diff --git a/SLAM-Sim.iml b/SLAM-Sim.iml
index b35c339..36e1ef0 100644
--- a/SLAM-Sim.iml
+++ b/SLAM-Sim.iml
@@ -7,14 +7,13 @@
     </content>
     <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
-    <orderEntry type="module-library">
+    <orderEntry type="module-library" exported="">
       <library>
         <CLASSES>
-          <root url="file:///opt/processing/processing-4.2/core/library" />
+          <root url="jar:///opt/processing/processing-4.2/core/library/core.jar!/" />
         </CLASSES>
         <JAVADOC />
         <SOURCES />
-        <jarDirectory url="file:///opt/processing/processing-4.2/core/library" recursive="false" />
       </library>
     </orderEntry>
   </component>
diff --git a/src/Car.java b/src/Car.java
index 8194e28..8e3c209 100644
--- a/src/Car.java
+++ b/src/Car.java
@@ -1,11 +1,12 @@
-import processing.core.*;
 import java.util.ArrayList;
 
 import static java.lang.Math.PI;
 import static processing.core.PApplet.degrees;
 import static processing.core.PApplet.radians;
+import processing.core.PVector;
+import processing.core.PApplet;
 
-public class Car{
+public class Car extends PApplet{
     PVector pose = new PVector(0,0); // the car's x, y position
     float angle = 0; // the current angle that the car is at.
     int carLength = 50;
diff --git a/src/SLAM.java b/src/SLAM.java
index fcf151c..4d47bc7 100644
--- a/src/SLAM.java
+++ b/src/SLAM.java
@@ -2,7 +2,9 @@ import processing.core.*;
 
 import java.util.ArrayList;
 
-public class SLAM{
+import static processing.core.PApplet.pow;
+
+public class SLAM extends PApplet{
     ArrayList<PVector> points = new ArrayList<PVector>();
 
     SLAM(){
@@ -39,7 +41,7 @@ class Line{
         for(PVector point : points){
             mean.add(point);
         }
-        mean.div(points.size())
+        mean.div(points.size());
 
         // this section calculates the direction vector of the line of best fit
         PVector direction = new PVector();
@@ -50,7 +52,7 @@ class Line{
         }
 
         this.position = mean;
-        this.direction = direciton;
+        this.direction = direction;
     }
 
     public PVector getSlopeIntForm(){
diff --git a/src/View.java b/src/View.java
index 06a147e..feb6c4d 100644
--- a/src/View.java
+++ b/src/View.java
@@ -4,7 +4,7 @@ import java.util.Objects;
 
 import static processing.core.PApplet.*;
 
-public class View{
+public class View extends PApplet{
     PVector pose;
     float angle = 0;
     float FOV;
@@ -77,7 +77,7 @@ public class View{
     }
 }
 
-class Ray{
+class Ray extends PApplet{
     PVector pose;
     int rayLength;
     int defaultRayLength;
diff --git a/src/Wall.java b/src/Wall.java
index 962ae2d..cfc47f7 100644
--- a/src/Wall.java
+++ b/src/Wall.java
@@ -2,7 +2,7 @@ import processing.core.*;
 
 import static processing.core.PApplet.*;
 
-public class Wall{
+public class Wall extends PApplet{
     PVector pos;
     float angle;
     int wallLength;