diff --git a/vision/SensorProcessor.h b/vision/SensorProcessor.h
index b5ad65c..fe9f0ff 100644
--- a/vision/SensorProcessor.h
+++ b/vision/SensorProcessor.h
@@ -1,6 +1,7 @@
+#ifndef VISION_SENSOR_PROCESSOR_H_
+#define VISION_SENSOR_PROCESSOR_H_
 
-#ifndef _SENSOR_PROCESSOR_H_
-#define _SENSOR_PROCESSOR_H_
+namespace frc971 {
 
 // struct maps a single point x to to a value f of x
 typedef struct {
@@ -8,21 +9,26 @@
 	double fx;
 } Interpolation;
 
-// a set of mapping to use to determine distance
-// in inches given a pixel offset
-const Interpolation pixel_to_dist[4] = {
-	{43.0, 495.0},
-	{98.0, 260.0},
-	{145.75, 174.0},
-	{216.75, 110.0}};
-const Interpolation pixel_to_dist640x480[4] = {
-	{86.0, 495.0},
-	{196.0, 260.0},
-	{291.5, 176.0},
-	{433.5, 110.0}};
+static const Interpolation kPixelsToMeters[] = {
+	{43.0 / 320.0, 12.573},
+	{98.0 / 320.0, 6.604},
+	{145.75 / 320.0, 4.420},
+	{216.75 / 320.0, 2.794},
+};
+
+static const Interpolation kMetersToShooterSpeeds[] = {
+  {10.0, 200.0},
+  {5.0, 175.0},
+};
+
+static const Interpolation kMetersToShooterAngles[] = {
+  {10.0, 0.7},
+  {5.0, 0.9},
+};
 
 double interpolate(int num_interp_vals,
 		const Interpolation *interp, double value);
 
-#endif //_SENSOR_PROCESSOR_H_
+}  // namespace frc971
 
+#endif  // VISION_SENSOR_PROCESSOR_H_