);
+	public static final Unit<Acceleration> FOOT_PER_SQUARE_SECOND = addUnit(FOOT_PER_SECOND.divide(SECOND))
+			.asType(Acceleration.class);
+	public static final Unit<Acceleration> YARD_PER_SQUARE_SECOND = addUnit(YARD_PER_SECOND.divide(SECOND))
+			.asType(Acceleration.class);
+	public static final Unit<Acceleration> METER_PER_SQUARE_SECOND = addUnit(METER_PER_SECOND.divide(SECOND))
+			.asType(Acceleration.class);
+	public static final Unit<Acceleration> CENTIMETER_PER_SQUARE_SECOND = addUnit(CENTIMETER_PER_SECOND.divide(SECOND))
+			.asType(Acceleration.class);
+
+	public static final List<Unit<Acceleration>> ACCELERATIONS = Collections
+			.unmodifiableList(List.of(INCH_PER_SQUARE_SECOND, FOOT_PER_SQUARE_SECOND, YARD_PER_SQUARE_SECOND,
+					METER_PER_SQUARE_SECOND, CENTIMETER_PER_SQUARE_SECOND));
+
+	public static PathUnits getInstance() {
+		return INSTANCE;
+	}
+
+	public Unit<Speed> speedUnit(Unit<Length> length) {
+		if (length == INCH) {
+			return INCH_PER_SECOND;
+		} else if (length == FOOT) {
+			return FOOT_PER_SECOND;
+		} else if (length == YARD) {
+			return YARD_PER_SECOND;
+		} else if (length == METER) {
+			return METER_PER_SECOND;
+		} else if (length == CENTIMETER) {
+			return CENTIMETER_PER_SECOND;
+		}
+
+		throw new IllegalArgumentException();
+	}
+
+	public Unit<Acceleration> accelerationUnit(Unit<Length> length) {
+		if (length == INCH) {
+			return INCH_PER_SQUARE_SECOND;
+		} else if (length == FOOT) {
+			return FOOT_PER_SQUARE_SECOND;
+		} else if (length == YARD) {
+			return YARD_PER_SQUARE_SECOND;
+		} else if (length == METER) {
+			return METER_PER_SQUARE_SECOND;
+		} else if (length == CENTIMETER) {
+			return CENTIMETER_PER_SQUARE_SECOND;
+		}
+
+		throw new IllegalArgumentException();
+	}
+
+	@Override
+	public String getName() {
+		return SYSTEM_NAME;
+	}
+
+	/**
+	 * Gets the unit of length with the given name, case-insensitive.
+	 *
+	 * @param unit
+	 *            the name of the unit of length to get
+	 * @return the unit represented by the string
+	 * @throws IllegalArgumentException
+	 *             if no such unit exists
+	 */
+	public Unit<Length> length(String unit) {
+		switch (unit.toLowerCase(Locale.US)) {
+			// Metric
+			case "meter" :
+			case "metre" :
+			case "meters" :
+			case "metres" :
+			case "m" :
+				return METER;
+			case "centimeter" :
+			case "centimetre" :
+			case "centimeters" :
+			case "centimetres" :
+			case "cm" :
+				return CENTIMETER;
+			// Imperial
+			case "inch" :
+			case "inches" :
+			case "in" :
+				return INCH;
+			case "foot" :
+			case "feet" :
+			case "ft" :
+				return FOOT;
+			case "yard" :
+			case "yards" :
+			case "yd" :
+				return YARD;
+			default :
+				throw new IllegalArgumentException("Unsupported length unit: " + unit);
+		}
+	}
+
+	/**
+	 * Adds a new unit not mapped to any specified quantity type.
+	 *
+	 * @param unit
+	 *            the unit being added.
+	 * @return <code>unit</code>.
+	 */
+	private static <U extends Unit<?>> U addUnit(U unit) {
+		INSTANCE.units.add(unit);
+		return unit;
+	}
+
+	/**
+	 * Adds a new unit not mapped to any specified quantity type and puts a text as
+	 * symbol or label.
+	 *
+	 * @param unit
+	 *            the unit being added.
+	 * @param name
+	 *            the string to use as name
+	 * @param text
+	 *            the string to use as label or symbol
+	 * @param isLabel
+	 *            if the string should be used as a label or not
+	 * @return <code>unit</code>.
+	 */
+	private static <U extends Unit<?>> U addUnit(U unit, String name, String text, boolean isLabel) {
+		if (isLabel) {
+			SimpleUnitFormat.getInstance().label(unit, text);
+		}
+		if (name != null && unit instanceof AbstractUnit) {
+			return Helper.addUnit(INSTANCE.units, unit, name);
+		} else {
+			INSTANCE.units.add(unit);
+		}
+		return unit;
+	}
+
+	/**
+	 * Adds a new unit not mapped to any specified quantity type and puts a text as
+	 * symbol or label.
+	 *
+	 * @param unit
+	 *            the unit being added.
+	 * @param name
+	 *            the string to use as name
+	 * @param label
+	 *            the string to use as label
+	 * @return <code>unit</code>.
+	 */
+	private static <U extends Unit<?>> U addUnit(U unit, String name, String label) {
+		return addUnit(unit, name, label, true);
+	}
 }
diff --git a/src/main/java/edu/wpi/first/pathweaver/ProgramPreferences.java b/src/main/java/edu/wpi/first/pathweaver/ProgramPreferences.java
index 6a508346..7901426e 100644
--- a/src/main/java/edu/wpi/first/pathweaver/ProgramPreferences.java
+++ b/src/main/java/edu/wpi/first/pathweaver/ProgramPreferences.java
@@ -16,171 +16,171 @@
 import java.util.logging.Logger;
 
 public class ProgramPreferences {
-  private static final String FILE_NAME = "pathweaver.json";
-  private static final ProgramPreferences INSTANCE = new ProgramPreferences();
-
-  private Values values;
-  private final String directory;
-
-  private ProgramPreferences() {
-    directory = System.getProperty("user.home") + "/PathWeaver/";
-
-    try (BufferedReader prefs = Files.newBufferedReader(Paths.get(directory, FILE_NAME))) {
-      Gson gson = new GsonBuilder().serializeNulls().create();
-      values = gson.fromJson(prefs, Values.class);
-    } catch (IOException e) {
-      values = new Values();
-      updatePrefs();
-    } catch (JsonParseException e) {
-      Alert alert = new Alert(Alert.AlertType.ERROR);
-      alert.setTitle("Preferences import error");
-      alert.setContentText(
-              "Preferences have been reset due to file corruption. You may reimport your projects with the 'Import Project' button");
-      ((Stage) alert.getDialogPane().getScene().getWindow()).setAlwaysOnTop(true);
-      alert.show();
-
-      values = new Values();
-      updatePrefs();
-    }
-  }
-
-  /**
-   * Return the singleton instance of ProgramPreferences.
-   *
-   * @return Singleton instance of ProgramPreferences.
-   */
-  public static ProgramPreferences getInstance() {
-    return INSTANCE;
-  }
-
-  private void updatePrefs() {
-    Path dirPath = Paths.get(directory);
-    try {
-      Files.createDirectories(dirPath);
-      Gson gson = new GsonBuilder().setPrettyPrinting().create();
-
-      try (BufferedWriter writer = Files.newBufferedWriter(dirPath.resolve(FILE_NAME))) {
-        gson.toJson(values, writer);
-      }
-    } catch (IOException e) {
-      Logger log = Logger.getLogger(getClass().getName());
-      log.log(Level.WARNING, "couldn't update program preferences", e);
-    }
-  }
-
-  /**
-   * Adds a project to the beginning of the list of recent projects.
-   *
-   * @param path
-   *            Path to the project.
-   */
-  public void addProject(String path) {
-    values.addProject(path);
-    updatePrefs();
-  }
-
-  /**
-   * Returns a list of paths of recent projects.
-   *
-   * @return List of paths of recent projects.
-   */
-  public List<String> getRecentProjects() {
-    return values.getRecentProjects();
-  }
-
-  /**
-   * Sets the size, position, and maximized values for the primaryStage based upon
-   * previous preferences.
-   *
-   * @param primaryStage
-   *            The Stage to set the values for.
-   */
-  public void setSizeAndPosition(Stage primaryStage) {
-    if (values.getWidth() == 0 || values.getHeight() == 0 || values.getPosX() == 0 || values.getPosY() == 0) {
-      primaryStage.setWidth(1024);
-      primaryStage.setHeight(768);
-    } else {
-      primaryStage.setWidth(values.getWidth());
-      primaryStage.setHeight(values.getHeight());
-      primaryStage.setX(values.getPosX());
-      primaryStage.setY(values.getPosY());
-      primaryStage.setMaximized(values.isMaximized());
-    }
-  }
-
-  /**
-   * Saves the current size, position and maximized values to preferences file.
-   *
-   * @param primaryStage
-   *            The stage to save size, position, and maximized values for.
-   */
-  public void saveSizeAndPosition(Stage primaryStage) {
-    values.setSizeAndPosition(primaryStage.getWidth(), primaryStage.getHeight(), primaryStage.getX(),
-            primaryStage.getY(), primaryStage.isMaximized());
-    updatePrefs();
-  }
-
-  public void removeProject(String folder) {
-    values.removeProject(folder);
-    updatePrefs();
-  }
-
-  private class Values {
-    private List<String> recentProjects;
-    private double width;
-    private double height;
-    private double posX;
-    private double posY;
-    private boolean maximized;
-
-    public List<String> getRecentProjects() {
-      if (recentProjects == null) {
-        recentProjects = new ArrayList<>();
-      }
-      return recentProjects;
-    }
-
-    public double getWidth() {
-      return width;
-    }
-
-    public double getHeight() {
-      return height;
-    }
-
-    public double getPosX() {
-      return posX;
-    }
-
-    public double getPosY() {
-      return posY;
-    }
-
-    public boolean isMaximized() {
-      return maximized;
-    }
-
-    public Values() {
-    }
-
-    public void setSizeAndPosition(double width, double height, double posX, double posY, boolean maximized) {
-      this.width = width;
-      this.height = height;
-      this.posX = posX;
-      this.posY = posY;
-      this.maximized = maximized;
-    }
-
-    public void addProject(String path) {
-      if (recentProjects == null) {
-        recentProjects = new ArrayList<>();
-      }
-      recentProjects.remove(path);
-      recentProjects.add(0, path);
-    }
-
-    public void removeProject(String path) {
-      recentProjects.remove(path);
-    }
-  }
+	private static final String FILE_NAME = "pathweaver.json";
+	private static final ProgramPreferences INSTANCE = new ProgramPreferences();
+
+	private Values values;
+	private final String directory;
+
+	private ProgramPreferences() {
+		directory = System.getProperty("user.home") + "/PathWeaver/";
+
+		try (BufferedReader prefs = Files.newBufferedReader(Paths.get(directory, FILE_NAME))) {
+			Gson gson = new GsonBuilder().serializeNulls().create();
+			values = gson.fromJson(prefs, Values.class);
+		} catch (IOException e) {
+			values = new Values();
+			updatePrefs();
+		} catch (JsonParseException e) {
+			Alert alert = new Alert(Alert.AlertType.ERROR);
+			alert.setTitle("Preferences import error");
+			alert.setContentText(
+					"Preferences have been reset due to file corruption. You may reimport your projects with the 'Import Project' button");
+			((Stage) alert.getDialogPane().getScene().getWindow()).setAlwaysOnTop(true);
+			alert.show();
+
+			values = new Values();
+			updatePrefs();
+		}
+	}
+
+	/**
+	 * Return the singleton instance of ProgramPreferences.
+	 *
+	 * @return Singleton instance of ProgramPreferences.
+	 */
+	public static ProgramPreferences getInstance() {
+		return INSTANCE;
+	}
+
+	private void updatePrefs() {
+		Path output = Paths.get(directory, FILE_NAME);
+		try {
+			Files.createDirectories(Paths.get(directory));
+			Gson gson = new GsonBuilder().setPrettyPrinting().create();
+
+			try (BufferedWriter writer = Files.newBufferedWriter(output)) {
+				gson.toJson(values, writer);
+			}
+		} catch (IOException e) {
+			Logger log = Logger.getLogger(getClass().getName());
+			log.log(Level.WARNING, "couldn't update program preferences", e);
+		}
+	}
+
+	/**
+	 * Adds a project to the beginning of the list of recent projects.
+	 *
+	 * @param path
+	 *            Path to the project.
+	 */
+	public void addProject(String path) {
+		values.addProject(path);
+		updatePrefs();
+	}
+
+	/**
+	 * Returns a list of paths of recent projects.
+	 *
+	 * @return List of paths of recent projects.
+	 */
+	public List<String> getRecentProjects() {
+		return values.getRecentProjects();
+	}
+
+	/**
+	 * Sets the size, position, and maximized values for the primaryStage based upon
+	 * previous preferences.
+	 *
+	 * @param primaryStage
+	 *            The Stage to set the values for.
+	 */
+	public void setSizeAndPosition(Stage primaryStage) {
+		if (values.getWidth() == 0 || values.getHeight() == 0 || values.getPosX() == 0 || values.getPosY() == 0) {
+			primaryStage.setWidth(1024);
+			primaryStage.setHeight(768);
+		} else {
+			primaryStage.setWidth(values.getWidth());
+			primaryStage.setHeight(values.getHeight());
+			primaryStage.setX(values.getPosX());
+			primaryStage.setY(values.getPosY());
+			primaryStage.setMaximized(values.isMaximized());
+		}
+	}
+
+	/**
+	 * Saves the current size, position and maximized values to preferences file.
+	 *
+	 * @param primaryStage
+	 *            The stage to save size, position, and maximized values for.
+	 */
+	public void saveSizeAndPosition(Stage primaryStage) {
+		values.setSizeAndPosition(primaryStage.getWidth(), primaryStage.getHeight(), primaryStage.getX(),
+				primaryStage.getY(), primaryStage.isMaximized());
+		updatePrefs();
+	}
+
+	public void removeProject(String folder) {
+		values.removeProject(folder);
+		updatePrefs();
+	}
+
+	private class Values {
+		private List<String> recentProjects;
+		private double width;
+		private double height;
+		private double posX;
+		private double posY;
+		private boolean maximized;
+
+		public List<String> getRecentProjects() {
+			if (recentProjects == null) {
+				recentProjects = new ArrayList<>();
+			}
+			return recentProjects;
+		}
+
+		public double getWidth() {
+			return width;
+		}
+
+		public double getHeight() {
+			return height;
+		}
+
+		public double getPosX() {
+			return posX;
+		}
+
+		public double getPosY() {
+			return posY;
+		}
+
+		public boolean isMaximized() {
+			return maximized;
+		}
+
+		public Values() {
+		}
+
+		public void setSizeAndPosition(double width, double height, double posX, double posY, boolean maximized) {
+			this.width = width;
+			this.height = height;
+			this.posX = posX;
+			this.posY = posY;
+			this.maximized = maximized;
+		}
+
+		public void addProject(String path) {
+			if (recentProjects == null) {
+				recentProjects = new ArrayList<>();
+			}
+			recentProjects.remove(path);
+			recentProjects.add(0, path);
+		}
+
+		public void removeProject(String path) {
+			recentProjects.remove(path);
+		}
+	}
 }
diff --git a/src/main/java/edu/wpi/first/pathweaver/ProjectPreferences.java b/src/main/java/edu/wpi/first/pathweaver/ProjectPreferences.java
index 734916d8..0ba37ba4 100644
--- a/src/main/java/edu/wpi/first/pathweaver/ProjectPreferences.java
+++ b/src/main/java/edu/wpi/first/pathweaver/ProjectPreferences.java
@@ -16,217 +16,221 @@
 
 @SuppressWarnings("PMD.SingleMethodSingleton")
 public class ProjectPreferences {
-  private static final String FILE_NAME = "pathweaver.json";
-
-  private static ProjectPreferences instance;
-
-  private final String directory;
-
-  private Values values;
-
-  private ProjectPreferences(String directory) {
-    this.directory = directory;
-    try(BufferedReader reader = Files.newBufferedReader(Paths.get(directory, FILE_NAME))) {
-      Gson gson = new Gson();
-      values = gson.fromJson(reader, Values.class);
-    } catch (JsonParseException e) {
-      Alert alert = new Alert(Alert.AlertType.ERROR);
-      alert.setTitle("Preferences import error");
-      alert.setContentText(
-              "Preferences have been reset due to file corruption. You may have to reconfigure your project.");
-      ((Stage) alert.getDialogPane().getScene().getWindow()).setAlwaysOnTop(true);
-
-      alert.show();
-      setDefaults();
-    } catch (IOException e) {
-      setDefaults();
-    }
-  }
-
-  private void setDefaults() {
-    values = new Values("FOOT", 0.2, 10.0, 60.0, 60.0, 2.0, Game.DEEP_SPACE_2019.getName(), null);
-    updateValues();
-  }
-
-  private void updateValues() {
-    Gson gson = new GsonBuilder().setPrettyPrinting().create();
-    try {
-      Files.createDirectories(Paths.get(directory));
-
-      try(BufferedWriter writer = Files.newBufferedWriter(Paths.get(directory, FILE_NAME))) {
-        gson.toJson(values, writer);
-      }
-    } catch (IOException e) {
-      Logger log = Logger.getLogger(getClass().getName());
-      log.log(Level.WARNING, "Couldn't update Project Preferences", e);
-    }
-  }
-
-  /**
-   * Sets the preferences for the current project.
-   * @param values Values to set for preferences.
-   */
-  public void setValues(Values values) {
-    this.values = values;
-    updateValues();
-  }
-
-  public String getDirectory() {
-    return directory;
-  }
-
-
-  /**
-   * Return the singleton instance of ProjectPreferences for a given project directory.
-   * @param folder Path to project folder.
-   * @return Singleton instance of ProjectPreferences.
-   */
-  @SuppressWarnings("PMD.NonThreadSafeSingleton")
-  public static ProjectPreferences getInstance(String folder) {
-    if (instance == null || !instance.directory.equals(folder)) {
-      instance = new ProjectPreferences(folder);
-    }
-    return instance;
-  }
-
-  /**
-   * Returns the singleton instance of ProjectPreferences for the previously requested directory
-   * or the default directory.
-   * @return Singleton instance of ProjectPreferences.
-   */
-  public static ProjectPreferences getInstance() {
-    return instance;
-  }
-
-  public static boolean projectExists(String folder) {
-    return Files.exists(Paths.get(folder, FILE_NAME));
-  }
-
-  /**
-   * Returns a Field object for the current project's game year. Defaults to Power Up.
-   * @return Field for project's game year.
-   */
-  public Field getField() {
-    if (values.getGameName() == null) {
-      values.gameName = Game.DEEP_SPACE_2019.getName();
-      updateValues();
-    }
-    Game game = Game.fromPrettyName(values.gameName);
-    if (game == null) {
-      throw new UnsupportedOperationException("The referenced game is unknown: \"" + values.gameName + "\"");
-    }
-    if (values.getLengthUnit() == null) {
-      values.lengthUnit = "FOOT";
-      updateValues();
-    }
-    Field field = game.getField();
-    field.convertUnit(values.getLengthUnit());
-    return field;
-  }
-
-  /**
-   * Returns the folder to output the generated paths to.
-   * @return File object of Folder to output generated paths to.
-   */
-  public File getOutputDir() {
-    if (values.getOutputDir() == null) {
-      File parentDirectory = new File(directory).getParentFile();
-      return getOutputDir(parentDirectory);
-    } else {
-      File output = new File(directory, values.getOutputDir());
-      return getOutputDir(output);
-    }
-  }
-
-  /**
-   * Returns the output directory relative to a specified directory. If the directory is an FRC project, it returns
-   * the proper deploy directory. Otherwise it simply returns the output subdirectory.
-   * @param directory Directory to return output directory for.
-   * @return A File that is the output directory.
-   */
-  private File getOutputDir(File directory) {
-    if (isFRCProject(directory)) {
-      return getDeployDirectory(directory);
-    } else {
-      return new File(directory, "output");
-    }
-  }
-
-  private File getDeployDirectory(File directory) {
-    return new File(directory, "src/main/deploy/paths");
-  }
-
-  private boolean isFRCProject(File directory) {
-    return new File(directory, "build.gradle").exists();
-  }
-
-  public Values getValues() {
-    return values;
-  }
-
-  public static class Values {
-    private String lengthUnit;
-    private final double timeStep;
-    private final double maxVelocity;
-    private final double maxAcceleration;
-    private final double maxJerk;
-    private final double wheelBase;
-    private String gameName;
-    private final String outputDir;
-
-    /**
-     * Constructor for Values of ProjectPreferences.
-     * @param lengthUnit      The unit to use for distances
-     * @param timeStep        The time delta between points (in seconds)
-     * @param maxVelocity     The maximum velocity the body is capable of travelling at
-     * @param maxAcceleration The maximum acceleration to use
-     * @param maxJerk         The maximum jerk (acceleration per second) to use
-     * @param wheelBase       The width between the individual sides of the drivebase
-     * @param gameName        The year/FRC game
-     * @param outputDir       The directory for the output files
-     */
-    public Values(String lengthUnit, double timeStep, double maxVelocity, double maxAcceleration, double maxJerk,
-                  double wheelBase, String gameName, String outputDir) {
-      this.lengthUnit = lengthUnit;
-      this.timeStep = timeStep;
-      this.maxVelocity = maxVelocity;
-      this.maxAcceleration = maxAcceleration;
-      this.maxJerk = maxJerk;
-      this.wheelBase = wheelBase;
-      this.gameName = gameName;
-      this.outputDir = outputDir;
-    }
-
-    public Unit<Length> getLengthUnit() {
-      return lengthUnit == null ? PathUnits.FOOT : PathUnits.getInstance().length(lengthUnit);
-    }
-
-    public double getTimeStep() {
-      return timeStep;
-    }
-
-    public double getMaxVelocity() {
-      return maxVelocity;
-    }
-
-    public double getMaxAcceleration() {
-      return maxAcceleration;
-    }
-
-    public double getMaxJerk() {
-      return maxJerk;
-    }
-
-    public double getWheelBase() {
-      return wheelBase;
-    }
-
-    public String getGameName() {
-      return gameName;
-    }
-
-    public String getOutputDir() {
-      return outputDir;
-    }
-  }
+	private static final String FILE_NAME = "pathweaver.json";
+
+	private static ProjectPreferences instance;
+
+	private final String directory;
+
+	private Values values;
+
+	private ProjectPreferences(String directory) {
+		this.directory = directory;
+		try (BufferedReader reader = Files.newBufferedReader(Paths.get(directory, FILE_NAME))) {
+			Gson gson = new Gson();
+			values = gson.fromJson(reader, Values.class);
+		} catch (JsonParseException e) {
+			Alert alert = new Alert(Alert.AlertType.ERROR);
+			alert.setTitle("Preferences import error");
+			alert.setContentText(
+					"Preferences have been reset due to file corruption. You may have to reconfigure your project.");
+			((Stage) alert.getDialogPane().getScene().getWindow()).setAlwaysOnTop(true);
+
+			alert.show();
+			setDefaults();
+		} catch (IOException e) {
+			setDefaults();
+		}
+	}
+
+	private void setDefaults() {
+		values = new Values("FOOT", 10.0, 60.0, 2.0, Game.DEEP_SPACE_2019.getName(), null);
+		updateValues();
+	}
+
+	private void updateValues() {
+		Gson gson = new GsonBuilder().setPrettyPrinting().create();
+		try {
+			Files.createDirectories(Paths.get(directory));
+
+			try (BufferedWriter writer = Files.newBufferedWriter(Paths.get(directory, FILE_NAME))) {
+				gson.toJson(values, writer);
+			}
+		} catch (IOException e) {
+			Logger log = Logger.getLogger(getClass().getName());
+			log.log(Level.WARNING, "Couldn't update Project Preferences", e);
+		}
+	}
+
+	/**
+	 * Sets the preferences for the current project.
+	 *
+	 * @param values
+	 *            Values to set for preferences.
+	 */
+	public void setValues(Values values) {
+		this.values = values;
+		updateValues();
+	}
+
+	public String getDirectory() {
+		return directory;
+	}
+
+	/**
+	 * Return the singleton instance of ProjectPreferences for a given project
+	 * directory.
+	 *
+	 * @param folder
+	 *            Path to project folder.
+	 * @return Singleton instance of ProjectPreferences.
+	 */
+	@SuppressWarnings("PMD.NonThreadSafeSingleton")
+	public static ProjectPreferences getInstance(String folder) {
+		if (instance == null || !instance.directory.equals(folder)) {
+			instance = new ProjectPreferences(folder);
+		}
+		return instance;
+	}
+
+	/**
+	 * Returns the singleton instance of ProjectPreferences for the previously
+	 * requested directory or the default directory.
+	 *
+	 * @return Singleton instance of ProjectPreferences.
+	 */
+	public static ProjectPreferences getInstance() {
+		return instance;
+	}
+
+	public static boolean projectExists(String folder) {
+		return Files.exists(Paths.get(folder, FILE_NAME));
+	}
+
+	/**
+	 * Returns a Field object for the current project's game year. Defaults to Power
+	 * Up.
+	 *
+	 * @return Field for project's game year.
+	 */
+	public Field getField() {
+		if (values.getGameName() == null) {
+			values.gameName = Game.DEEP_SPACE_2019.getName();
+			updateValues();
+		}
+		Game game = Game.fromPrettyName(values.gameName);
+		if (game == null) {
+			throw new UnsupportedOperationException("The referenced game is unknown: \"" + values.gameName + "\"");
+		}
+		if (values.getLengthUnit() == null) {
+			values.lengthUnit = "FOOT";
+			updateValues();
+		}
+		Field field = game.getField();
+		field.convertUnit(values.getLengthUnit());
+		return field;
+	}
+
+	/**
+	 * Returns the folder to output the generated paths to.
+	 *
+	 * @return File object of Folder to output generated paths to.
+	 */
+	public File getOutputDir() {
+		if (values.getOutputDir() == null) {
+			File parentDirectory = new File(directory).getParentFile();
+			return getOutputDir(parentDirectory);
+		} else {
+			File output = new File(directory, values.getOutputDir());
+			return getOutputDir(output);
+		}
+	}
+
+	/**
+	 * Returns the output directory relative to a specified directory. If the
+	 * directory is an FRC project, it returns the proper deploy directory.
+	 * Otherwise it simply returns the output subdirectory.
+	 *
+	 * @param directory
+	 *            Directory to return output directory for.
+	 * @return A File that is the output directory.
+	 */
+	private File getOutputDir(File directory) {
+		if (isFRCProject(directory)) {
+			return getDeployDirectory(directory);
+		} else {
+			return new File(directory, "output");
+		}
+	}
+
+	private File getDeployDirectory(File directory) {
+		return new File(directory, "src/main/deploy/paths");
+	}
+
+	private boolean isFRCProject(File directory) {
+		return new File(directory, "build.gradle").exists();
+	}
+
+	public Values getValues() {
+		return values;
+	}
+
+	public static class Values {
+		private String lengthUnit;
+		private final double maxVelocity;
+		private final double maxAcceleration;
+		private final double wheelBase;
+		private String gameName;
+		private final String outputDir;
+
+		/**
+		 * Constructor for Values of ProjectPreferences.
+		 *
+		 * @param lengthUnit
+		 *            The unit to use for distances
+		 * @param maxVelocity
+		 *            The maximum velocity the body is capable of travelling at
+		 * @param maxAcceleration
+		 *            The maximum acceleration to use
+		 * @param wheelBase
+		 *            The width between the individual sides of the drivebase
+		 * @param gameName
+		 *            The year/FRC game
+		 * @param outputDir
+		 *            The directory for the output files
+		 */
+		public Values(String lengthUnit, double maxVelocity, double maxAcceleration,
+				double wheelBase, String gameName, String outputDir) {
+			this.lengthUnit = lengthUnit;
+			this.maxVelocity = maxVelocity;
+			this.maxAcceleration = maxAcceleration;
+			this.wheelBase = wheelBase;
+			this.gameName = gameName;
+			this.outputDir = outputDir;
+		}
+
+		public Unit<Length> getLengthUnit() {
+			return PathUnits.getInstance().length(this.lengthUnit);
+		}
+
+		public double getMaxVelocity() {
+			return maxVelocity;
+		}
+
+		public double getMaxAcceleration() {
+			return maxAcceleration;
+		}
+
+		public double getWheelBase() {
+			return wheelBase;
+		}
+
+		public String getGameName() {
+			return gameName;
+		}
+
+		public String getOutputDir() {
+			return outputDir;
+		}
+	}
 }
diff --git a/src/main/java/edu/wpi/first/pathweaver/Waypoint.java b/src/main/java/edu/wpi/first/pathweaver/Waypoint.java
index 4153bae5..08cc2143 100644
--- a/src/main/java/edu/wpi/first/pathweaver/Waypoint.java
+++ b/src/main/java/edu/wpi/first/pathweaver/Waypoint.java
@@ -10,211 +10,228 @@
 import javafx.geometry.Point2D;
 import javafx.scene.shape.Line;
 import javafx.scene.shape.Polygon;
-import tec.units.ri.quantity.Quantities;
 
 import javax.measure.Unit;
 import javax.measure.quantity.Length;
 
-
+/**
+ * The Waypoint class represents a point on the field. This class
+ * follows WPILib convention, with X being the long side of the field,
+ * and Y being the short side.
+ *
+ * Viewed from the screen, Y should increase as one moves up the screen, and X
+ * should increase as one moves left.
+ */
 public class Waypoint {
-  private static final double SIZE = 30.0;
-  private static final double ICON_X_OFFSET = (SIZE * 3D / 5D) / 16.5;
-
-  private final DoubleProperty x = new SimpleDoubleProperty();
-  private final DoubleProperty y = new SimpleDoubleProperty();
-  private final DoubleProperty tangentX = new SimpleDoubleProperty();
-  private final DoubleProperty tangentY = new SimpleDoubleProperty();
-  private final BooleanProperty lockTangent = new SimpleBooleanProperty();
-  private final StringProperty name = new SimpleStringProperty("");
-
-  private final Line tangentLine;
-  private final Polygon icon;
-
-  /**
-   * Creates Waypoint object containing javafx circle.
-   *
-   * @param position      x and y coordinates in user set units
-   * @param tangentVector tangent vector in user set units
-   * @param fixedAngle    If the angle the of the waypoint should be fixed. Used for first and last waypoint
-   */
-  public Waypoint(Point2D position, Point2D tangentVector, boolean fixedAngle) {
-    lockTangent.set(fixedAngle);
-    setCoords(position);
-
-    icon = new Polygon(
-            0.0, SIZE / 3,
-            SIZE, 0.0,
-            0.0, -SIZE / 3);
-    setupIcon();
-
-    tangentLine = new Line();
-    tangentLine.getStyleClass().add("tangent");
-    tangentLine.startXProperty().bind(x);
-    tangentLine.startYProperty().bind(y);
-    setTangent(tangentVector);
-    tangentLine.endXProperty().bind(Bindings.createObjectBinding(() -> getTangentX() + getX(), tangentX, x));
-    tangentLine.endYProperty().bind(Bindings.createObjectBinding(() -> getTangentY() + getY(), tangentY, y));
-  }
-
-  public void enableSubchildSelector(int i) {
-    FxUtils.enableSubchildSelector(this.icon, i);
-    getIcon().applyCss();
-  }
-
-  private void setupIcon() {
-    icon.setLayoutX(-(icon.getLayoutBounds().getMaxX() + icon.getLayoutBounds().getMinX()) / 2 - ICON_X_OFFSET);
-    icon.setLayoutY(-(icon.getLayoutBounds().getMaxY() + icon.getLayoutBounds().getMinY()) / 2);
-
-    icon.translateXProperty().bind(x);
-    icon.translateYProperty().bind(y);
-    FxUtils.applySubchildClasses(this.icon);
-    this.icon.rotateProperty().bind(
-            Bindings.createObjectBinding(() ->
-                    getTangent() == null ? 0.0 : Math.toDegrees(Math.atan2(getTangentY(), getTangentX())),
-                    tangentX, tangentY));
-    icon.getStyleClass().add("waypoint");
-  }
-
-  /**
-   * Convenience function for math purposes.
-   *
-   * @param other The other Waypoint.
-   *
-   * @return The coordinates of this Waypoint relative to the coordinates of another Waypoint.
-   */
-  public Point2D relativeTo(Waypoint other) {
-    return new Point2D(this.getX() - other.getX(), this.getY() - other.getY());
-  }
-
-  public boolean isLockTangent() {
-    return lockTangent.get();
-  }
-
-  public BooleanProperty lockTangentProperty() {
-    return lockTangent;
-  }
-
-  public void setLockTangent(boolean lockTangent) {
-    this.lockTangent.set(lockTangent);
-  }
-
-  public Line getTangentLine() {
-    return tangentLine;
-  }
-
-  public Point2D getTangent() {
-    return new Point2D(tangentX.get(), tangentY.get());
-  }
-
-  public void setTangent(Point2D tangent) {
-    this.tangentX.set(tangent.getX());
-    this.tangentY.set(tangent.getY());
-  }
-
-  public double getTangentX() {
-    return tangentX.get();
-  }
-
-  public double getTangentY() {
-    return tangentY.get();
-  }
-
-  public void setTangentX(double tangentX) {
-    this.tangentX.set(tangentX);
-  }
-
-  public void setTangentY(double tangentY) {
-    this.tangentY.set(tangentY);
-  }
-
-  public Polygon getIcon() {
-    return icon;
-  }
-
-  public double getX() {
-    return x.get();
-  }
-
-  public DoubleProperty xProperty() {
-    return x;
-  }
-
-  public void setX(double x) {
-    this.x.set(x);
-  }
-
-  public double getY() {
-    return y.get();
-  }
-
-  public DoubleProperty yProperty() {
-    return y;
-  }
-
-  public void setY(double y) {
-    this.y.set(y);
-  }
-
-  public Point2D getCoords() {
-    return new Point2D(getX(), getY());
-  }
-
-  public void setCoords(Point2D coords) {
-    setX(coords.getX());
-    setY(coords.getY());
-  }
-
-  public String getName() {
-    return name.get();
-  }
-
-  public StringProperty nameProperty() {
-    return name;
-  }
-
-  public void setName(String name) {
-    this.name.set(name);
-  }
-
-  public DoubleProperty tangentXProperty() {
-    return tangentX;
-  }
-
-  public DoubleProperty tangentYProperty() {
-    return tangentY;
-  }
-
-  /**
-   * Converts the unit system of a this Waypoint.
-   * @param from Unit to convert from.
-   * @param to Unit to convert to.
-   */
-  public void convertUnit(Unit<Length> from, Unit<Length> to) {
-    x.set(Quantities.getQuantity(x.get(), from).to(to).getValue().doubleValue());
-    y.set(Quantities.getQuantity(y.get(), from).to(to).getValue().doubleValue());
-    tangentX.set(Quantities.getQuantity(tangentX.get(), from).to(to).getValue().doubleValue());
-    tangentY.set(Quantities.getQuantity(tangentY.get(), from).to(to).getValue().doubleValue());
-  }
-
-  public Waypoint copy() {
-    return new Waypoint(getCoords(), getTangent(), isLockTangent());
-  }
-
-  @Override
-  public boolean equals(Object o) {
-    if (this == o) {
-      return true;
-    }
-    if (o == null) {
-      return false;
-    }
-    if (getClass() != o.getClass()) {
-      return false;
-    }
-    Waypoint point = (Waypoint) o;
-
-    return x.get() == point.x.get() && y.get() == point.y.get() && tangentX.get() == point.tangentX.get()
-        && tangentY.get() == point.tangentY.get() && name.get().equals(point.name.get())
-        && isLockTangent() == point.isLockTangent();
-  }
+	private static final double SIZE = 30.0;
+	private static final double ICON_X_OFFSET = (SIZE * 3D / 5D) / 16.5;
+
+	private final DoubleProperty x = new SimpleDoubleProperty();
+	private final DoubleProperty y = new SimpleDoubleProperty();
+	private final DoubleProperty tangentX = new SimpleDoubleProperty();
+	private final DoubleProperty tangentY = new SimpleDoubleProperty();
+	private final BooleanProperty lockTangent = new SimpleBooleanProperty();
+	private final StringProperty name = new SimpleStringProperty("");
+
+	private final Line tangentLine;
+	private final Polygon icon;
+
+	/**
+	 * Creates Waypoint object containing javafx circle.
+	 *
+	 * @param position
+	 *            x and y coordinates in {@link Waypoint} convention
+	 * @param tangentVector
+	 *            tangent vector in user set units
+	 * @param fixedAngle
+	 *            If the angle the of the waypoint should be fixed. Used for first
+	 *            and last waypoint
+	 */
+	public Waypoint(Point2D position, Point2D tangentVector, boolean fixedAngle) {
+		lockTangent.set(fixedAngle);
+		setCoords(position);
+
+		icon = new Polygon(0.0, SIZE / 3, SIZE, 0.0, 0.0, -SIZE / 3);
+		setupIcon();
+
+		tangentLine = new Line();
+		tangentLine.getStyleClass().add("tangent");
+		tangentLine.startXProperty().bind(x);
+		//Convert from WPILib to JavaFX coords
+		tangentLine.startYProperty().bind(y.negate());
+		setTangent(tangentVector);
+		tangentLine.endXProperty().bind(Bindings.createObjectBinding(() -> getTangentX() + getX(), tangentX, x));
+
+		//Convert from WPILib to JavaFX coords
+		tangentLine.endYProperty().bind(Bindings.createObjectBinding(() -> -getTangentY() + -getY(), tangentY, y));
+	}
+
+	public void enableSubchildSelector(int i) {
+		FxUtils.enableSubchildSelector(this.icon, i);
+		getIcon().applyCss();
+	}
+
+	private void setupIcon() {
+		icon.setLayoutX(-(icon.getLayoutBounds().getMaxX() + icon.getLayoutBounds().getMinX()) / 2 - ICON_X_OFFSET);
+		icon.setLayoutY(-(icon.getLayoutBounds().getMaxY() + icon.getLayoutBounds().getMinY()) / 2);
+
+		icon.translateXProperty().bind(x);
+		//Convert from WPILib to JavaFX coords
+		icon.translateYProperty().bind(y.negate());
+		FxUtils.applySubchildClasses(this.icon);
+		this.icon.rotateProperty()
+				.bind(Bindings.createObjectBinding(
+						() -> getTangent() == null ? 0.0 : Math.toDegrees(Math.atan2(getTangentY(), getTangentX())),
+						tangentX, tangentY));
+		icon.getStyleClass().add("waypoint");
+	}
+
+	/**
+	 * Convenience function for math purposes.
+	 *
+	 * @param other
+	 *            The other Waypoint.
+	 *
+	 * @return The coordinates of this Waypoint relative to the coordinates of
+	 *         another Waypoint.
+	 */
+	public Point2D relativeTo(Waypoint other) {
+		return new Point2D(this.getX() - other.getX(), this.getY() - other.getY());
+	}
+
+	public boolean isLockTangent() {
+		return lockTangent.get();
+	}
+
+	public BooleanProperty lockTangentProperty() {
+		return lockTangent;
+	}
+
+	public void setLockTangent(boolean lockTangent) {
+		this.lockTangent.set(lockTangent);
+	}
+
+	public Line getTangentLine() {
+		return tangentLine;
+	}
+
+	public Point2D getTangent() {
+		return new Point2D(tangentX.get(), tangentY.get());
+	}
+
+	public void setTangent(Point2D tangent) {
+		this.tangentX.set(tangent.getX());
+		this.tangentY.set(tangent.getY());
+	}
+
+	public double getTangentX() {
+		return tangentX.get();
+	}
+
+	public double getTangentY() {
+		return tangentY.get();
+	}
+
+	public void setTangentX(double tangentX) {
+		this.tangentX.set(tangentX);
+	}
+
+	public void setTangentY(double tangentY) {
+		this.tangentY.set(tangentY);
+	}
+
+	public Polygon getIcon() {
+		return icon;
+	}
+
+	public double getX() {
+		return x.get();
+	}
+
+	public DoubleProperty xProperty() {
+		return x;
+	}
+
+	public void setX(double x) {
+		this.x.set(x);
+	}
+
+	public double getY() {
+		return y.get();
+	}
+
+	public DoubleProperty yProperty() {
+		return y;
+	}
+
+	public void setY(double y) {
+		this.y.set(y);
+	}
+
+	public Point2D getCoords() {
+		return new Point2D(getX(), getY());
+	}
+
+	public void setCoords(Point2D coords) {
+		setX(coords.getX());
+		setY(coords.getY());
+	}
+
+	public String getName() {
+		return name.get();
+	}
+
+	public StringProperty nameProperty() {
+		return name;
+	}
+
+	public void setName(String name) {
+		this.name.set(name);
+	}
+
+	public DoubleProperty tangentXProperty() {
+		return tangentX;
+	}
+
+	public DoubleProperty tangentYProperty() {
+		return tangentY;
+	}
+
+	/**
+	 * Converts the unit system of a this Waypoint.
+	 *
+	 * @param from
+	 *            Unit to convert from.
+	 * @param to
+	 *            Unit to convert to.
+	 */
+	public void convertUnit(Unit<Length> from, Unit<Length> to) {
+		var converter = from.getConverterTo(to);
+		x.set(converter.convert(x.get()));
+		y.set(converter.convert(y.get()));
+		tangentX.set(converter.convert(tangentX.get()));
+		tangentY.set(converter.convert(tangentY.get()));
+	}
+
+	public Waypoint copy() {
+		return new Waypoint(getCoords(), getTangent(), isLockTangent());
+	}
+
+	@Override
+	public boolean equals(Object o) {
+		if (this == o) {
+			return true;
+		}
+		if (o == null) {
+			return false;
+		}
+		if (getClass() != o.getClass()) {
+			return false;
+		}
+		Waypoint point = (Waypoint) o;
+
+		return x.get() == point.x.get() && y.get() == point.y.get() && tangentX.get() == point.tangentX.get()
+				&& tangentY.get() == point.tangentY.get() && name.get().equals(point.name.get())
+				&& isLockTangent() == point.isLockTangent();
+	}
 }
diff --git a/src/main/java/edu/wpi/first/pathweaver/global/DragHandler.java b/src/main/java/edu/wpi/first/pathweaver/global/DragHandler.java
index d98595ba..5e727b1a 100644
--- a/src/main/java/edu/wpi/first/pathweaver/global/DragHandler.java
+++ b/src/main/java/edu/wpi/first/pathweaver/global/DragHandler.java
@@ -67,9 +67,10 @@ private void setupDrag() {
   }
 
   private void handleWaypointDrag(DragEvent event, Path path, Waypoint point) {
-    if (controller.checkBounds(event.getX(), event.getY())) {
+    if (controller.checkBounds(event.getX(), -event.getY())) {
       point.setX(event.getX());
-      point.setY(event.getY());
+      //Y should increase as one drags the point up on the screen
+      point.setY(-event.getY());
       path.recalculateTangents(point);
       path.update();
     }
@@ -77,7 +78,8 @@ private void handleWaypointDrag(DragEvent event, Path path, Waypoint point) {
   }
 
   private void handleVectorDrag(DragEvent event, Path path, Waypoint wp) {
-    Point2D pt = new Point2D(event.getX(), event.getY());
+    //Y should increase as one drags the vector up on the screen
+    Point2D pt = new Point2D(event.getX(), -event.getY());
     wp.setTangent(pt.subtract(wp.getX(), wp.getY()));
     wp.lockTangentProperty().set(true);
     path.update();
diff --git a/src/main/java/edu/wpi/first/pathweaver/path/wpilib/WpilibPath.java b/src/main/java/edu/wpi/first/pathweaver/path/wpilib/WpilibPath.java
index ddfe8e2b..b291a039 100644
--- a/src/main/java/edu/wpi/first/pathweaver/path/wpilib/WpilibPath.java
+++ b/src/main/java/edu/wpi/first/pathweaver/path/wpilib/WpilibPath.java
@@ -140,8 +140,8 @@ private void setupWaypoint(Waypoint waypoint) {
      * @param name          The name of the path
      */
     public WpilibPath(String name) {
-        this(new Point2D(0, 0), new Point2D(10, 10), new Point2D(10, 0),
-                new Point2D(0, 10), name);
+        this(new Point2D(0, 0), new Point2D(10, -10), new Point2D(10, 0),
+                new Point2D(0, -10), name);
     }
 
     /**
diff --git a/src/main/java/edu/wpi/first/pathweaver/spline/wpilib/WpilibSpline.java b/src/main/java/edu/wpi/first/pathweaver/spline/wpilib/WpilibSpline.java
index 63592201..0a655d91 100644
--- a/src/main/java/edu/wpi/first/pathweaver/spline/wpilib/WpilibSpline.java
+++ b/src/main/java/edu/wpi/first/pathweaver/spline/wpilib/WpilibSpline.java
@@ -1,21 +1,24 @@
 package edu.wpi.first.pathweaver.spline.wpilib;
 
 import edu.wpi.first.pathweaver.FxUtils;
+import edu.wpi.first.pathweaver.ProjectPreferences;
 import edu.wpi.first.pathweaver.Waypoint;
 import edu.wpi.first.pathweaver.path.Path;
 import edu.wpi.first.pathweaver.spline.AbstractSpline;
 import edu.wpi.first.pathweaver.spline.SplineSegment;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.spline.PoseWithCurvature;
 import edu.wpi.first.wpilibj.spline.QuinticHermiteSpline;
+import edu.wpi.first.wpilibj.spline.Spline;
+import edu.wpi.first.wpilibj.trajectory.Trajectory;
+import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
+import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
+import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil;
 import javafx.beans.property.SimpleDoubleProperty;
 import javafx.scene.Group;
 import javafx.scene.Node;
-import org.apache.commons.csv.CSVFormat;
-import org.apache.commons.csv.CSVPrinter;
 
-import java.io.BufferedWriter;
 import java.io.IOException;
-import java.nio.file.Files;
 import java.util.List;
 import java.util.logging.Level;
 import java.util.logging.Logger;
@@ -65,7 +68,8 @@ public void update() {
             for (int sample = 0; sample <= 40; sample++) {
                 PoseWithCurvature pose = quintic.getPoint(sample / 40.0);
                 seg.getLine().getPoints().add(pose.poseMeters.getTranslation().getX());
-                seg.getLine().getPoints().add(pose.poseMeters.getTranslation().getY());
+                //Convert from WPILib to JavaFX coords
+                seg.getLine().getPoints().add(-pose.poseMeters.getTranslation().getY());
             }
 
             seg.getLine().strokeWidthProperty().bind(strokeWidth);
@@ -87,15 +91,15 @@ public void addToGroup(Group splineGroup, double scaleFactor) {
 
     @Override
     public boolean writeToFile(java.nio.file.Path path) {
-        //TODO: Json now
-        try (BufferedWriter writer = Files.newBufferedWriter(path);
-             CSVPrinter csvPrinter = new CSVPrinter(writer, CSVFormat.DEFAULT
-                     .withHeader("X", "Y", "Tangent X", "Tangent Y"))
-        ) {
-            for(Waypoint waypoint : waypoints) {
-                csvPrinter.printRecord(waypoint.getX(), waypoint.getY(), waypoint.getTangentX(), waypoint.getTangentY());
-            }
-            csvPrinter.flush();
+        try {
+            var values = ProjectPreferences.getInstance().getValues();
+
+            TrajectoryConfig config = new TrajectoryConfig(values.getMaxVelocity(), values.getMaxAcceleration())
+                    .setKinematics(new DifferentialDriveKinematics(values.getWheelBase()));
+            Trajectory traj = trajectoryFromWaypoints(waypoints, config);
+
+            TrajectoryUtil.toPathweaverJson(traj, path.resolve(".wpilib.json"));
+
             return true;
         } catch (IOException except) {
             LOGGER.log(Level.WARNING, "Could not write Spline to file", except);
@@ -105,17 +109,10 @@ public boolean writeToFile(java.nio.file.Path path) {
 
     private static QuinticHermiteSpline[] getQuinticSplinesFromWaypoints(Waypoint[] waypoints) {
         QuinticHermiteSpline[] splines = new QuinticHermiteSpline[waypoints.length - 1];
-        for (int i = 0; i < waypoints.length - 1; i++) {
+        for (int i = 0; i < waypoints.length - 1; i++) {    
             var p0 = waypoints[i];
             var p1 = waypoints[i + 1];
 
-            //TODO: Something
-//            double p0Angle = Math.atan2(p0.getTangentY(), p0.getTangentX());
-//            double p0Magnitude = Math.pow(p0.getTangentX(), 2) + Math.pow(p0.getTangentY(), 0);
-//
-//            double p1Angle = Math.atan2(p1.getTangentY(), p1.getTangentX());
-//            double p1Magnitude = Math.pow(p1.getTangentX(), 2) + Math.pow(p1.getTangentY(), 0);
-
             double[] xInitialVector =
                     {p0.getX(), p0.getTangentX(), 0.0};
             double[] xFinalVector =
@@ -131,4 +128,16 @@ private static QuinticHermiteSpline[] getQuinticSplinesFromWaypoints(Waypoint[]
 
         return splines;
     }
+
+    private static Trajectory trajectoryFromWaypoints(Iterable<Waypoint> waypoints, TrajectoryConfig config) {
+        var list = new TrajectoryGenerator.ControlVectorList();
+
+        for(Waypoint wp: waypoints) {
+            list.add(new Spline.ControlVector(
+                    new double[] {wp.getX(), wp.getTangentX(), 0},
+                    new double[] {wp.getY(), wp.getTangentY(), 0}));
+        }
+
+        return TrajectoryGenerator.generateTrajectory(list, config);
+    }
 }
diff --git a/src/main/resources/edu/wpi/first/pathweaver/createProject.fxml b/src/main/resources/edu/wpi/first/pathweaver/createProject.fxml
index cb6cdd68..f8fd0a48 100644
--- a/src/main/resources/edu/wpi/first/pathweaver/createProject.fxml
+++ b/src/main/resources/edu/wpi/first/pathweaver/createProject.fxml
@@ -19,60 +19,54 @@
             <Font size="18.0" />
          </font>
       </Label>
-      <GridPane alignment="CENTER" hgap="10.0" maxHeight="-Infinity" minHeight="-Infinity" minWidth="-Infinity" vgap="10.0">
+      <GridPane alignment="CENTER" hgap="10.0" maxHeight="-Infinity" minHeight="-Infinity" minWidth="-Infinity"
+                vgap="10.0">
          <columnConstraints>
-            <ColumnConstraints halignment="RIGHT" hgrow="SOMETIMES" minWidth="10.0" />
-            <ColumnConstraints hgrow="SOMETIMES" minWidth="10.0" percentWidth="38.0" />
-            <ColumnConstraints hgrow="SOMETIMES" minWidth="10.0" />
+            <ColumnConstraints halignment="RIGHT" hgrow="SOMETIMES" minWidth="10.0"/>
+            <ColumnConstraints hgrow="SOMETIMES" minWidth="10.0" percentWidth="38.0"/>
+            <ColumnConstraints hgrow="SOMETIMES" minWidth="10.0"/>
          </columnConstraints>
          <rowConstraints>
-            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
-            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
-            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
-            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
-            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
-            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
-            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
-            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
-            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
-            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES" />
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES"/>
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES"/>
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES"/>
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES"/>
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES"/>
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES"/>
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES"/>
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES"/>
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="SOMETIMES"/>
          </rowConstraints>
          <padding>
-            <Insets bottom="20.0" left="40.0" right="40.0" top="10.0" />
+            <Insets bottom="20.0" left="40.0" right="40.0" top="10.0"/>
          </padding>
-         <children>
-            <Label fx:id="browseLabel" text="Project Directory" />
-            <Label fx:id="timeLabel" text="Time Step" GridPane.rowIndex="4" />
-            <Label fx:id="velocityLabel" text="Max Velocity" GridPane.rowIndex="5" />
-            <Label fx:id="accelerationLabel" text="Max Acceleration" GridPane.rowIndex="6" />
-            <Label fx:id="jerkLabel" text="Max Jerk" GridPane.rowIndex="7" />
-            <Label fx:id="wheelBaseLabel" text="Wheel Base" GridPane.rowIndex="8" />
-            <TextField fx:id="directory" GridPane.columnIndex="1" />
-            <Button fx:id="browse" mnemonicParsing="false" onAction="#browseDirectory" text="Browse" GridPane.columnIndex="2" />
-            <TextField fx:id="outputDirectory" GridPane.columnIndex="1" GridPane.rowIndex="1" />
-            <Button fx:id="browseOutput" mnemonicParsing="false" onAction="#browseOutput" text="Browse" GridPane.columnIndex="2" GridPane.rowIndex="1" />
-            <ChoiceBox fx:id="game" prefWidth="150.0" GridPane.columnIndex="1" GridPane.rowIndex="2" />
-            <ChoiceBox fx:id="length" prefWidth="150.0" GridPane.columnIndex="1" GridPane.rowIndex="3" />
-            <TextField fx:id="timeStep" GridPane.columnIndex="1" GridPane.rowIndex="4" />
-            <TextField fx:id="maxVelocity" GridPane.columnIndex="1" GridPane.rowIndex="5" />
-            <TextField fx:id="maxAcceleration" GridPane.columnIndex="1" GridPane.rowIndex="6" />
-            <TextField fx:id="maxJerk" GridPane.columnIndex="1" GridPane.rowIndex="7" />
-            <TextField fx:id="wheelBase" GridPane.columnIndex="1" GridPane.rowIndex="8" />
-            <Label fx:id="timeUnits" text="seconds" GridPane.columnIndex="2" GridPane.rowIndex="4" />
-            <Label fx:id="velocityUnits" GridPane.columnIndex="2" GridPane.rowIndex="5" />
-            <Label fx:id="accelerationUnits" GridPane.columnIndex="2" GridPane.rowIndex="6" />
-            <Label fx:id="jerkUnits" GridPane.columnIndex="2" GridPane.rowIndex="7" />
-            <Label fx:id="wheelBaseUnits" GridPane.columnIndex="2" GridPane.rowIndex="8" />
-            <ButtonBar GridPane.columnIndex="2" GridPane.rowIndex="9">
-              <buttons>
-                <Button fx:id="cancel" mnemonicParsing="false" onAction="#cancel" text="Cancel" />
-                  <Button fx:id="create" mnemonicParsing="false" onAction="#createProject" text="Create Project" />
-              </buttons>
-            </ButtonBar>
-            <Label text="Game" GridPane.rowIndex="2" />
-            <Label text="Length Unit" GridPane.rowIndex="3" />
-            <Label fx:id="outputLabel" text="Output Directory" GridPane.rowIndex="1" />
-         </children>
+         <Label fx:id="browseLabel" text="Project Directory"/>
+         <Label fx:id="velocityLabel" text="Max Velocity" GridPane.rowIndex="4"/>
+         <Label fx:id="accelerationLabel" text="Max Acceleration" GridPane.rowIndex="5"/>
+         <Label fx:id="wheelBaseLabel" text="Wheel Base" GridPane.rowIndex="6"/>
+         <TextField fx:id="directory" GridPane.columnIndex="1"/>
+         <Button fx:id="browse" mnemonicParsing="false" onAction="#browseDirectory" text="Browse"
+                 GridPane.columnIndex="2"/>
+         <TextField fx:id="outputDirectory" GridPane.columnIndex="1" GridPane.rowIndex="1"/>
+         <Button fx:id="browseOutput" mnemonicParsing="false" onAction="#browseOutput" text="Browse"
+                 GridPane.columnIndex="2" GridPane.rowIndex="1"/>
+         <ChoiceBox fx:id="game" prefWidth="150.0" GridPane.columnIndex="1" GridPane.rowIndex="2"/>
+         <ChoiceBox fx:id="length" prefWidth="150.0" GridPane.columnIndex="1" GridPane.rowIndex="3"/>
+         <TextField fx:id="maxVelocity" GridPane.columnIndex="1" GridPane.rowIndex="4"/>
+         <TextField fx:id="maxAcceleration" GridPane.columnIndex="1" GridPane.rowIndex="5"/>
+         <TextField fx:id="wheelBase" GridPane.columnIndex="1" GridPane.rowIndex="6"/>
+         <Label fx:id="velocityUnits" GridPane.columnIndex="2" GridPane.rowIndex="4"/>
+         <Label fx:id="accelerationUnits" GridPane.columnIndex="2" GridPane.rowIndex="5"/>
+         <Label fx:id="wheelBaseUnits" GridPane.columnIndex="2" GridPane.rowIndex="6"/>
+         <ButtonBar GridPane.columnIndex="2" GridPane.rowIndex="8">
+            <buttons>
+               <Button fx:id="cancel" mnemonicParsing="false" onAction="#cancel" text="Cancel"/>
+               <Button fx:id="create" mnemonicParsing="false" onAction="#createProject" text="Create Project"/>
+            </buttons>
+         </ButtonBar>
+         <Label text="Game" GridPane.rowIndex="2"/>
+         <Label text="Length Unit" GridPane.rowIndex="3"/>
+         <Label fx:id="outputLabel" text="Output Directory" GridPane.rowIndex="1"/>
       </GridPane>
    </children>
 </VBox>
diff --git a/src/test/java/edu/wpi/first/pathweaver/extensions/GameLoaderTest.java b/src/test/java/edu/wpi/first/pathweaver/extensions/GameLoaderTest.java
index 100c630b..5048432d 100644
--- a/src/test/java/edu/wpi/first/pathweaver/extensions/GameLoaderTest.java
+++ b/src/test/java/edu/wpi/first/pathweaver/extensions/GameLoaderTest.java
@@ -1,37 +1,48 @@
 package edu.wpi.first.pathweaver.extensions;
 
-import si.uom.impl.quantity.LengthAmount;
-
 import edu.wpi.first.pathweaver.Game;
 import edu.wpi.first.pathweaver.PathUnits;
 
 import org.junit.jupiter.api.Test;
+import si.uom.quantity.impl.LengthAmount;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
 public class GameLoaderTest {
 
-  @Test
-  public void testSimpleJson() {
-    ExtensionLoader loader = new ExtensionLoader();
-    String json = "{"
-        + "\"" + ExtensionLoader.GAME_NAME_KEY + "\": \"TestGame\","
-        + "\"" + ExtensionLoader.FIELD_IMAGE_KEY + "\": \"img.png\","
-        + "\"" + ExtensionLoader.FIELD_CORNERS_KEY + "\": {"
-        + "\"" + ExtensionLoader.TOP_LEFT_KEY + "\": [0, 0],"
-        + "\"" + ExtensionLoader.BOTTOM_RIGHT_KEY + "\": [4, 2]"
-        + "},"
-        + "\"" + ExtensionLoader.FIELD_SIZE_KEY + "\": [16, 8],"
-        + "\"" + ExtensionLoader.FIELD_UNITS_KEY + "\": \"feet\""
-        + "}";
-    Game extension = loader.loadFromJsonString(name -> null, json);
-    assertAll("Loading from JSON",
-        () -> assertEquals("TestGame", extension.getName(), "Wrong name"),
-        () -> assertEquals(0.25, extension.getField().getScale(), "Wrong scale"),
-        () -> assertEquals(new LengthAmount(16, PathUnits.FOOT), extension.getField().getRealWidth(), "Wrong width"),
-        () -> assertEquals(new LengthAmount(8, PathUnits.FOOT), extension.getField().getRealLength(), "Wrong length")
-    );
-  }
+	@Test
+	public void testSimpleJson() {
+		ExtensionLoader loader = new ExtensionLoader();
+		String json = "{" + "\"" + ExtensionLoader.GAME_NAME_KEY + "\": \"TestGame1\"," + "\""
+				+ ExtensionLoader.FIELD_IMAGE_KEY + "\": \"img.png\"," + "\"" + ExtensionLoader.FIELD_CORNERS_KEY
+				+ "\": {" + "\"" + ExtensionLoader.TOP_LEFT_KEY + "\": [0, 0]," + "\""
+				+ ExtensionLoader.BOTTOM_RIGHT_KEY + "\": [4, 2]" + "}," + "\"" + ExtensionLoader.FIELD_SIZE_KEY
+				+ "\": [16, 8]," + "\"" + ExtensionLoader.FIELD_UNITS_KEY + "\": \"feet\"" + "}";
+		Game extension = loader.loadFromJsonString(name -> null, json);
+		assertAll("Loading from JSON", () -> assertEquals("TestGame1", extension.getName(), "Wrong name"),
+				() -> assertEquals(0.25, extension.getField().getScale(), "Wrong scale"),
+				() -> assertEquals(new LengthAmount(16.0, PathUnits.FOOT), extension.getField().getRealWidth(),
+						"Wrong width"),
+				() -> assertEquals(new LengthAmount(8.0, PathUnits.FOOT), extension.getField().getRealLength(),
+						"Wrong length"));
+	}
+
+	@Test
+	public void testConvertJson() {
+		ExtensionLoader loader = new ExtensionLoader();
+		String json = "{" + "\"" + ExtensionLoader.GAME_NAME_KEY + "\": \"TestGame2\"," + "\""
+				+ ExtensionLoader.FIELD_IMAGE_KEY + "\": \"img.png\"," + "\"" + ExtensionLoader.FIELD_CORNERS_KEY
+				+ "\": {" + "\"" + ExtensionLoader.TOP_LEFT_KEY + "\": [0, 0]," + "\""
+				+ ExtensionLoader.BOTTOM_RIGHT_KEY + "\": [4, 2]" + "}," + "\"" + ExtensionLoader.FIELD_SIZE_KEY
+				+ "\": [16, 8]," + "\"" + ExtensionLoader.FIELD_UNITS_KEY + "\": \"centimeters\"" + "}";
+		Game extension = loader.loadFromJsonString(name -> null, json);
+		assertAll("Loading from JSON", () -> assertEquals("TestGame2", extension.getName(), "Wrong name"),
+				() -> assertEquals(0.25, extension.getField().getScale(), "Wrong scale"),
+				() -> assertEquals(new LengthAmount(16.0, PathUnits.CENTIMETER), extension.getField().getRealWidth(),
+						"Wrong width"),
+				() -> assertEquals(new LengthAmount(8.0, PathUnits.CENTIMETER), extension.getField().getRealLength(),
+						"Wrong length"));
+	}
 
-}
\ No newline at end of file
+}