diff --git a/auto_sim/.gitignore b/auto_sim/.gitignore
new file mode 100644
index 0000000..4c6891f
--- /dev/null
+++ b/auto_sim/.gitignore
@@ -0,0 +1,5 @@
+__pycache__
+build
+*.egg-info
+labels
+.idea
\ No newline at end of file
diff --git a/auto_sim/.vscode/settings.json b/auto_sim/.vscode/settings.json
new file mode 100644
index 0000000..82b6a2f
--- /dev/null
+++ b/auto_sim/.vscode/settings.json
@@ -0,0 +1,5 @@
+{
+	"python-envs.defaultEnvManager": "ms-python.python:pipenv",
+	"cmake.sourceDirectory": "C:/Users/jessi/Documents/School/fsae/sim/auto_sim/test_controller_2",
+	"editor.defaultFormatter": null
+}
\ No newline at end of file
diff --git a/auto_sim/Pipfile b/auto_sim/Pipfile
new file mode 100644
index 0000000..9acf776
--- /dev/null
+++ b/auto_sim/Pipfile
@@ -0,0 +1,18 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+pygame = "*"
+numpy = "*"
+scipy = "*"
+setuptools = "*"
+pybind11 = "*"
+requests = "*"
+casadi = "==3.6.7"
+
+[dev-packages]
+
+[requires]
+python_version = "3.13"
diff --git a/auto_sim/Pipfile.lock b/auto_sim/Pipfile.lock
new file mode 100644
index 0000000..1a2f9eb
--- /dev/null
+++ b/auto_sim/Pipfile.lock
@@ -0,0 +1,482 @@
+{
+    "_meta": {
+        "hash": {
+            "sha256": "99c98440216291c693070c2fd616fd9a9691013b1b74849cdfb39eeefffc7f78"
+        },
+        "pipfile-spec": 6,
+        "requires": {
+            "python_version": "3.13"
+        },
+        "sources": [
+            {
+                "name": "pypi",
+                "url": "https://pypi.org/simple",
+                "verify_ssl": true
+            }
+        ]
+    },
+    "default": {
+        "casadi": {
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+            "version": "==1.17.1"
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+        "setuptools": {
+            "hashes": [
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+            ],
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+            "markers": "python_version >= '3.9'",
+            "version": "==82.0.1"
+        },
+        "urllib3": {
+            "hashes": [
+                "sha256:1b62b6884944a57dbe321509ab94fd4d3b307075e0c2eae991ac71ee15ad38ed",
+                "sha256:bf272323e553dfb2e87d9bfd225ca7b0f467b919d7bbd355436d3fd37cb0acd4"
+            ],
+            "markers": "python_version >= '3.9'",
+            "version": "==2.6.3"
+        }
+    },
+    "develop": {}
+}
diff --git a/auto_sim/README.md b/auto_sim/README.md
new file mode 100644
index 0000000..4397b68
--- /dev/null
+++ b/auto_sim/README.md
@@ -0,0 +1,6 @@
+# TODO
+
+* basic boundary checking， triangulation
+* basic controller?
+* full MPC
+
diff --git a/auto_sim/constants.py b/auto_sim/constants.py
new file mode 100644
index 0000000..06c3380
--- /dev/null
+++ b/auto_sim/constants.py
@@ -0,0 +1 @@
+VEHICLE_WIDTH_M = 1.2
\ No newline at end of file
diff --git a/auto_sim/fsae.png b/auto_sim/fsae.png
new file mode 100644
index 0000000..2e94f53
Binary files /dev/null and b/auto_sim/fsae.png differ
diff --git a/auto_sim/main.py b/auto_sim/main.py
new file mode 100644
index 0000000..bb1faaf
--- /dev/null
+++ b/auto_sim/main.py
@@ -0,0 +1,77 @@
+import pygame
+from Controller import compute, sim_step, Cone, ConeColor, VehicleState, mock_perception, compute_path
+from render import init, render_world
+import ctypes
+import platform
+
+# dpi awareness for windows - prevents blurry rendering on high dpi displays
+if platform.system() == "Windows":
+    try:
+        # Set DPI Awareness (Windows 10/8)
+        ctypes.windll.shcore.SetProcessDpiAwareness(2)
+    except AttributeError:
+        # Windows 7/Vista
+        ctypes.windll.user32.SetProcessDPIAware()
+
+CONE_POSITIONS: list[Cone] = []
+with open("labels/0000001.txt", "r") as f:
+    lines = f.readlines()
+    for line in lines:
+        x, y, _, _, _, _, _, color = line.strip().split()
+        cone_color = ConeColor.YELLOW if color == "Cone_Yellow" else ConeColor.BLUE
+        CONE_POSITIONS.append(Cone(float(x), float(y), cone_color))
+
+# pygame setup
+pygame.init()
+screen = pygame.display.set_mode((1900, 1200), pygame.RESIZABLE)
+pygame.display.set_caption('Autonomous Sim')
+clock = pygame.time.Clock()
+running = True
+time: float = 0.0
+init()
+
+vehicle_state: VehicleState = VehicleState()
+# vehicle_state.v_y = 2.0
+# vehicle_state.theta = math.radians(23.54)
+# vehicle_state.omega = -0.2
+
+def handle_key(key: int, state: VehicleState):
+    match key:
+        case pygame.K_d: state.y -= 1
+        case pygame.K_a: state.y += 1
+        case pygame.K_w: state.x += 1
+        case pygame.K_s: state.x -= 1
+
+ran = False
+def simulate_cone_detection(state: VehicleState):
+    global ran
+    if not ran:
+        mock_perception(CONE_POSITIONS)
+        compute_path()
+        ran = True
+    return CONE_POSITIONS
+
+while running:
+    # handle events
+    # pygame.QUIT event means the user clicked X to close your window
+    for event in pygame.event.get():
+        if event.type == pygame.QUIT:
+            running = False
+        elif event.type == pygame.KEYDOWN:
+            handle_key(event.key, vehicle_state)
+
+    # this is what is running on the 
+    detected_cones = simulate_cone_detection(vehicle_state)
+    controls = compute(vehicle_state)
+
+    # closing the SIL loop
+    dt = clock.get_time()
+    screen.fill("black")
+    sim_step(vehicle_state, controls, dt)
+    render_world(vehicle_state, CONE_POSITIONS, screen)
+
+    # flip() the display to put your work on screen
+    pygame.display.flip()
+    clock.tick(60)  # limits FPS to 60
+
+pygame.quit()
\ No newline at end of file
diff --git a/auto_sim/render.py b/auto_sim/render.py
new file mode 100644
index 0000000..9f366ee
--- /dev/null
+++ b/auto_sim/render.py
@@ -0,0 +1,175 @@
+from typing import Tuple
+
+import pygame
+from scipy.spatial.transform import Rotation as R
+from constants import VEHICLE_WIDTH_M
+from Controller import VehicleState, Cone, ConeColor, spline_t, project, get_center_line_length, get_center_points
+from math import ceil, degrees
+import numpy as np
+from colorsys import hsv_to_rgb
+
+PIXELS_PER_M = 	20.0
+w: int
+h: int
+
+car: pygame.Surface
+vignette: pygame.Surface
+
+def init():
+	global car, vignette
+	car = pygame.image.load('fsae.png').convert_alpha()
+	vignette_image = pygame.image.load('vignette.png').convert_alpha()
+	vignette_image = pygame.transform.scale(vignette_image, (30 * PIXELS_PER_M,30 * PIXELS_PER_M))
+	vignette = pygame.Surface((3000,3000), pygame.SRCALPHA)
+	vignette.blit(vignette_image, vignette_image.get_rect(center=(1500,1500)))
+
+def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int]:
+	"""
+	Transforms from global coordinates to screen space coordinates
+	"""
+	global w, h
+	r = R.from_euler('z', -vehicle_state.theta + np.pi/2, degrees=False)
+	rel_x, rel_y = x - vehicle_state.x, y - vehicle_state.y
+	rotated_x, rotated_y,_ = r.apply([rel_x, rel_y, 0])
+	screen_x = int(w / 2 + rotated_x * PIXELS_PER_M)
+	screen_y = int((h * 0.67) - rotated_y * PIXELS_PER_M)
+	# Simple transformation - replace with actual coordinate transformation logic
+	return (screen_x, screen_y)
+
+def create_grid_surface(l: int, spacing_px: int, color: str) -> pygame.Surface:
+	grid_surf = pygame.Surface((2*l,2*l), pygame.SRCALPHA)
+	for x in range(0, 2*l, spacing_px):
+		pygame.draw.line(grid_surf, color, (x, 0), (x, 2*l), 2)
+	for y in range(0, 2*l, spacing_px):
+		pygame.draw.line(grid_surf, color, (0, y), (2*l, y), 2)
+	return grid_surf
+
+old_state = None, None, None
+old_grid_surf = None
+def drawGrid(screen: pygame.Surface, state: VehicleState, color=(45, 45, 45), spacing_m=1):
+	global h, w, old_state, old_grid_surf, vignette
+	# create grid, cached
+	spacing_px =  int(spacing_m * PIXELS_PER_M)
+	l: int= ceil(np.hypot(w/2, h/2) * 0.4 / spacing_m) * spacing_m
+	if (spacing_m, color, l) != old_state or old_grid_surf is None:
+		print("RERENDERING GRID")
+		old_state = (spacing_m, color, l)
+		old_grid_surf = create_grid_surface(2*l, spacing_px, color)
+	grid_surf = old_grid_surf
+
+	# grid
+	screen_grid = pygame.surface.Surface((w, h), pygame.SRCALPHA)
+
+	# Calculate grid offset to align with world coordinates
+	r = R.from_euler('z', -state.theta + np.pi/2, degrees=False)
+	x, y = r.apply([state.x % spacing_m, state.y % spacing_m, 0])[:2]
+	rotated_surf: pygame.Surface = pygame.transform.rotate(grid_surf, degrees(-state.theta - np.pi/2))
+	screen_grid.blit(rotated_surf, rotated_surf.get_rect(center=(
+		w/2 - x * PIXELS_PER_M,
+		0.67 * h + y * PIXELS_PER_M
+	)).topleft)
+
+	# vignette
+	screen_grid.blit(vignette, vignette.get_rect(center=(w/2, 0.67*h)), special_flags=pygame.BLEND_RGBA_MULT)
+
+	screen.blit(screen_grid, (0, 0))
+
+
+# def create_spline_surface():
+# 	surf = pygame.Surface((77 * PIXELS_PER_M, 47 * PIXELS_PER_M), pygame.SRCALPHA)
+# 	length = get_center_line_length()
+# 	for x in range(int(77 * PIXELS_PER_M)):
+# 		for y in range(int(47 * PIXELS_PER_M)):
+# 			k = hsv_to_rgb(project(22-x/PIXELS_PER_M, -39+y/PIXELS_PER_M)/length, 1, 1)
+# 			surf.set_at((x, y), (int(k[0]*255), int(k[1]*255), int(k[2]*255)))
+# 	return surf
+
+# spline_surface = None
+# def drawSplintSurface(screen: pygame.Surface, vehicle_state: VehicleState):
+# 	global spline_surface	
+# 	if spline_surface is None:
+# 		spline_surface = create_spline_surface()
+# 	rotated_surf: pygame.Surface = pygame.transform.rotate(spline_surface, degrees(-vehicle_state.theta - np.pi/2))
+# 	screen.blit(rotated_surf, rotated_surf.get_rect(center=transform(-16.5, -15.5, vehicle_state)))
+	
+
+def int_to_color(value: ConeColor) -> str:
+	match value:
+		case ConeColor.BLUE:
+			return "blue"
+		case ConeColor.YELLOW:
+			return "yellow"
+		case _:
+			return "white"
+
+at_t = None
+def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.Surface):
+	global w, h, at_t
+	w, h = screen.get_width(), screen.get_height()
+
+	# grid for context
+	drawGrid(screen, vehicle_state)
+	# drawSplintSurface(screen, vehicle_state)
+
+	# pygame.draw.circle(screen, "white", transform(0, 0, vehicle_state), 5)
+
+	# DRAW TRIANGULATION
+	# for edge in get_offline_edges():
+	# 	v1, v2 = cones[edge.v1()], cones[edge.v2()]
+	# 	default_colour = "#676767"
+	# 	pygame.draw.line(screen, default_colour,
+	# 		transform(v1.x, v1.y, vehicle_state),
+	# 		transform(v2.x, v2.y, vehicle_state), 2
+	# 	)
+	# for edge in get_boundary_edges():
+	# 	v1, v2 = cones[edge.v1()], cones[edge.v2()]
+	# 	default_colour = "#FF0000"
+	# 	if v1.c == v2.c:
+	# 		match v1.c:
+	# 			case ConeColor.BLUE:
+	# 				default_colour = "blue"
+	# 			case ConeColor.YELLOW:
+	# 				default_colour = "yellow"
+	# 	pygame.draw.line(screen, default_colour,
+	# 		transform(v1.x, v1.y, vehicle_state),
+	# 		transform(v2.x, v2.y, vehicle_state), 1
+	# 	)
+
+	# DRAW CENTER LINE
+	# center_points = get_center_points()
+	# for i in range(len(center_points)):
+	# 	v1, v2 = center_points[i], center_points[(i+1) % len(center_points)] # returns cone objects
+	# 	default_colour = "#676767"
+	# 	pygame.draw.line(screen, default_colour,
+	# 		transform(v1.x, v1.y, vehicle_state),
+	# 		transform(v2.x, v2.y, vehicle_state), 2
+	# 	)
+
+	# DRAW PATH PROJECTION
+	# at_t = project(vehicle_state.x, vehicle_state.y)
+	# x = spline_t(at_t)
+	# pygame.draw.circle(screen, "red", transform(x.x, x.y, vehicle_state), 5)
+
+	# DRAW SPLINE
+	# steps = 100
+	# dt = get_center_line_length() / steps
+	# for t in range(steps):
+	# 	x1 = spline_t(t * dt)
+	# 	x2= spline_t((t + 1) * dt)
+	# 	pygame.draw.line(screen, "#676767",
+	# 			   transform(x1.x, x1.y, vehicle_state),
+	# 			   transform(x2.x, x2.y, vehicle_state), 2)
+
+	for cone in cones:
+		pygame.draw.circle(
+			screen, int_to_color(cone.c),
+			transform(cone.x, cone.y, vehicle_state), 0.2 * PIXELS_PER_M
+		)
+	
+	car_rotated = pygame.transform.rotate(car,-90)
+	scale_factor = VEHICLE_WIDTH_M / car_rotated.get_width() * PIXELS_PER_M
+	car_scaled = pygame.transform.scale(car_rotated, (
+		car_rotated.get_width() * scale_factor, car_rotated.get_height() * scale_factor
+	))
+	car_rect = car_scaled.get_rect(center=transform(vehicle_state.x, vehicle_state.y, vehicle_state))
+	screen.blit(car_scaled, car_rect)
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/.clang-format b/auto_sim/test_controller_2/.clang-format
new file mode 100644
index 0000000..8b0cf95
--- /dev/null
+++ b/auto_sim/test_controller_2/.clang-format
@@ -0,0 +1,3 @@
+BasedOnStyle: WebKit
+BreakBeforeBraces: Attach
+PackConstructorInitializers: NextLine
diff --git a/auto_sim/test_controller_2/CMakeLists.txt b/auto_sim/test_controller_2/CMakeLists.txt
new file mode 100644
index 0000000..104c72a
--- /dev/null
+++ b/auto_sim/test_controller_2/CMakeLists.txt
@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.10)
+set(CMAKE_CXX_STANDARD 23)
+project(high_level_controller)
+
+file(
+        DOWNLOAD
+        https://github.com/cpm-cmake/CPM.cmake/releases/download/v0.40.8/CPM.cmake
+        ${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake
+        EXPECTED_HASH SHA256=78ba32abdf798bc616bab7c73aac32a17bbd7b06ad9e26a6add69de8f3ae4791
+)
+include(${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake)
+
+CPMAddPackage(
+        NAME pybind11
+        GIT_REPOSITORY https://github.com/pybind/pybind11.git
+        VERSION 3.0.2
+        DOWNLOAD_ONLY TRUE
+)
+add_subdirectory(${pybind11_SOURCE_DIR})
+
+CPMAddPackage(
+        NAME CDT
+        GIT_REPOSITORY https://github.com/artem-ogre/CDT.git
+        GIT_TAG 1.4.4
+        DOWNLOAD_ONLY TRUE
+)
+CPMAddPackage(
+        NAME EIGEN
+        GIT_REPOSITORY https://gitlab.com/libeigen/eigen
+        GIT_TAG 3147391d946bb4b6c68edd901f2add6ac1f31f8c
+        GIT_SHALLOW TRUE
+        DOWNLOAD_ONLY TRUE
+)
+set(EIGEN_INCLUDE_DIRS ${EIGEN_SOURCE_DIR})
+add_library(eigen_interface INTERFACE)
+target_include_directories(eigen_interface SYSTEM INTERFACE ${EIGEN_INCLUDE_DIRS})
+target_compile_definitions(eigen_interface INTERFACE
+        EIGEN_STACK_ALLOCATION_LIMIT=0
+        EIGEN_MAX_STATIC_ALIGN_BYTES=0
+)
+
+CPMAddPackage(
+        NAME alglib
+        URL https://www.alglib.net/translator/re/alglib-4.07.0.cpp.gpl.zip
+        DOWNLOAD_ONLY TRUE
+)
+add_library(alglib_interface INTERFACE)
+target_include_directories(alglib_interface INTERFACE ${alglib_SOURCE_DIR}/src)
+
+file(GLOB SOURCES *.cpp ${alglib_SOURCE_DIR}/src/*.cpp)
+pybind11_add_module(controller ${SOURCES})
+target_include_directories(controller PRIVATE ${CDT_SOURCE_DIR}/CDT/include)
+target_link_libraries(controller PRIVATE eigen_interface alglib_interface)
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/CMakePresets.json b/auto_sim/test_controller_2/CMakePresets.json
new file mode 100644
index 0000000..3276da1
--- /dev/null
+++ b/auto_sim/test_controller_2/CMakePresets.json
@@ -0,0 +1,19 @@
+{
+  "version": 10,
+  "configurePresets": [
+    {
+      "name": "default_win",
+      "generator": "Visual Studio 17 2022",
+      "binaryDir": "${sourceDir}/build",
+      "cacheVariables": {
+      }
+    },
+    {
+      "name": "default_unix",
+      "generator": "Ninja",
+      "binaryDir": "${sourceDir}/build",
+      "cacheVariables": {
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/README.md b/auto_sim/test_controller_2/README.md
new file mode 100644
index 0000000..9a603c5
--- /dev/null
+++ b/auto_sim/test_controller_2/README.md
@@ -0,0 +1,9 @@
+# Development
+To develop, set up as per usual as a CMake project.
+
+# Installation
+```bash
+pip install ./test_controller_2
+```
+
+This will trigger setup.py which will automatically install the python package into the environment of your choosing
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
new file mode 100644
index 0000000..2c6caa3
--- /dev/null
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -0,0 +1,6 @@
+#include "controller.hpp"
+
+ControlOutput compute(const VehicleState& ve) {
+    // t.adj will contain the adj list
+    return { 0, 0 };
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/controller.hpp b/auto_sim/test_controller_2/controller.hpp
new file mode 100644
index 0000000..cdf4921
--- /dev/null
+++ b/auto_sim/test_controller_2/controller.hpp
@@ -0,0 +1,11 @@
+#pragma once
+#include "types.hpp"
+
+ControlOutput compute(const VehicleState& ve);
+
+enum class DriverlessState {
+    IDLE,
+    ONLINE_MAPPING, // use for autocross, acceleration, skidpad, etc.
+    TRACKDRIVE_MAPPING,
+    TRACKDRIVE_RUNNING
+};
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/path.cpp b/auto_sim/test_controller_2/path.cpp
new file mode 100644
index 0000000..6c39b83
--- /dev/null
+++ b/auto_sim/test_controller_2/path.cpp
@@ -0,0 +1,170 @@
+#include "path.hpp"
+#include "perception.hpp"
+#include "scopetimer.hpp"
+#include <unordered_set>
+
+static std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, const ConeColor c) {
+    size_t start = 0;
+    std::unordered_set<size_t> unvisited_cones { };
+    for (size_t i = 0; i < cones.size(); ++i) {
+        if (cones[i].c == c) {
+            start = i;
+            unvisited_cones.insert(i);
+        }
+    }
+    size_t at = start;
+
+    std::vector<CDT::VertInd> path;
+    path.reserve(unvisited_cones.size());
+    path.push_back(at);
+    unvisited_cones.erase(at);
+    while (not unvisited_cones.empty()) {
+        // find cone with shortest distance to cones[at]
+        size_t closest_cone = 0;
+        double closest_dist = std::numeric_limits<double>::max();
+        for (const size_t i : unvisited_cones) {
+            if (const double dist = std::hypot(cones[at].x - cones[i].x, cones[at].y - cones[i].y); dist < closest_dist) {
+                closest_dist = dist;
+                closest_cone = i;
+            }
+        }
+        if (closest_cone == start) {
+            break;
+        }
+        unvisited_cones.erase(closest_cone);
+        path.push_back(closest_cone);
+        at = closest_cone;
+    }
+
+    return path;
+}
+
+static double mod(const double a, const double b) {
+    const double result = std::fmod(a, b);
+    return result >= 0 ? result : result + b;
+}
+
+void compute_path_from_percepted_cones() {
+    ScopeTimer s { "compute_path timer" };
+    static CDT::Triangulation<double> cdt_cache;
+    static size_t seen_cones = 0;
+    if (seen_cones == cones.size()) {
+        return;
+    }
+    const auto start = std::next(cones.begin(), static_cast<std::vector<Cone>::difference_type>(seen_cones));
+    cdt_cache.insertVertices(
+        start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
+
+    // calculate boundary edges and insert them into the triangulation
+    std::vector<CDT::Edge> edges { };
+    const std::vector<CDT::VertInd> blue_boundary = calculate_boundary(cones, ConeColor::BLUE);
+    for (size_t i = 0; i < blue_boundary.size(); ++i) {
+        edges.emplace_back(blue_boundary[i], blue_boundary[(i + 1) % blue_boundary.size()]);
+    }
+    const std::vector<CDT::VertInd> yellow_boundary = calculate_boundary(cones, ConeColor::YELLOW);
+    for (size_t i = 0; i < yellow_boundary.size(); ++i) {
+        edges.emplace_back(yellow_boundary[i], yellow_boundary[(i + 1) % yellow_boundary.size()]);
+    }
+    // compute corresponding triangulation
+    CDT::Triangulation<double> cdt = cdt_cache;
+    cdt.insertEdges(edges);
+    cdt.eraseOuterTrianglesAndHoles();
+    offline_boundary_edges = cdt.fixedEdges;
+    offline_inner_edges = CDT::extractEdgesFromTriangles(cdt.triangles);
+    const size_t original_num_edges = offline_inner_edges.size();
+    for (const auto e : offline_boundary_edges) {
+        offline_inner_edges.erase(e);
+    }
+    assert(offline_inner_edges.size() + offline_boundary_edges.size() == original_num_edges);
+
+    // construct center line
+    std::vector<Cone> _centers = { };
+    for (const auto e : offline_inner_edges) {
+        // get center point of e
+        const Cone& c1 = cones[e.v1()];
+        const Cone& c2 = cones[e.v2()];
+        _centers.emplace_back((c1.x + c2.x) / 2, (c1.y + c2.y) / 2, ConeColor::CENTER);
+    }
+    const std::vector<CDT::VertInd> _center_idxs = calculate_boundary(_centers, ConeColor::CENTER);
+    center_points.clear();
+    center_points.reserve(_center_idxs.size());
+    for (const size_t i : _center_idxs) {
+        center_points.push_back(_centers[i]);
+    }
+
+    // center line parameterization prefix
+    alglib::real_1d_array center_line_len_prefix;
+    center_line_len_prefix.setlength(center_points.size() + 1);
+    center_line_len_prefix[0] = 0;
+    for (size_t i = 1; i <= center_points.size(); ++i) {
+        const Cone& c1 = center_points[i - 1];
+        const Cone& c2 = center_points[i % center_points.size()];
+        center_line_len_prefix[i] = center_line_len_prefix[i - 1] + std::hypot(c1.x - c2.x, c1.y - c2.y);
+    }
+    center_line_length = center_line_len_prefix[center_points.size()];
+
+    // draw a spline between all the center points
+    alglib::real_1d_array xs, ys;
+    xs.setlength(center_points.size() + 1);
+    ys.setlength(center_points.size() + 1);
+    for (size_t i = 0; i < center_points.size(); ++i) {
+        const Cone& c = center_points[i];
+        xs[i] = c.x;
+        ys[i] = c.y;
+    }
+    // cycle around
+    xs[center_points.size()] = center_points[0].x;
+    ys[center_points.size()] = center_points[0].y;
+
+    alglib::spline1dbuildcubic(center_line_len_prefix, xs, x_spline);
+    alglib::spline1dbuildcubic(center_line_len_prefix, ys, y_spline);
+}
+
+double project(const double x, const double y) {
+    // const ScopeTimer s { "project timer" };
+    static constexpr uint32_t samples = 50;
+    static constexpr double eps = 0;
+
+    double best_dist = std::numeric_limits<double>::max(), best_t = 0;
+    const double step_size = center_line_length / samples - eps;
+    assert(step_size > 0);
+    for (double at_t = eps; at_t < center_line_length; at_t += step_size) { // NOLINT(*-flp30-c)
+        const double t = project(x, y, at_t);
+        const double d = std::hypot(
+            alglib::spline1dcalc(x_spline, t) - x,
+            alglib::spline1dcalc(y_spline, t) - y);
+        if (d < best_dist) {
+            best_dist = d;
+            best_t = t;
+        }
+    }
+    return best_t;
+}
+double project(const double x0, const double y0, double t) {
+    // just good to double check
+    assert(0 <= t);
+    assert(t <= center_line_length);
+
+    // newton stepping ????
+    for (uint32_t i = 0; i < 20; i++) {
+        double l_x, l_dx, l_ddx;
+        alglib::spline1ddiff(x_spline, t, l_x, l_dx, l_ddx);
+        double l_y, l_dy, l_ddy;
+        alglib::spline1ddiff(y_spline, t, l_y, l_dy, l_ddy);
+        // ||l'(t)||_2 + (l(t) - x) dot l''(t)
+        const double f_prime = (l_dx * l_dx + l_dy * l_dy) + ((l_x - x0) * l_ddx + (l_y - y0) * l_ddy);
+        // (l(t) - x) dot l'(t)
+        const double f = (l_x - x0) * l_dx + (l_y - y0) * l_dy;
+        const double step = f / f_prime;
+        t = mod(t - step, center_line_length);
+        if (step < 1e-6) {
+            return t;
+        }
+    }
+    std::cout << "project did not converge at x=" << x0 << "and y=" << y0 << std::endl;
+    throw std::exception("project did not converge");
+}
+
+Location spline_t(const double t) {
+    return { alglib::spline1dcalc(x_spline, t), alglib::spline1dcalc(y_spline, t) };
+}
diff --git a/auto_sim/test_controller_2/path.hpp b/auto_sim/test_controller_2/path.hpp
new file mode 100644
index 0000000..466c2d0
--- /dev/null
+++ b/auto_sim/test_controller_2/path.hpp
@@ -0,0 +1,42 @@
+#pragma once
+
+#include "CDT.h"
+#include "interpolation.h"
+#include "types.hpp"
+
+#include <vector>
+
+/**
+ * This computes the path from the given ALL cones offline.
+ */
+void compute_path_from_percepted_cones();
+/**
+ * Note this overload is MUCH faster than without at_t
+ * @param x0 x position
+ * @param y0 y position
+ * @param t please use this to seed the optimization algorithm
+ * @return t s.t. the point on the center line that is closest to (x, y) in terms of Euclidean distance
+ */
+double project(double x0, double y0, double t);
+/**
+ * this variant tries a bunch of values of at_t, between [0, center_line_length], and returns the best one.
+ * this is more expensive but can be more robust if the center line is very curvy and the optimization algorithm gets stuck in a local minimum.
+ * @param x x position
+ * @param y y position
+ * @return
+ */
+double project(double x, double y);
+
+struct Location {
+    double x;
+    double y;
+};
+Location spline_t(double t);
+
+// for debugging purposes only
+inline CDT::EdgeUSet offline_boundary_edges;
+inline CDT::EdgeUSet offline_inner_edges;
+inline std::vector<Cone> center_points;
+// inline std::vector<CDT::VertInd> center_line_idxs;
+inline alglib::spline1dinterpolant x_spline, y_spline;
+inline double center_line_length;
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/perception.cpp b/auto_sim/test_controller_2/perception.cpp
new file mode 100644
index 0000000..f90e7de
--- /dev/null
+++ b/auto_sim/test_controller_2/perception.cpp
@@ -0,0 +1 @@
+#include "perception.hpp"
diff --git a/auto_sim/test_controller_2/perception.hpp b/auto_sim/test_controller_2/perception.hpp
new file mode 100644
index 0000000..377c27c
--- /dev/null
+++ b/auto_sim/test_controller_2/perception.hpp
@@ -0,0 +1,9 @@
+#pragma once
+
+#include "types.hpp"
+#include <vector>
+
+inline std::vector<Cone> cones { };
+inline void mock_perception(std::vector<Cone> new_cones) {
+    cones = std::move(new_cones);
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
new file mode 100644
index 0000000..8c2c864
--- /dev/null
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -0,0 +1,111 @@
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include "CDT.h"
+#include "controller.hpp"
+#include "path.hpp"
+#include "perception.hpp"
+#include "sim.hpp"
+#include "types.hpp"
+
+namespace py = pybind11;
+
+static CDT::EdgeUSet& get_offline_edges() {
+    return offline_inner_edges;
+}
+static CDT::EdgeUSet& get_boundary_edges() {
+    return offline_boundary_edges;
+}
+static std::vector<Cone>& get_center_points() {
+    return center_points;
+}
+static double get_center_line_length() {
+    return center_line_length;
+}
+
+PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
+    py::class_<ControlOutput>(m, "ControlOutput")
+        .def(py::init<double, double>())
+        .def_readwrite("ax", &ControlOutput::ax)
+        .def_readwrite("omega_dot", &ControlOutput::omega_dot);
+
+    py::class_<VehicleState>(m, "VehicleState")
+        .def(py::init<>())
+        .def_readwrite("x", &VehicleState::x)
+        .def_readwrite("y", &VehicleState::y)
+        .def_readwrite("theta", &VehicleState::theta)
+        .def_readwrite("v_x", &VehicleState::v_x)
+        .def_readwrite("v_y", &VehicleState::v_y)
+        .def_readwrite("omega", &VehicleState::omega);
+
+    py::enum_<ConeColor>(m, "ConeColor")
+        .value("BLUE", ConeColor::BLUE)
+        .value("YELLOW", ConeColor::YELLOW)
+        .export_values();
+
+    py::class_<Cone>(m, "Cone")
+        .def(py::init<double, double, ConeColor>())
+        .def_readwrite("x", &Cone::x)
+        .def_readwrite("y", &Cone::y)
+        .def_readwrite("c", &Cone::c);
+
+    py::class_<CDT::Edge>(m, "Edge")
+        .def("v1", &CDT::Edge::v1)
+        .def("v2", &CDT::Edge::v2);
+
+    py::class_<Location>(m, "Location")
+        .def(py::init<double, double>())
+        .def_readwrite("x", &Location::x)
+        .def_readwrite("y", &Location::y);
+
+    m.def("compute", &compute, R"pbdoc(
+        Compute control output
+    )pbdoc");
+
+    m.def("compute_path", &compute_path_from_percepted_cones, R"pbdoc()
+        Compute the triangulation from a list of cones
+    )pbdoc");
+
+    // debugging visualization purposes
+    m.def("get_offline_edges", &get_offline_edges, py::return_value_policy::reference, R"pbdoc()
+        Get the offline edges calculated from compute_path()
+    )pbdoc");
+    m.def("get_boundary_edges", &get_boundary_edges, py::return_value_policy::reference, R"pbdoc(
+        Get the boundary edges calculated from compute_path()
+    )pbdoc");
+    m.def("get_center_points", &get_center_points, py::return_value_policy::reference, R"pbdoc(
+        Get the center points calculated from compute_path()
+    )pbdoc");
+    m.def("get_center_line_length", &get_center_line_length, R"pbdoc(
+        Get the length of the center line calculated from compute_path()
+    )pbdoc");
+
+    m.def("sim_step", &sim_step, R"pbdoc(
+        Simulate one step of the vehicle dynamics
+    )pbdoc");
+
+    m.def("project", [](const double a, const double b) { return project(a, b); }, R"pbdoc(
+        Project a point onto a line defined by two points
+    )pbdoc");
+    m.def("project_seeded", [](const double a, const double b, const double c) { return project(a, b, c); }, R"pbdoc()
+        Project a point onto a line defined by two points, with a seed for the optimization algorithm
+    )pbdoc");
+    m.def("spline_t", &spline_t, R"pbdoc()
+        Get the point on the center line corresponding to a given t
+    )pbdoc");
+
+    m.def("mock_perception", &mock_perception, R"pbdoc(
+        Mock the perception module by directly setting the list of cones
+    )pbdoc");
+
+    static py::exception<alglib::ap_error> ex(m, "Alglib::ApError");
+    py::register_exception_translator([](std::exception_ptr p) {
+        try {
+            if (p)
+                std::rethrow_exception(p);
+        } catch (const alglib::ap_error& e) {
+            // Set the Python error using a custom field instead of .what()
+            ex(e.msg.c_str());
+        }
+    });
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pyproject.toml b/auto_sim/test_controller_2/pyproject.toml
new file mode 100644
index 0000000..355770c
--- /dev/null
+++ b/auto_sim/test_controller_2/pyproject.toml
@@ -0,0 +1,18 @@
+[build-system]
+requires = [
+    "setuptools>=42",
+    "pybind11>=2.10.0",
+]
+build-backend = "setuptools.build_meta"
+
+[tool.ruff]
+target-version = "py313"
+
+[tool.ruff.lint]
+extend-select = [
+  "B",   # flake8-bugbear
+  "I",   # isort
+  "PGH", # pygrep-hooks
+  "RUF", # Ruff-specific
+  "UP",  # pyupgrade
+]
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/scopetimer.hpp b/auto_sim/test_controller_2/scopetimer.hpp
new file mode 100644
index 0000000..38b583e
--- /dev/null
+++ b/auto_sim/test_controller_2/scopetimer.hpp
@@ -0,0 +1,21 @@
+#pragma once
+#include <chrono>
+#include <iostream>
+
+class ScopeTimer {
+public:
+    // Constructor: Starts the timer
+    explicit ScopeTimer(const std::string& name)
+        : m_name(name), m_start_time(std::chrono::steady_clock::now()) { }
+
+    // Destructor: Stops the timer and prints elapsed time
+    ~ScopeTimer() {
+        const auto end_time = std::chrono::steady_clock::now();
+        const auto duration_us = std::chrono::duration_cast<std::chrono::microseconds>(end_time - m_start_time).count();
+        std::cout << "Timer [" << m_name << "]: " << duration_us << " us" << std::endl;
+    }
+
+private:
+    std::string m_name;
+    std::chrono::time_point<std::chrono::steady_clock> m_start_time;
+};
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/setup.py b/auto_sim/test_controller_2/setup.py
new file mode 100644
index 0000000..5179022
--- /dev/null
+++ b/auto_sim/test_controller_2/setup.py
@@ -0,0 +1,41 @@
+# Available at setup time due to pyproject.toml
+from pybind11.setup_helpers import Pybind11Extension, build_ext
+from setuptools import setup
+
+__version__ = "0.0.1"
+
+# get all sources in the build/_deps/alglib-src/alglib/src directory
+import os
+
+alglib_srcs = []
+for root, dirs, files in os.walk("build/_deps/alglib-src/src"):
+    for file in files:
+        if file.endswith(".cpp"):
+            alglib_srcs.append(os.path.join(root, file))
+print(alglib_srcs)
+
+ext_modules = [
+    Pybind11Extension(
+        "Controller",
+        ["pybind.cpp", "sim.cpp", "controller.cpp", "path.cpp", "perception.cpp"] + alglib_srcs,
+        include_dirs=[".", "build/_deps/cdt-src/CDT/include", "build/_deps/alglib-src/src"],
+        language="c++",
+    ),
+]
+
+setup(
+    name="Controller",
+    version=__version__,
+    author="Edwin Zheng",
+    author_email="ezheng09@student.ubc.ca",
+    url="https://github.com/UBCFormulaElectric/sim",
+    description="A simple controller for testing",
+    long_description="",
+    ext_modules=ext_modules,
+    extras_require={"test": "pytest"},
+    # Currently, build_ext only provides an optional "highest supported C++
+    # level" feature, but in the future it may provide more features.
+    cmdclass={"build_ext": build_ext},
+    zip_safe=False,
+    python_requires=">=3.9",
+)
diff --git a/auto_sim/test_controller_2/sim.cpp b/auto_sim/test_controller_2/sim.cpp
new file mode 100644
index 0000000..6978b08
--- /dev/null
+++ b/auto_sim/test_controller_2/sim.cpp
@@ -0,0 +1,19 @@
+#include "sim.hpp"
+#include <cmath>
+#include <numbers>
+
+void sim_step(VehicleState& state, const ControlOutput& control, const int dt)
+{
+    const double dt_s = dt / 1000.0;
+    state.v_x += (control.ax + state.omega * state.v_y) * dt_s;
+
+    const double beta = std::atan2(state.v_y, state.v_x);
+    const double tire_ay = -1 * beta; // simple tire model for lateral forces
+    state.v_y += (tire_ay - state.omega * state.v_x) * dt_s;
+
+    state.theta += std::fmod(state.omega * dt_s, 2 * std::numbers::pi);
+    const double v_x_world = state.v_x * std::cos(state.theta) - state.v_y * std::sin(state.theta);
+    const double v_y_world = state.v_x * std::sin(state.theta) + state.v_y * std::cos(state.theta);
+    state.x += v_x_world * dt_s;
+    state.y += v_y_world * dt_s;
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/sim.hpp b/auto_sim/test_controller_2/sim.hpp
new file mode 100644
index 0000000..e64c29e
--- /dev/null
+++ b/auto_sim/test_controller_2/sim.hpp
@@ -0,0 +1,4 @@
+#pragma once
+#include "types.hpp"
+
+void sim_step(VehicleState& state, const ControlOutput& control, const int dt);
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/types.hpp b/auto_sim/test_controller_2/types.hpp
new file mode 100644
index 0000000..a65f1ea
--- /dev/null
+++ b/auto_sim/test_controller_2/types.hpp
@@ -0,0 +1,38 @@
+#pragma once
+
+struct ControlOutput {
+    // in local frame
+    double ax;
+    // no frame
+    double omega_dot;
+    ControlOutput(const double _ax, const double _omega_dot)
+        : ax(_ax), omega_dot(_omega_dot) { }
+};
+
+struct VehicleState {
+    // in global frame
+    double x;
+    double y;
+    double theta;
+    // in local frame
+    double v_x;
+    double v_y;
+    // no frame
+    double omega;
+    VehicleState()
+        : x(0), y(0), theta(0), v_x(0), v_y(0), omega(0) { }
+};
+
+enum class ConeColor {
+    BLUE,
+    YELLOW,
+    ORANGE,
+    CENTER
+};
+struct Cone {
+    double x;
+    double y;
+    ConeColor c;
+    Cone(const double _x, const double _y, const ConeColor _c)
+        : x(_x), y(_y), c(_c) { }
+};
\ No newline at end of file
diff --git a/auto_sim/vignette.png b/auto_sim/vignette.png
new file mode 100644
index 0000000..a0e0ed0
Binary files /dev/null and b/auto_sim/vignette.png differ