diff --git a/robot_controller/trapezoidal.h b/robot_controller/trapezoidal.h
index 78dcaa8..a991f67 100644
--- a/robot_controller/trapezoidal.h
+++ b/robot_controller/trapezoidal.h
@@ -12,3 +12,11 @@ struct Setpoint {
   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
+struct Setpoint trapezoidal_planner(struct Trapezoidal* trapezoidal, float time);
+
+// returns the time a given plan will take
+float trapezoidal_time(struct Trapezoidal* trapezoidal);
diff --git a/robot_controller/trapezoidal.ino b/robot_controller/trapezoidal.ino
index e0ab6e5..9da6772 100644
--- a/robot_controller/trapezoidal.ino
+++ b/robot_controller/trapezoidal.ino
@@ -1,9 +1,6 @@
 #include "trapezoidal.h"
 // trapezoidal impl, not fuzzed
 
-// 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
 struct Setpoint trapezoidal_planner(struct Trapezoidal* trapezoidal, float time) {
   float max_vel = trapezoidal->max_vel;
   float max_acc = trapezoidal->max_acc;