diff --git a/robot_controller/robot_controller.ino b/robot_controller/robot_controller.ino
index 82f0ad1..10e0ed7 100644
--- a/robot_controller/robot_controller.ino
+++ b/robot_controller/robot_controller.ino
@@ -2,6 +2,7 @@
 #include <Wire.h>
 #include <smartmotor.h>
 #include <SMC_gains.h>
+#include "trapezoidal.h"
 
 const float ACCEL_LIMIT = 4.0; // cm/s/s
 const float VEL_LIMIT = 16.0; // cm/s
@@ -91,7 +92,7 @@ void loop() {
   Serial.println("");
 
   // move on if at setpoint TODO: check that the error is low as well
-  if (setpoint.completed) {
+  if (setpoint.complete) {
     switch (robot_state) {
       case FORWARD:
         robot_state = TURN;
diff --git a/robot_controller/trapezoidal.h b/robot_controller/trapezoidal.h
new file mode 100644
index 0000000..78dcaa8
--- /dev/null
+++ b/robot_controller/trapezoidal.h
@@ -0,0 +1,14 @@
+#pragma once
+
+// unitless trapezoidal
+struct Trapezoidal {
+  float max_vel;
+  float max_acc;
+  float dist;
+};
+
+struct Setpoint {
+  float velocity; // unitless
+  float position; // unitless
+  bool complete; // the setpoint will no longer change
+};
diff --git a/robot_controller/trapezoidal.ino b/robot_controller/trapezoidal.ino
index 87799bc..e0ab6e5 100644
--- a/robot_controller/trapezoidal.ino
+++ b/robot_controller/trapezoidal.ino
@@ -1,18 +1,6 @@
+#include "trapezoidal.h"
 // trapezoidal impl, not fuzzed
 
-// unitless trapezoidal
-struct Trapezoidal {
-  float max_vel;
-  float max_acc;
-  float dist;
-};
-
-struct Setpoint {
-  float velocity; // unitless
-  float position; // unitless
-  bool complete; // the setpoint will no longer change
-};
-
 // returns the position and velocity at the given time on a trapezoidal motion plan
 // this could be baked if too computationally expensive
 // not fully fuzzed