diff --git a/.vscode/settings.json b/.vscode/settings.json
index 0f4f1c9..acd4c6e 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -42,7 +42,10 @@
         "vector": "cpp",
         "cctype": "cpp",
         "sstream": "cpp",
-        "string": "cpp"
+        "string": "cpp",
+        "chrono": "cpp",
+        "ratio": "cpp",
+        "thread": "cpp"
     },
     "C_Cpp.clang_format_fallbackStyle": "LLVM",
     "editor.formatOnSave": true,
diff --git a/include/Vehicle.h b/include/Vehicle.h
index 41d41d5..31de448 100644
--- a/include/Vehicle.h
+++ b/include/Vehicle.h
@@ -41,6 +41,51 @@ struct Vehicle {
 
   double simTime;
   int stepSize;
+
+  int time = 0;
 };
 
+void init_Vehicle(Vehicle &State) {
+  // PID Gains
+  State.Kp = -6.8699;
+  State.Ki = 0;
+  State.Kd = -0.775;
+
+  // Initial Velocity
+  State.vx = 0; // [m/s]
+  State.vy = 0; // [m/s]
+  State.vz = 0; // [m/s]
+
+  // Initial YPR
+  State.yaw = 45 * M_PI / 180;   // [rad]
+  State.pitch = 45 * M_PI / 180; // [rad]
+  State.roll = 0 * M_PI / 180;   // [rad]
+
+  // Initial YPRdot
+  State.yawdot = 1 * M_PI / 180;    // [rad/s]
+  State.pitchdot = -1 * M_PI / 180; // [rad/s]
+  State.rolldot = 0 * M_PI / 180;   // [rad/s]
+
+  // Servo Limitation
+  State.maxServo = 7;       // [degs]
+  State.maxServoRate = 360; // [degs/sec]
+
+  // Vehicle Properties
+  State.massInitial = 1.2;       // [kg]
+  State.vehicleHeight = 0.5318;  // [m]
+  State.vehicleRadius = 0.05105; // [m]
+  State.momentArm = 0.145;       // [m]
+
+  // Sim Step Size
+  State.stepSize = 1; // [ms]
+
+  // Other Properties
+  State.massPropellant = 0.06;                                  // [kg]
+  State.massBurnout = State.massInitial - State.massPropellant; // [kg]
+  State.burntime = 3.45 - 0.148;                                // [s]
+  State.mdot = State.massPropellant / State.burntime;           // [kg/s]
+  State.mass = State.massInitial;                               // [kg]
+  State.burnElapsed = 2000;                                     // [s]
+}
+
 #endif
\ No newline at end of file
diff --git a/include/native.h b/include/native.h
new file mode 100644
index 0000000..1e69dce
--- /dev/null
+++ b/include/native.h
@@ -0,0 +1,143 @@
+#include "Vehicle.h"
+
+#include <iostream>
+
+void thrustInfo(struct Vehicle &);
+void processTVC(struct Vehicle &);
+void write2CSV(struct outVector &, struct Vehicle &);
+void printSimResults(struct Vehicle &);
+
+void thrustInfo(Vehicle &State) {
+
+  if (State.burnElapsed != 2000) {
+    // determine where in the thrust curve we're at based on elapsed burn time
+    // as well as current mass
+    State.burnElapsed = (State.time - State.burnStart) / 1000;
+    State.mass = State.massInitial - (State.mdot * State.burnElapsed);
+  }
+
+  else if (abs(State.burnVelocity + State.vz) < 0.001) {
+    // Start burn
+    State.burnStart = State.time;
+    State.burnElapsed = 0;
+  }
+
+  else
+    State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
+
+  if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
+    State.thrustFiring = true;
+    State.thrust = 65.165 * State.burnElapsed - 2.3921;
+
+  } else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
+    State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
+                   11.609 * pow(State.burnElapsed, 5) +
+                   60.739 * pow(State.burnElapsed, 4) -
+                   162.99 * pow(State.burnElapsed, 3) +
+                   235.6 * pow(State.burnElapsed, 2) -
+                   174.43 * State.burnElapsed + 67.17;
+
+  else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46))
+    State.thrust = -195.78 * State.burnElapsed - 675.11;
+
+  if (State.burnElapsed > 3.45) {
+    State.thrustFiring = false;
+    State.thrust = 0;
+  }
+}
+
+void processTVC(Vehicle &State) {
+  // Vector math to aqcuire thrust vector components
+  State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180));
+  State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
+  State.Fz = sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) +
+             (State.mass * g);
+
+  // Calculate moment created by Fx and Fy
+  State.momentX = State.Fx * State.momentArm;
+  State.momentY = State.Fy * State.momentArm;
+  State.momentZ = 0;
+}
+
+void write2CSV(outVector &stateVector, Vehicle &State) {
+
+  // Deleting any previous output file
+  if (remove("simOut.csv") != 0)
+    perror("No file deletion necessary");
+  else
+    puts("Previous output file successfully deleted");
+
+  // Define and open output file "simOut.csv"
+  std::fstream outfile;
+  outfile.open("simOut.csv", std::ios::app);
+
+  // Output file header. These are the variables that we output - useful for
+  // debugging
+  outfile << "t,x,y,z,vx,vy,vz,ax,ay,az,yaw,pitch,roll,yawdot,pitchdot,rolldot,"
+             "Servo1,Servo2,thrustFiring,PIDx,PIDy,thrust"
+          << std::endl;
+
+  // writing to output file
+  for (int i = 0; i < State.time; i += State.stepSize) {
+    outfile << i << ", ";
+
+    outfile << stateVector.x[i] << ",";
+    outfile << stateVector.y[i] << ",";
+    outfile << stateVector.z[i] << ",";
+
+    outfile << stateVector.vx[i] << ",";
+    outfile << stateVector.vy[i] << ",";
+    outfile << stateVector.vz[i] << ",";
+
+    outfile << stateVector.ax[i] << ",";
+    outfile << stateVector.ay[i] << ",";
+    outfile << stateVector.az[i] << ",";
+
+    outfile << stateVector.yaw[i] * 180 / M_PI << ",";
+    outfile << stateVector.pitch[i] * 180 / M_PI << ",";
+    outfile << stateVector.roll[i] * 180 / M_PI << ",";
+
+    outfile << stateVector.yawdot[i] * 180 / M_PI << ",";
+    outfile << stateVector.pitchdot[i] * 180 / M_PI << ",";
+    outfile << stateVector.rolldot[i] * 180 / M_PI << ",";
+
+    outfile << stateVector.servo1[i] << ",";
+    outfile << stateVector.servo2[i] << ",";
+
+    outfile << stateVector.thrustFiring[i] << ",";
+
+    outfile << stateVector.PIDx[i] << ",";
+    outfile << stateVector.PIDy[i] << ",";
+
+    outfile << stateVector.thrust[i] << std::endl;
+  }
+
+  outfile.close();
+  std::cout << "simOut.csv created successfully.\n" << std::endl;
+}
+
+void printSimResults(Vehicle &State) {
+  double landing_angle =
+      pow(State.yaw * State.yaw + State.pitch * State.pitch, .5);
+
+  double landing_velocity =
+      pow(State.vx * State.vx + State.vy * State.vy + State.vz * State.vz, .5);
+
+  if (landing_angle < 5.0) {
+    std::cout << "Landing Angle     < 5.0 degrees  | PASS | ";
+  } else {
+    std::cout << "Landing Angle     < 5.0 degrees  | FAIL | ";
+  }
+  std::cout << "Final Angles:   [" << State.yaw << ", " << State.pitch << "]"
+            << std::endl;
+
+  if (landing_velocity < 0.5) {
+    std::cout << "Landing Velocity  < 0.5 m/s      | PASS | ";
+  } else {
+    std::cout << "Landing Velocity  < 0.5 m/s      | FAIL | ";
+  }
+  std::cout << "Final Velocity: [" << State.vx << ", " << State.vy << ", "
+            << State.vz << "]" << std::endl;
+
+  std::cout << std::endl << "Simulation Complete\n" << std::endl;
+}
\ No newline at end of file
diff --git a/include/sim.h b/include/sim.h
index 6fd1b11..dd8cec0 100644
--- a/include/sim.h
+++ b/include/sim.h
@@ -4,12 +4,10 @@
 #include <iostream>
 
 void burnStartTimeCalc(struct Vehicle &);
-void thrustSelection(struct Vehicle &, int t);
 void pidController(struct Vehicle &, struct Vehicle &);
 void TVC(struct Vehicle &, struct Vehicle &);
-void vehicleDynamics(struct Vehicle &, struct Vehicle &, int t);
-void state2vec(struct Vehicle &, struct Vehicle &, struct outVector &, int t);
-void write2CSV(struct outVector &, struct Vehicle &, int t);
+void vehicleDynamics(struct Vehicle &, struct Vehicle &);
+void state2vec(struct Vehicle &, struct Vehicle &, struct outVector &);
 double derivative(double current, double previous, double step);
 double integral(double currentChange, double prevValue, double dt);
 double limit(double value, double upr, double lwr);
@@ -19,59 +17,6 @@ double limit(double value, double upr, double lwr);
 double const dt = 0.01;
 double const g = -9.81;
 
-bool sim(struct Vehicle &State, struct Vehicle &PrevState) {
-
-  outVector stateVector;
-
-  // Determine when to burn
-  burnStartTimeCalc(State);
-
-  int t = 0;
-
-  // Start Sim
-  do {
-    vehicleDynamics(State, PrevState, t);
-    thrustSelection(State, t);
-    pidController(State, PrevState);
-    TVC(State, PrevState);
-    state2vec(State, PrevState, stateVector, t);
-    //std::cout << State.vz << "\n";
-
-    t += State.stepSize;
-  } while ((State.z > 0.0));
-std::cout << t << "\n";
-  write2CSV(stateVector, State, t);
-  std::cout << t << "\n";
-
-  bool pass = 1;
-
-  double landing_angle =
-      pow(State.yaw * State.yaw + State.pitch * State.pitch, .5);
-
-  double landing_velocity =
-      pow(State.vx * State.vx + State.vy * State.vy + State.vz * State.vz, .5);
-
-  if (landing_angle < 5.0) {
-    std::cout << "   Landing Angle < 5°    | PASS | ";
-  } else {
-    std::cout << "   Landing Angle < 5°    | FAIL | ";
-    pass = pass * 0;
-  }
-  std::cout << "Final Angles: [" << State.yaw << ", " << State.pitch << "]"
-            << std::endl;
-
-  if (landing_velocity < 5.0) {
-    std::cout << "Landing Velocity < 5 m/s | PASS | ";
-  } else {
-    std::cout << "Landing Velocity < 5 m/s | FAIL | ";
-    pass = pass * 0;
-  }
-  std::cout << "Final Velocity: [" << State.vx << ", " << State.vy << ", "
-            << State.vz << "]" << std::endl;
-
-  return pass;
-}
-
 void burnStartTimeCalc(Vehicle &State) {
   double velocity = State.vz;
   double h = 0;
@@ -96,13 +41,15 @@ void burnStartTimeCalc(Vehicle &State) {
     h = (((thrust / mass) + g) * dt) + h;
   }
   State.z = h + (pow(velocity, 2) / (2 * -g)); // starting height
-  State.burnVelocity = velocity;               // terminal velocity
+  State.z = 18.9;
+  State.burnVelocity = velocity; // terminal velocity
 
   double burnStartTime = State.burnVelocity / -g;
   State.simTime = (State.burntime + burnStartTime) * 1000;
 }
 
-void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
+void vehicleDynamics(Vehicle &State, Vehicle &PrevState) {
+
   // Moment of Inertia
   State.I11 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
                             pow(State.vehicleRadius, 2) / 4);
@@ -111,7 +58,7 @@ void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
   State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2);
 
   // Idot
-  if (t < 0.1) {
+  if (State.time < 0.1) {
     State.I11dot = 0;
     State.I22dot = 0;
     State.I33dot = 0;
@@ -180,45 +127,6 @@ void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
   }
 }
 
-void thrustSelection(Vehicle &State, int t) {
-
-  if (State.burnElapsed != 2000) {
-    // determine where in the thrust curve we're at based on elapsed burn time
-    // as well as current mass
-    State.burnElapsed = (t - State.burnStart) / 1000;
-    State.mass = State.massInitial - (State.mdot * State.burnElapsed);
-  }
-
-  else if (abs(State.burnVelocity + State.vz) < 0.001) {
-    // Start burn
-    State.burnStart = t;
-    State.burnElapsed = 0;
-  }
-
-  else
-    State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
-
-  if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
-    State.thrustFiring = true;
-    State.thrust = 65.165 * State.burnElapsed - 2.3921;
-
-  } else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
-    State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
-                   11.609 * pow(State.burnElapsed, 5) +
-                   60.739 * pow(State.burnElapsed, 4) -
-                   162.99 * pow(State.burnElapsed, 3) +
-                   235.6 * pow(State.burnElapsed, 2) -
-                   174.43 * State.burnElapsed + 67.17;
-
-  else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46))
-    State.thrust = -195.78 * State.burnElapsed - 675.11;
-
-  if (State.burnElapsed > 3.45) {
-    State.thrustFiring = false;
-    State.thrust = 0;
-  }
-}
-
 void pidController(Vehicle &State, struct Vehicle &PrevState) {
   // Make sure we start reacting when we start burning
   if (State.thrust > 0.01) {
@@ -290,23 +198,12 @@ void TVC(Vehicle &State, Vehicle &PrevState) {
         integral(State.xServoDegsDot, PrevState.xServoDegs, State.stepSize);
     State.yServoDegs =
         integral(State.yServoDegsDot, PrevState.yServoDegs, State.stepSize);
-
-    // Vector math to aqcuire thrust vector components
-    State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180));
-    State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
-    State.Fz =
-        sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) +
-        (State.mass * g);
-
-    // Calculate moment created by Fx and Fy
-    State.momentX = State.Fx * State.momentArm;
-    State.momentY = State.Fy * State.momentArm;
-    State.momentZ = 0;
   }
 }
 
-void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector,
-               int t) {
+void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector) {
+  int t = State.time;
+
   stateVector.x[t] = State.x;
   stateVector.y[t] = State.y;
   stateVector.z[t] = State.z;
@@ -341,63 +238,6 @@ void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector,
   PrevState = State;
 }
 
-void write2CSV(outVector &stateVector, Vehicle &State, int t) {
-
-  // Deleting any previous output file
-  if (remove("simOut.csv") != 0)
-    perror("No file deletion necessary");
-  else
-    puts("Previous output file successfully deleted");
-
-  // Define and open output file "simOut.csv"
-  std::fstream outfile;
-  outfile.open("simOut.csv", std::ios::app);
-
-  // Output file header. These are the variables that we output - useful for
-  // debugging
-  outfile << "t,x,y,z,vx,vy,vz,ax,ay,az,yaw,pitch,roll,yawdot,pitchdot,rolldot,"
-             "Servo1,Servo2,thrustFiring,PIDx,PIDy,thrust"
-          << std::endl;
-
-  // writing to output file
-  for (int i = 0; i < t; i += State.stepSize) {
-    outfile << i << ", ";
-
-    outfile << stateVector.x[i] << ",";
-    outfile << stateVector.y[i] << ",";
-    outfile << stateVector.z[i] << ",";
-
-    outfile << stateVector.vx[i] << ",";
-    outfile << stateVector.vy[i] << ",";
-    outfile << stateVector.vz[i] << ",";
-
-    outfile << stateVector.ax[i] << ",";
-    outfile << stateVector.ay[i] << ",";
-    outfile << stateVector.az[i] << ",";
-
-    outfile << stateVector.yaw[i] * 180 / M_PI << ",";
-    outfile << stateVector.pitch[i] * 180 / M_PI << ",";
-    outfile << stateVector.roll[i] * 180 / M_PI << ",";
-
-    outfile << stateVector.yawdot[i] * 180 / M_PI << ",";
-    outfile << stateVector.pitchdot[i] * 180 / M_PI << ",";
-    outfile << stateVector.rolldot[i] * 180 / M_PI << ",";
-
-    outfile << stateVector.servo1[i] << ",";
-    outfile << stateVector.servo2[i] << ",";
-
-    outfile << stateVector.thrustFiring[i] << ",";
-
-    outfile << stateVector.PIDx[i] << ",";
-    outfile << stateVector.PIDy[i] << ",";
-
-    outfile << stateVector.thrust[i] << std::endl;
-  }
-
-  outfile.close();
-  std::cout << "simOut.csv created successfully.\n" << std::endl;
-}
-
 double derivative(double current, double previous, double step) {
   double dxdt = (current - previous) / (step / 1000);
   return dxdt;
diff --git a/include/teensy.h b/include/teensy.h
new file mode 100644
index 0000000..4669597
--- /dev/null
+++ b/include/teensy.h
@@ -0,0 +1,21 @@
+#include "Vehicle.h"
+
+void loadCellCalibrate();
+void thrustInfo();
+void processTVC();
+void write2csv();
+
+void loadCellCalibrate() {
+  // place code to calibrate load cells in here
+}
+void thrustInfo() {
+  // place code to retrieve load cell data and convert to a thrust value in here
+}
+
+void processTVC() {
+  // place code to turn angles from TVC function into commands in here
+}
+
+void write2csv() {
+  // place code to make the teensy write to an output  file in here
+}
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index ee7d759..cf97135 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -11,58 +11,59 @@
 #include "Vehicle.h"
 #include "sim.h"
 
-bool sim(struct Vehicle &);
+#if defined(_WIN32) || defined(linux)
+#include "native.h"
+#elif TEENSY
+#include "teensy.h"
+#endif
 
+Vehicle State;
+Vehicle PrevState;
+outVector stateVector;
+
+#if defined(_WIN32) || defined(linux)
+void setup() {
+  init_Vehicle(State);
+
+  // Determine when to burn
+  burnStartTimeCalc(State);
+}
+#elif TEENSY
+void setup() {
+  init_Vehicle(State);
+
+  // Determine when to burn
+  burnStartTimeCalc(State);
+  loadCellCalibrate();
+}
+#endif
+
+void loop() {
+
+  vehicleDynamics(State, PrevState);
+  thrustInfo(State);
+  pidController(State, PrevState);
+  TVC(State, PrevState);
+  processTVC(State);
+  state2vec(State, PrevState, stateVector);
+
+  State.time += State.stepSize;
+
+  if (State.z < 0.0) {
+    write2CSV(stateVector, State);
+    printSimResults(State);
+  }
+}
+
+#if defined(_WIN32) || defined(linux)
 int main() {
-  Vehicle State;
-  Vehicle PrevState;
 
-  // PID Gains
-  State.Kp = -6.8699;
-  State.Ki = 0;
-  State.Kd = -0.775;
+  setup();
 
-  // Initial Velocity
-  State.vx = 0; // [m/s]
-  State.vy = 0; // [m/s]
-  State.vz = 0; // [m/s]
+  do {
+    loop();
+  } while ((State.z > 0.0));
 
-  // Initial YPR
-  State.yaw = 10 * M_PI / 180;   // [rad]
-  State.pitch = 5 * M_PI / 180; // [rad]
-  State.roll = 0 * M_PI / 180;   // [rad]
-
-  // Initial YPRdot
-  State.yawdot = 1 * M_PI / 180;    // [rad/s]
-  State.pitchdot = -1 * M_PI / 180; // [rad/s]
-  State.rolldot = 0 * M_PI / 180;   // [rad/s]
-
-  // Servo Limitation
-  State.maxServo = 7;   // [degs]
-  State.maxServoRate = 360; // [degs/sec]
-
-  // Vehicle Properties
-  State.massInitial = 1.2;       // [kg]
-  State.vehicleHeight = 0.5318;  // [m]
-  State.vehicleRadius = 0.05105; // [m]
-  State.momentArm = 0.145;       // [m]
-
-  // Sim Step Size
-  State.stepSize = 1; // [ms]
-
-  // Other Properties
-  State.massPropellant = 0.06;                                  // [kg]
-  State.massBurnout = State.massInitial - State.massPropellant; // [kg]
-  State.burntime = 3.45 - 0.148;                                // [s]
-  State.mdot = State.massPropellant / State.burntime;           // [kg/s]
-  State.mass = State.massInitial;                               // [kg]
-  State.burnElapsed = 2000;                                     // [s]
-  PrevState.thrust = 0;                                         // [N]
-
-  bool outcome = sim(State, PrevState);
-
-  std::cout << std::endl << "Simulation Complete 🚀" << std::endl;
-  //                                            ^^^
-  // 50% chance this makes Mattys linux crash
   return 0;
-}
\ No newline at end of file
+}
+#endif
\ No newline at end of file