diff --git a/.nuget/NuGet.Config b/.nuget/NuGet.Config
deleted file mode 100644
index 67f8ea0..0000000
--- a/.nuget/NuGet.Config
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<configuration>
-  <solution>
-    <add key="disableSourceControlIntegration" value="true" />
-  </solution>
-</configuration>
\ No newline at end of file
diff --git a/.nuget/NuGet.exe b/.nuget/NuGet.exe
deleted file mode 100644
index c296edf..0000000
Binary files a/.nuget/NuGet.exe and /dev/null differ
diff --git a/.nuget/NuGet.targets b/.nuget/NuGet.targets
deleted file mode 100644
index 83fe906..0000000
--- a/.nuget/NuGet.targets
+++ /dev/null
@@ -1,136 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-    <PropertyGroup>
-        <SolutionDir Condition="$(SolutionDir) == '' Or $(SolutionDir) == '*Undefined*'">$(MSBuildProjectDirectory)\..\</SolutionDir>
-        
-        <!-- Enable the restore command to run before builds -->
-        <RestorePackages Condition="  '$(RestorePackages)' == '' ">false</RestorePackages>
-
-        <!-- Property that enables building a package from a project -->
-        <BuildPackage Condition=" '$(BuildPackage)' == '' ">false</BuildPackage>
-
-        <!-- Determines if package restore consent is required to restore packages -->
-        <RequireRestoreConsent Condition=" '$(RequireRestoreConsent)' != 'false' ">true</RequireRestoreConsent>
-        
-        <!-- Download NuGet.exe if it does not already exist -->
-        <DownloadNuGetExe Condition=" '$(DownloadNuGetExe)' == '' ">false</DownloadNuGetExe>
-    </PropertyGroup>
-    
-    <ItemGroup Condition=" '$(PackageSources)' == '' ">
-        <!-- Package sources used to restore packages. By default, registered sources under %APPDATA%\NuGet\NuGet.Config will be used -->
-        <!-- The official NuGet package source (https://www.nuget.org/api/v2/) will be excluded if package sources are specified and it does not appear in the list -->
-        <!--
-            <PackageSource Include="https://www.nuget.org/api/v2/" />
-            <PackageSource Include="https://my-nuget-source/nuget/" />
-        -->
-    </ItemGroup>
-
-    <PropertyGroup Condition=" '$(OS)' == 'Windows_NT'">
-        <!-- Windows specific commands -->
-        <NuGetToolsPath>$([System.IO.Path]::Combine($(SolutionDir), ".nuget"))</NuGetToolsPath>
-        <PackagesConfig>$([System.IO.Path]::Combine($(ProjectDir), "packages.config"))</PackagesConfig>
-    </PropertyGroup>
-    
-    <PropertyGroup Condition=" '$(OS)' != 'Windows_NT'">
-        <!-- We need to launch nuget.exe with the mono command if we're not on windows -->
-        <NuGetToolsPath>$(SolutionDir).nuget</NuGetToolsPath>
-        <PackagesConfig>packages.config</PackagesConfig>
-    </PropertyGroup>
-    
-    <PropertyGroup>
-        <!-- NuGet command -->
-        <NuGetExePath Condition=" '$(NuGetExePath)' == '' ">$(NuGetToolsPath)\NuGet.exe</NuGetExePath>
-        <PackageSources Condition=" $(PackageSources) == '' ">@(PackageSource)</PackageSources>
-        
-        <NuGetCommand Condition=" '$(OS)' == 'Windows_NT'">"$(NuGetExePath)"</NuGetCommand>
-        <NuGetCommand Condition=" '$(OS)' != 'Windows_NT' ">mono --runtime=v4.0.30319 $(NuGetExePath)</NuGetCommand>
-
-        <PackageOutputDir Condition="$(PackageOutputDir) == ''">$(TargetDir.Trim('\\'))</PackageOutputDir>
-        
-        <RequireConsentSwitch Condition=" $(RequireRestoreConsent) == 'true' ">-RequireConsent</RequireConsentSwitch>
-        <NonInteractiveSwitch Condition=" '$(VisualStudioVersion)' != '' AND '$(OS)' == 'Windows_NT' ">-NonInteractive</NonInteractiveSwitch>
-        
-        <PaddedSolutionDir Condition=" '$(OS)' == 'Windows_NT'">"$(SolutionDir) "</PaddedSolutionDir>
-        <PaddedSolutionDir Condition=" '$(OS)' != 'Windows_NT' ">"$(SolutionDir)"</PaddedSolutionDir>
-
-        <!-- Commands -->
-        <RestoreCommand>$(NuGetCommand) install "$(PackagesConfig)" -source "$(PackageSources)"  $(NonInteractiveSwitch) $(RequireConsentSwitch) -solutionDir $(PaddedSolutionDir)</RestoreCommand>
-        <BuildCommand>$(NuGetCommand) pack "$(ProjectPath)" -Properties "Configuration=$(Configuration);Platform=$(Platform)" $(NonInteractiveSwitch) -OutputDirectory "$(PackageOutputDir)" -symbols</BuildCommand>
-
-        <!-- We need to ensure packages are restored prior to assembly resolve -->
-        <BuildDependsOn Condition="$(RestorePackages) == 'true'">
-            RestorePackages;
-            $(BuildDependsOn);
-        </BuildDependsOn>
-
-        <!-- Make the build depend on restore packages -->
-        <BuildDependsOn Condition="$(BuildPackage) == 'true'">
-            $(BuildDependsOn);
-            BuildPackage;
-        </BuildDependsOn>
-    </PropertyGroup>
-
-    <Target Name="CheckPrerequisites">
-        <!-- Raise an error if we're unable to locate nuget.exe  -->
-        <Error Condition="'$(DownloadNuGetExe)' != 'true' AND !Exists('$(NuGetExePath)')" Text="Unable to locate '$(NuGetExePath)'" />
-        <!--
-        Take advantage of MsBuild's build dependency tracking to make sure that we only ever download nuget.exe once.
-        This effectively acts as a lock that makes sure that the download operation will only happen once and all
-        parallel builds will have to wait for it to complete.
-        -->
-        <MsBuild Targets="_DownloadNuGet" Projects="$(MSBuildThisFileFullPath)" Properties="Configuration=NOT_IMPORTANT;DownloadNuGetExe=$(DownloadNuGetExe)" />
-    </Target>
-
-    <Target Name="_DownloadNuGet">
-        <DownloadNuGet OutputFilename="$(NuGetExePath)" Condition=" '$(DownloadNuGetExe)' == 'true' AND !Exists('$(NuGetExePath)')" />
-    </Target>
-
-    <Target Name="RestorePackages" DependsOnTargets="CheckPrerequisites">
-        <Exec Command="$(RestoreCommand)"
-              Condition="'$(OS)' != 'Windows_NT' And Exists('$(PackagesConfig)')" />
-              
-        <Exec Command="$(RestoreCommand)"
-              LogStandardErrorAsError="true"
-              Condition="'$(OS)' == 'Windows_NT' And Exists('$(PackagesConfig)')" />
-    </Target>
-
-    <Target Name="BuildPackage" DependsOnTargets="CheckPrerequisites">
-        <Exec Command="$(BuildCommand)" 
-              Condition=" '$(OS)' != 'Windows_NT' " />
-              
-        <Exec Command="$(BuildCommand)"
-              LogStandardErrorAsError="true"
-              Condition=" '$(OS)' == 'Windows_NT' " />
-    </Target>
-    
-    <UsingTask TaskName="DownloadNuGet" TaskFactory="CodeTaskFactory" AssemblyFile="$(MSBuildToolsPath)\Microsoft.Build.Tasks.v4.0.dll">
-        <ParameterGroup>
-            <OutputFilename ParameterType="System.String" Required="true" />
-        </ParameterGroup>
-        <Task>
-            <Reference Include="System.Core" />
-            <Using Namespace="System" />
-            <Using Namespace="System.IO" />
-            <Using Namespace="System.Net" />
-            <Using Namespace="Microsoft.Build.Framework" />
-            <Using Namespace="Microsoft.Build.Utilities" />
-            <Code Type="Fragment" Language="cs">
-                <![CDATA[
-                try {
-                    OutputFilename = Path.GetFullPath(OutputFilename);
-
-                    Log.LogMessage("Downloading latest version of NuGet.exe...");
-                    WebClient webClient = new WebClient();
-                    webClient.DownloadFile("https://www.nuget.org/nuget.exe", OutputFilename);
-
-                    return true;
-                }
-                catch (Exception ex) {
-                    Log.LogErrorFromException(ex);
-                    return false;
-                }
-            ]]>
-            </Code>
-        </Task>
-    </UsingTask>
-</Project>
\ No newline at end of file
diff --git a/CNC_Machine.sln b/CNC_Machine.sln
index f6a7545..d69383d 100644
--- a/CNC_Machine.sln
+++ b/CNC_Machine.sln
@@ -17,13 +17,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Router", "Router\Router.csp
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Commands", "Commands\Commands.csproj", "{0BE94AA8-662B-45EC-B95A-545180F54618}"
 EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = ".nuget", ".nuget", "{096BD6AC-7399-4403-A6A8-046990B0BC0B}"
-	ProjectSection(SolutionItems) = preProject
-		.nuget\NuGet.Config = .nuget\NuGet.Config
-		.nuget\NuGet.exe = .nuget\NuGet.exe
-		.nuget\NuGet.targets = .nuget\NuGet.targets
-	EndProjectSection
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
diff --git a/Commands/Commands.csproj b/Commands/Commands.csproj
index 52957e8..dc3b0bf 100644
--- a/Commands/Commands.csproj
+++ b/Commands/Commands.csproj
@@ -9,10 +9,11 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>Commands</RootNamespace>
     <AssemblyName>Commands</AssemblyName>
-    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <SolutionDir Condition="$(SolutionDir) == '' Or $(SolutionDir) == '*Undefined*'">..\</SolutionDir>
     <RestorePackages>true</RestorePackages>
+    <TargetFrameworkProfile />
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
     <DebugSymbols>true</DebugSymbols>
@@ -33,13 +34,12 @@
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="OpenTK">
-      <HintPath>..\packages\OpenTK.1.1.1456.5398\lib\NET40\OpenTK.dll</HintPath>
+      <HintPath>..\ThirdParty\OpenTK\OpenTK.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
-    <Reference Include="Microsoft.CSharp" />
     <Reference Include="System.Data" />
     <Reference Include="System.Xml" />
   </ItemGroup>
@@ -48,9 +48,6 @@
     <Compile Include="MoveTool.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
   </ItemGroup>
-  <ItemGroup>
-    <None Include="packages.config" />
-  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <Import Project="$(SolutionDir)\.nuget\NuGet.targets" Condition="Exists('$(SolutionDir)\.nuget\NuGet.targets')" />
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
diff --git a/Commands/ICommand.cs b/Commands/ICommand.cs
index 36d151b..220094d 100644
--- a/Commands/ICommand.cs
+++ b/Commands/ICommand.cs
@@ -2,7 +2,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 
 namespace Commands
 {
diff --git a/Commands/MoveTool.cs b/Commands/MoveTool.cs
index 42f0ce3..1fa1623 100644
--- a/Commands/MoveTool.cs
+++ b/Commands/MoveTool.cs
@@ -2,7 +2,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 
 namespace Commands
diff --git a/Commands/packages.config b/Commands/packages.config
deleted file mode 100644
index d0ea9c3..0000000
--- a/Commands/packages.config
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<packages>
-  <package id="OpenTK" version="1.1.1456.5398" targetFramework="net45" />
-</packages>
\ No newline at end of file
diff --git a/Examples/side.dae b/Examples/side.dae
new file mode 100644
index 0000000..b947487
--- /dev/null
+++ b/Examples/side.dae
@@ -0,0 +1,205 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 13.0.4124</authoring_tool>
+        </contributor>
+        <created>2013-10-23T03:41:23Z</created>
+        <modified>2013-10-23T03:41:23Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <instance_geometry url="#ID2">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID4">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID10">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID4">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID16">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID4">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID22">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID4">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_geometries>
+        <geometry id="ID2">
+            <mesh>
+                <source id="ID5">
+                    <float_array id="ID8" count="3198">0 8.9375 0.25 5.329071e-015 1.9375 -5.218532e-015 5.329071e-015 1.9375 0.25 0 8.9375 -4.838032e-019 2.6875 7.375 -3.220131e-015 2.68963 6.516176 -3.386664e-015 2.6875 6.5 -3.386664e-015 2.68963 7.358824 -3.66422e-015 2.695873 6.53125 -3.608709e-015 2.695873 7.34375 -3.109108e-015 2.705806 6.544194 -4.441376e-015 2.705806 7.330806 -3.608709e-015 2.71875 6.554127 -3.719731e-015 2.71875 7.320873 -2.998086e-015 2.733824 6.56037 -3.109108e-015 2.733824 7.31463 -2.831553e-015 2.75 6.5625 -4.385865e-015 2.75 7.3125 -3.608709e-015 2.75 8.9375 -1.554796e-015 5.329071e-015 1.9375 -5.218532e-015 0 8.9375 -4.838032e-019 2.68963 8.516176 -2.276441e-015 2.6875 8.5 -2.442974e-015 2.6875 4.5 -5.440577e-015 2.6875 3.375 -7.327956e-015 2.695873 8.53125 -2.304197e-015 2.705806 8.544194 -2.026641e-015 2.71875 8.554127 -2.054396e-015 2.733824 8.56037 -2.276441e-015 2.75 8.5625 -2.942575e-015 4.50213 8.421324 1.081984e-015 4.5 7.4375 -9.164178e-016 4.5 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diff --git a/Examples/x.dae b/Examples/x.dae
new file mode 100644
index 0000000..b5639d3
--- /dev/null
+++ b/Examples/x.dae
@@ -0,0 +1,82 @@
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777 776 779 780 781 780 779 778 780 782 781 782 780 783 783 784 782 784 783 785 785 786 784 786 785 787 787 788 786 788 787 789 789 790 788 790 789 791 791 792 790 792 791 793 793 794 792 794 793 795 795 796 794 796 795 797 797 798 796 798 797 799 799 800 798 800 799 801 801 802 800 802 801 803 803 804 802 804 803 805 805 806 804 806 805 807 807 808 806 808 807 809 809 810 808 810 809 811 811 812 810 812 811 813 813 814 812 814 813 815 815 816 814 816 815 817 818 816 817 816 818 819 820 819 818 819 820 821 822 821 820 821 822 823 824 823 822 823 824 825 826 825 824 825 826 827 828 827 826 827 828 829 830 829 828 829 830 831 832 831 830 831 832 833 834 833 832 833 834 835 836 837 838 837 836 839 840 839 836 839 840 841 842 841 840 841 842 843 844 843 842 843 844 845 844 846 845 846 844 847 847 848 846 848 847 849 849 850 848 850 849 851 851 852 850 852 851 853 853 854 852 854 853 855 855 856 854 856 855 857 857 858 856 858 857 859 859 860 858 860 859 861 861 862 860 862 861 863 862 864 865 864 862 863 865 866 867 866 865 864 867 868 869 868 867 866 869 870 871 870 869 868 871 872 873 872 871 870 874 875 876 875 874 877 875 877 878 878 877 879 879 877 880 879 880 881 881 880 882 881 882 883 883 882 884 883 884 885 885 884 886 885 886 887 887 886 888 887 888 889 889 888 890 889 890 891 891 890 892 891 892 893 893 892 894 893 894 895 895 894 896 895 896 897 897 896 898 897 898 899 899 898 900 899 900 901 901 900 902 901 902 903 903 902 904 903 904 905 905 904 906 905 906 907 907 906 908 907 908 909 909 908 910 909 910 911 911 910 912 911 912 913 913 912 914 913 914 915 915 914 916 915 916 917 917 916 918 917 918 919 919 918 920 919 920 921 921 920 922 921 922 923 923 922 924 923 924 925 925 924 926 925 926 927 927 926 928 928 926 929 929 926 930 930 926 931 931 926 932 932 926 933 933 926 934 934 926 935 935 926 936 936 926 937 937 926 938 938 926 939 939 926 940 940 926 941 941 926 942 942 926 943 943 926 944 944 926 945 945 926 946 946 926 947 947 926 948 948 926 949 948 949 950 950 949 951 950 951 952 952 951 953 951 949 954 954 949 955 955 949 956 956 949 957 957 949 958 958 949 959 959 949 960 960 949 961 961 949 962 962 949 963 963 949 964 964 949 965 965 949 966 966 949 967 967 949 968 968 949 969 969 949 970 970 949 971 971 949 972 972 949 973 973 949 974 974 949 975 975 949 976 976 949 977 977 949 978 977 978 979 979 978 980 980 978 981 981 978 982 982 978 983 983 978 984 984 978 985 985 978 986 986 978 987 987 978 988 988 978 989 989 978 990 990 978 991 991 978 992 992 978 993 993 978 994 994 978 995 995 978 996 996 978 997 997 978 998 998 978 999 999 978 1000 1000 978 1001 1000 1001 1002 1002 1001 1003 1003 1001 1004 1004 1001 1005 1005 1001 1006 1005 1006 1007 1007 1006 1008 1008 1006 1009 1009 1006 1010 1010 1006 1011 1011 1006 1012 1012 1006 1013 1013 1006 1014 1014 1006 1015 1015 1006 1016 1016 1006 1017 1017 1006 1018 1018 1006 1019 1018 1019 1020 1020 1019 1021 1021 1019 1022 1022 1019 1023 1023 1019 1024 1024 1019 1025 1025 1019 1026 1025 1026 1027 1027 1026 1028 1027 1028 1029 1026 1019 1030 1030 1019 1031 1031 1019 1032 1032 1019 1033 1033 1019 1034 1034 1019 1035 1035 1019 1036 1036 1019 1037 1037 1019 1038 1037 1038 1039 1039 1038 1040 1040 1038 1041 1041 1038 1042 1042 1038 1043 1043 1038 1044 1044 1038 1045 1044 1045 1046 1046 1045 1047 1047 1045 1048 1048 1045 1049 1049 1045 1050 1049 1050 1051 1051 1050 1052 1052 1050 1053 1053 1050 1054 1054 1050 1055 1055 1050 1056 1055 1056 1057 1057 1056 1058 1058 1056 1059 1059 1056 1060 1060 1056 1061 1061 1056 1062 1061 1062 1063 1063 1062 1064 1064 1062 1065 1065 1062 1066 1066 1062 1067 1067 1062 1068 1068 1062 1069 1069 1062 1070 1070 1062 1071 1071 1062 1072 1072 1062 1073 1073 1062 1074 1074 1062 1075 1074 1075 1076 1076 1075 1077 1077 1075 1078 1078 1075 1079 1079 1075 1080 1080 1075 1081 1081 1075 1082 1081 1082 1083 1083 1082 1084 1084 1082 1085 1084 1085 1086 1086 1085 1087 1087 1085 1088 1088 1085 1089 1090 1091 1092 1091 1090 1093 1091 1093 1094 1094 1093 1095 1094 1095 1096 1096 1095 1097 1096 1097 1098 1098 1097 1099 1098 1099 1100 1100 1099 1101 1100 1101 1102 1102 1101 1103 1102 1103 1104 1104 1103 1105 1104 1105 1106 1106 1105 1107 1106 1107 1108 1108 1107 1109 1108 1109 1110 1110 1109 1111 1110 1111 1112 1112 1111 1113 1112 1113 1114 1114 1113 1115 1114 1115 1116 1116 1115 1117 1116 1117 1118 1116 1118 1119 1119 1118 1120 1119 1120 1121 1119 1121 1122 1119 1122 1123 1123 1122 1124 1123 1124 1125 1123 1125 1126 1126 1125 1127 1126 1127 1128 1126 1128 1129 1126 1129 1130 1126 1130 944 944 1130 1131 944 1131 1132 944 1132 1133 944 1133 1134 944 1134 1135 944 1135 943</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID4" name="material">
+            <instance_effect url="#ID3" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID3">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>1 1 1 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID1" />
+    </scene>
+</COLLADA>
diff --git a/GUI/App.config b/GUI/App.config
index 8e15646..d3d2996 100644
--- a/GUI/App.config
+++ b/GUI/App.config
@@ -1,6 +1,6 @@
-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version="1.0"?>
 <configuration>
     <startup> 
-        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
-    </startup>
-</configuration>
\ No newline at end of file
+        
+    <supportedRuntime version="v2.0.50727"/></startup>
+</configuration>
diff --git a/GUI/GUI.csproj b/GUI/GUI.csproj
index 4dcf873..c703b49 100644
--- a/GUI/GUI.csproj
+++ b/GUI/GUI.csproj
@@ -9,7 +9,7 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>GUI</RootNamespace>
     <AssemblyName>PathCAM</AssemblyName>
-    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <PublishUrl>publish\</PublishUrl>
     <Install>true</Install>
@@ -28,6 +28,7 @@
     <BootstrapperEnabled>true</BootstrapperEnabled>
     <SolutionDir Condition="$(SolutionDir) == '' Or $(SolutionDir) == '*Undefined*'">..\</SolutionDir>
     <RestorePackages>true</RestorePackages>
+    <TargetFrameworkProfile />
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
     <PlatformTarget>AnyCPU</PlatformTarget>
@@ -52,18 +53,16 @@
     <ApplicationIcon>icon.ico</ApplicationIcon>
   </PropertyGroup>
   <ItemGroup>
-    <Reference Include="OpenTK, Version=1.1.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
-      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\packages\OpenTK.1.1.1456.5398\lib\NET40\OpenTK.dll</HintPath>
+    <Reference Include="OpenTK">
+      <HintPath>..\ThirdParty\OpenTK\OpenTK.dll</HintPath>
     </Reference>
     <Reference Include="OpenTK.GLControl">
-      <HintPath>..\packages\OpenTK.GLControl.1.1.1456.5398\lib\NET40\OpenTK.GLControl.dll</HintPath>
+      <HintPath>..\ThirdParty\OpenTK\OpenTK.GLControl.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
-    <Reference Include="Microsoft.CSharp" />
     <Reference Include="System.Data" />
     <Reference Include="System.Deployment" />
     <Reference Include="System.Drawing" />
@@ -119,6 +118,7 @@
     <Compile Include="Properties\Resources.Designer.cs">
       <AutoGen>True</AutoGen>
       <DependentUpon>Resources.resx</DependentUpon>
+      <DesignTime>True</DesignTime>
     </Compile>
     <EmbeddedResource Include="Drawing3D.resx">
       <DependentUpon>Drawing3D.cs</DependentUpon>
@@ -126,7 +126,6 @@
     <EmbeddedResource Include="RobotControl.resx">
       <DependentUpon>RobotControl.cs</DependentUpon>
     </EmbeddedResource>
-    <None Include="packages.config" />
     <None Include="Properties\Settings.settings">
       <Generator>SettingsSingleFileGenerator</Generator>
       <LastGenOutput>Settings.Designer.cs</LastGenOutput>
diff --git a/GUI/IClickable3D.cs b/GUI/IClickable3D.cs
index 29a30c5..deb8145 100644
--- a/GUI/IClickable3D.cs
+++ b/GUI/IClickable3D.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using Geometry;
 using OpenTK;
 
diff --git a/GUI/Polyhedra.cs b/GUI/Polyhedra.cs
index 5e0d95c..ded0025 100644
--- a/GUI/Polyhedra.cs
+++ b/GUI/Polyhedra.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 using OpenTK.Graphics.OpenGL;
 
diff --git a/GUI/Program.cs b/GUI/Program.cs
index 1106cec..30ea52d 100644
--- a/GUI/Program.cs
+++ b/GUI/Program.cs
@@ -19,7 +19,6 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace GUI
diff --git a/GUI/Properties/Resources.Designer.cs b/GUI/Properties/Resources.Designer.cs
index 6e11490..ac55c08 100644
--- a/GUI/Properties/Resources.Designer.cs
+++ b/GUI/Properties/Resources.Designer.cs
@@ -8,10 +8,10 @@
 // </auto-generated>
 //------------------------------------------------------------------------------
 
-namespace GUI.Properties
-{
-
-
+namespace GUI.Properties {
+    using System;
+    
+    
     /// <summary>
     ///   A strongly-typed resource class, for looking up localized strings, etc.
     /// </summary>
@@ -22,48 +22,40 @@ namespace GUI.Properties
     [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
-    internal class Resources
-    {
-
+    internal class Resources {
+        
         private static global::System.Resources.ResourceManager resourceMan;
-
+        
         private static global::System.Globalization.CultureInfo resourceCulture;
-
+        
         [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
-        internal Resources()
-        {
+        internal Resources() {
         }
-
+        
         /// <summary>
         ///   Returns the cached ResourceManager instance used by this class.
         /// </summary>
         [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
-        internal static global::System.Resources.ResourceManager ResourceManager
-        {
-            get
-            {
-                if ((resourceMan == null))
-                {
+        internal static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if (object.ReferenceEquals(resourceMan, null)) {
                     global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("GUI.Properties.Resources", typeof(Resources).Assembly);
                     resourceMan = temp;
                 }
                 return resourceMan;
             }
         }
-
+        
         /// <summary>
         ///   Overrides the current thread's CurrentUICulture property for all
         ///   resource lookups using this strongly typed resource class.
         /// </summary>
         [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
-        internal static global::System.Globalization.CultureInfo Culture
-        {
-            get
-            {
+        internal static global::System.Globalization.CultureInfo Culture {
+            get {
                 return resourceCulture;
             }
-            set
-            {
+            set {
                 resourceCulture = value;
             }
         }
diff --git a/GUI/Properties/Settings.Designer.cs b/GUI/Properties/Settings.Designer.cs
index 3f7c2df..0f1e346 100644
--- a/GUI/Properties/Settings.Designer.cs
+++ b/GUI/Properties/Settings.Designer.cs
@@ -8,21 +8,17 @@
 // </auto-generated>
 //------------------------------------------------------------------------------
 
-namespace GUI.Properties
-{
-
-
+namespace GUI.Properties {
+    
+    
     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
     [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")]
-    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase
-    {
-
+    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
+        
         private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
-
-        public static Settings Default
-        {
-            get
-            {
+        
+        public static Settings Default {
+            get {
                 return defaultInstance;
             }
         }
diff --git a/GUI/RobotControl.cs b/GUI/RobotControl.cs
index 3db0640..8bba70b 100644
--- a/GUI/RobotControl.cs
+++ b/GUI/RobotControl.cs
@@ -5,7 +5,6 @@
 using System.Data;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 using Robot;
 using OpenTK;
diff --git a/GUI/RobotGUI.cs b/GUI/RobotGUI.cs
index f0a0699..698966c 100644
--- a/GUI/RobotGUI.cs
+++ b/GUI/RobotGUI.cs
@@ -2,7 +2,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using Robot;
 using Geometry;
 using OpenTK;
diff --git a/GUI/RouterGUI.cs b/GUI/RouterGUI.cs
index cb3a5a1..0216691 100644
--- a/GUI/RouterGUI.cs
+++ b/GUI/RouterGUI.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using Router;
 using OpenTK;
 using OpenTK.Graphics.OpenGL;
diff --git a/GUI/TabsGUI.cs b/GUI/TabsGUI.cs
index b3dadfa..f1d227f 100644
--- a/GUI/TabsGUI.cs
+++ b/GUI/TabsGUI.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using Geometry;
 using OpenTK;
 using OpenTK.Graphics.OpenGL;
@@ -38,6 +37,7 @@ public class TabsGUI : Tabs, IOpenGLDrawable, IClickable3D
         int selectedTabIndex = -1;
         int drawSliceDisplayList = -1;
         int obliterateIndicateDisplayList = -1;
+        bool useDisplayLists = true;
 
         public void Draw()
         {
@@ -67,8 +67,11 @@ public void Draw()
             }
             else
             {
-                drawSliceDisplayList = GL.GenLists(1);
-                GL.NewList(drawSliceDisplayList, ListMode.CompileAndExecute);
+                if (useDisplayLists)
+                {
+                    drawSliceDisplayList = GL.GenLists(1);
+                    GL.NewList(drawSliceDisplayList, ListMode.CompileAndExecute);
+                }
                 GL.Begin(PrimitiveType.Triangles);
                 GL.Normal3(drawSlice.Plane.Normal);
                 foreach (var triangle in drawSlice.Triangles())
@@ -79,7 +82,10 @@ public void Draw()
                     }
                 }
                 GL.End();
-                GL.EndList();
+                if (useDisplayLists)
+                {
+                    GL.EndList();
+                }
             }
 
             if (tabLocations.Count == 0)
diff --git a/GUI/TriangleMeshGUI.cs b/GUI/TriangleMeshGUI.cs
index 2f29195..e574b08 100644
--- a/GUI/TriangleMeshGUI.cs
+++ b/GUI/TriangleMeshGUI.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using Geometry;
 using OpenTK.Graphics.OpenGL;
 using OpenTK;
diff --git a/GUI/Viewport3d.cs b/GUI/Viewport3d.cs
index c11bf33..a39d02f 100644
--- a/GUI/Viewport3d.cs
+++ b/GUI/Viewport3d.cs
@@ -24,7 +24,6 @@
 using System.Drawing;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 using Geometry;
 
diff --git a/GUI/packages.config b/GUI/packages.config
deleted file mode 100644
index 2c387da..0000000
--- a/GUI/packages.config
+++ /dev/null
@@ -1,5 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<packages>
-  <package id="OpenTK" version="1.1.1456.5398" targetFramework="net45" />
-  <package id="OpenTK.GLControl" version="1.1.1456.5398" targetFramework="net45" />
-</packages>
\ No newline at end of file
diff --git a/Geometry/Geometry.csproj b/Geometry/Geometry.csproj
index a66072d..7eaa864 100644
--- a/Geometry/Geometry.csproj
+++ b/Geometry/Geometry.csproj
@@ -9,10 +9,11 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>Geometry</RootNamespace>
     <AssemblyName>Geometry</AssemblyName>
-    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <SolutionDir Condition="$(SolutionDir) == '' Or $(SolutionDir) == '*Undefined*'">..\</SolutionDir>
     <RestorePackages>true</RestorePackages>
+    <TargetFrameworkProfile />
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
     <DebugSymbols>true</DebugSymbols>
@@ -32,23 +33,17 @@
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
   <ItemGroup>
-    <Reference Include="OpenTK, Version=1.1.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
-      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\packages\OpenTK.1.1.1456.5398\lib\NET40\OpenTK.dll</HintPath>
+    <Reference Include="OpenTK">
+      <HintPath>..\ThirdParty\OpenTK\OpenTK.dll</HintPath>
     </Reference>
-    <Reference Include="QuantumConcepts.Common">
-      <HintPath>..\packages\QuantumConcepts.Common.1.0.0.1\lib\net40\QuantumConcepts.Common.dll</HintPath>
-    </Reference>
-    <Reference Include="QuantumConcepts.Formats.STL, Version=1.1.0.0, Culture=neutral, processorArchitecture=MSIL">
-      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\packages\QuantumConcepts.Formats.STL.1.1.0.0\lib\net40\QuantumConcepts.Formats.STL.dll</HintPath>
+    <Reference Include="QuantumConcepts.Formats.StereoLithography">
+      <HintPath>..\ThirdParty\STLdotNET\QuantumConcepts.Formats.StereoLithography.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Drawing" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
-    <Reference Include="Microsoft.CSharp" />
     <Reference Include="System.Data" />
     <Reference Include="System.Xml" />
   </ItemGroup>
@@ -77,9 +72,6 @@
       <Name>Triangle</Name>
     </ProjectReference>
   </ItemGroup>
-  <ItemGroup>
-    <None Include="packages.config" />
-  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <Import Project="$(SolutionDir)\.nuget\NuGet.targets" Condition="Exists('$(SolutionDir)\.nuget\NuGet.targets')" />
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
diff --git a/Geometry/Intersect.cs b/Geometry/Intersect.cs
index df7ad1c..a0c285f 100644
--- a/Geometry/Intersect.cs
+++ b/Geometry/Intersect.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 using OpenTK.Graphics.OpenGL;
 
diff --git a/Geometry/LineSegment.cs b/Geometry/LineSegment.cs
index fb1dc8a..7f45374 100644
--- a/Geometry/LineSegment.cs
+++ b/Geometry/LineSegment.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 
 namespace Geometry
diff --git a/Geometry/LineStrip.cs b/Geometry/LineStrip.cs
index b8ed6a9..a76f1ca 100644
--- a/Geometry/LineStrip.cs
+++ b/Geometry/LineStrip.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 
 namespace Geometry
diff --git a/Geometry/Loaders/DAE_Loader.cs b/Geometry/Loaders/DAE_Loader.cs
index c5209df..3b1a051 100644
--- a/Geometry/Loaders/DAE_Loader.cs
+++ b/Geometry/Loaders/DAE_Loader.cs
@@ -22,7 +22,6 @@
 using System.IO;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using System.Xml.Serialization;
 using OpenTK;
 
diff --git a/Geometry/Loaders/OBJ_Loader.cs b/Geometry/Loaders/OBJ_Loader.cs
index 9e4c20e..12f805b 100644
--- a/Geometry/Loaders/OBJ_Loader.cs
+++ b/Geometry/Loaders/OBJ_Loader.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 using Geometry;
 using System.Text.RegularExpressions;
diff --git a/Geometry/Loaders/STL_Loader.cs b/Geometry/Loaders/STL_Loader.cs
index 9400eea..bbe2750 100644
--- a/Geometry/Loaders/STL_Loader.cs
+++ b/Geometry/Loaders/STL_Loader.cs
@@ -2,8 +2,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
-using QuantumConcepts.Common;
 using System.IO;
 using QuantumConcepts.Formats.StereoLithography;
 using OpenTK;
diff --git a/Geometry/Plane.cs b/Geometry/Plane.cs
index c1c77ed..bc93d31 100644
--- a/Geometry/Plane.cs
+++ b/Geometry/Plane.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 
 namespace Geometry
diff --git a/Geometry/Polygon.cs b/Geometry/Polygon.cs
index 2425f04..68cfdc2 100644
--- a/Geometry/Polygon.cs
+++ b/Geometry/Polygon.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 using Geometry;
 
diff --git a/Geometry/Ray.cs b/Geometry/Ray.cs
index 5555ab7..b368a7d 100644
--- a/Geometry/Ray.cs
+++ b/Geometry/Ray.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 
 namespace Geometry
diff --git a/Geometry/Slice.cs b/Geometry/Slice.cs
index 02b4f99..32d80dd 100644
--- a/Geometry/Slice.cs
+++ b/Geometry/Slice.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using System.Drawing;
 using OpenTK;
 using OpenTK.Graphics.OpenGL;
diff --git a/Geometry/Triangle.cs b/Geometry/Triangle.cs
index ed39719..4bdd94e 100644
--- a/Geometry/Triangle.cs
+++ b/Geometry/Triangle.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 
 namespace Geometry
diff --git a/Geometry/TriangleMesh.cs b/Geometry/TriangleMesh.cs
index 158a10a..0bb4987 100644
--- a/Geometry/TriangleMesh.cs
+++ b/Geometry/TriangleMesh.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 using System.Collections;
 
diff --git a/Geometry/packages.config b/Geometry/packages.config
deleted file mode 100644
index 4fa96a2..0000000
--- a/Geometry/packages.config
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<packages>
-  <package id="OpenTK" version="1.1.1456.5398" targetFramework="net45" />
-  <package id="QuantumConcepts.Common" version="1.0.0.1" targetFramework="net45" />
-  <package id="QuantumConcepts.Formats.STL" version="1.1.0.0" targetFramework="net45" />
-</packages>
\ No newline at end of file
diff --git a/Robot/DataConverter.cs b/Robot/DataConverter.cs
index e9faabe..4133e5a 100644
--- a/Robot/DataConverter.cs
+++ b/Robot/DataConverter.cs
@@ -21,7 +21,6 @@
 using System.Linq;
 using System.Runtime.InteropServices;
 using System.Text;
-using System.Threading.Tasks;
 
 namespace Robot
 {
diff --git a/Robot/IRobotCommand.cs b/Robot/IRobotCommand.cs
index 1d3aff7..c6ef2e1 100644
--- a/Robot/IRobotCommand.cs
+++ b/Robot/IRobotCommand.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 
 namespace Robot
 {
diff --git a/Robot/MoveCommand.cs b/Robot/MoveCommand.cs
index 67cf25d..5d42fb9 100644
--- a/Robot/MoveCommand.cs
+++ b/Robot/MoveCommand.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 
 namespace Robot
diff --git a/Robot/Robot.csproj b/Robot/Robot.csproj
index fd7d5a4..9d18609 100644
--- a/Robot/Robot.csproj
+++ b/Robot/Robot.csproj
@@ -9,10 +9,11 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>Robot</RootNamespace>
     <AssemblyName>Robot</AssemblyName>
-    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <SolutionDir Condition="$(SolutionDir) == '' Or $(SolutionDir) == '*Undefined*'">..\</SolutionDir>
     <RestorePackages>true</RestorePackages>
+    <TargetFrameworkProfile />
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
     <DebugSymbols>true</DebugSymbols>
@@ -32,15 +33,13 @@
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
   <ItemGroup>
-    <Reference Include="OpenTK, Version=1.1.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
-      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\packages\OpenTK.1.1.1456.5398\lib\NET40\OpenTK.dll</HintPath>
+    <Reference Include="OpenTK">
+      <HintPath>..\ThirdParty\OpenTK\OpenTK.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
-    <Reference Include="Microsoft.CSharp" />
     <Reference Include="System.Data" />
     <Reference Include="System.Xml" />
   </ItemGroup>
@@ -63,9 +62,6 @@
       <Name>Serial</Name>
     </ProjectReference>
   </ItemGroup>
-  <ItemGroup>
-    <None Include="packages.config" />
-  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <Import Project="$(SolutionDir)\.nuget\NuGet.targets" Condition="Exists('$(SolutionDir)\.nuget\NuGet.targets')" />
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
diff --git a/Robot/SingleByteStatusCommands.cs b/Robot/SingleByteStatusCommands.cs
index 798e65f..ae606b0 100644
--- a/Robot/SingleByteStatusCommands.cs
+++ b/Robot/SingleByteStatusCommands.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 
 namespace Robot
 {
diff --git a/Robot/StatusCommand.cs b/Robot/StatusCommand.cs
index cfdb94f..4304b2a 100644
--- a/Robot/StatusCommand.cs
+++ b/Robot/StatusCommand.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using OpenTK;
 
 namespace Robot
diff --git a/Robot/packages.config b/Robot/packages.config
deleted file mode 100644
index d0ea9c3..0000000
--- a/Robot/packages.config
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<packages>
-  <package id="OpenTK" version="1.1.1456.5398" targetFramework="net45" />
-</packages>
\ No newline at end of file
diff --git a/Router/Paths/PathPlanner.cs b/Router/Paths/PathPlanner.cs
index 526c0e4..3640bba 100644
--- a/Router/Paths/PathPlanner.cs
+++ b/Router/Paths/PathPlanner.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using Geometry;
 using OpenTK;
 using OpenTK.Graphics.OpenGL;
diff --git a/Router/Paths/Tabs.cs b/Router/Paths/Tabs.cs
index 921d70c..1cb85bf 100644
--- a/Router/Paths/Tabs.cs
+++ b/Router/Paths/Tabs.cs
@@ -20,7 +20,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading.Tasks;
 using Geometry;
 using OpenTK;
 using OpenTK.Graphics.OpenGL;
diff --git a/Router/Router.csproj b/Router/Router.csproj
index 9a8898d..3d128b3 100644
--- a/Router/Router.csproj
+++ b/Router/Router.csproj
@@ -9,10 +9,11 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>GCode</RootNamespace>
     <AssemblyName>GCode</AssemblyName>
-    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <SolutionDir Condition="$(SolutionDir) == '' Or $(SolutionDir) == '*Undefined*'">..\</SolutionDir>
     <RestorePackages>true</RestorePackages>
+    <TargetFrameworkProfile />
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
     <DebugSymbols>true</DebugSymbols>
@@ -32,9 +33,8 @@
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
   <ItemGroup>
-    <Reference Include="OpenTK, Version=1.1.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
-      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\packages\OpenTK.1.1.1456.5398\lib\NET40\OpenTK.dll</HintPath>
+    <Reference Include="OpenTK">
+      <HintPath>..\ThirdParty\OpenTK\OpenTK.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
@@ -42,7 +42,6 @@
     <Reference Include="System.Windows.Forms" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
-    <Reference Include="Microsoft.CSharp" />
     <Reference Include="System.Data" />
     <Reference Include="System.Xml" />
   </ItemGroup>
@@ -63,9 +62,6 @@
       <Name>Geometry</Name>
     </ProjectReference>
   </ItemGroup>
-  <ItemGroup>
-    <None Include="packages.config" />
-  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <Import Project="$(SolutionDir)\.nuget\NuGet.targets" Condition="Exists('$(SolutionDir)\.nuget\NuGet.targets')" />
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
diff --git a/Router/packages.config b/Router/packages.config
deleted file mode 100644
index d0ea9c3..0000000
--- a/Router/packages.config
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<packages>
-  <package id="OpenTK" version="1.1.1456.5398" targetFramework="net45" />
-</packages>
\ No newline at end of file
diff --git a/Serial/Serial.csproj b/Serial/Serial.csproj
index aeaa820..225d925 100644
--- a/Serial/Serial.csproj
+++ b/Serial/Serial.csproj
@@ -9,8 +9,9 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>Serial</RootNamespace>
     <AssemblyName>Serial</AssemblyName>
-    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
+    <TargetFrameworkProfile />
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
     <DebugSymbols>true</DebugSymbols>
diff --git a/Serial/SerialPortWrapper.cs b/Serial/SerialPortWrapper.cs
index 333e564..0324122 100644
--- a/Serial/SerialPortWrapper.cs
+++ b/Serial/SerialPortWrapper.cs
@@ -136,11 +136,21 @@ public SerialPortWrapper()
             port.Parity = Parity.None;
             port.Handshake = Handshake.None;
             port.StopBits = StopBits.One;
-            port.DiscardNull = false;
+            //port.DiscardNull = false; // not implemented in Mono, just don't use
             port.DtrEnable = false;
             port.RtsEnable = false;
             port.Encoding = System.Text.Encoding.Default;
+
+            // Earlier versions of Mono don't fire this event, so poll instead.
             port.DataReceived += new SerialDataReceivedEventHandler(port_DataReceived);
+            System.Timers.Timer t = new System.Timers.Timer(10);
+            //t.Elapsed += t_Elapsed;
+            //t.Start();
+        }
+
+        void t_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
+        {
+            port_DataReceived(null, null);
         }
 
         public void Transmit(byte[] data, byte address)
@@ -157,7 +167,7 @@ void port_DataReceived(object sender, SerialDataReceivedEventArgs e)
         {
             try
             {
-                while (port.BytesToRead > 0)
+                while (port.IsOpen && port.BytesToRead > 0)
                 {
                     byte data = (byte)port.ReadByte();
                     packet.ProcessDataChar(data);
diff --git a/ThirdParty/OpenTK/OpenTK.GLControl.dll b/ThirdParty/OpenTK/OpenTK.GLControl.dll
new file mode 100644
index 0000000..73e559f
Binary files /dev/null and b/ThirdParty/OpenTK/OpenTK.GLControl.dll differ
diff --git a/ThirdParty/OpenTK/OpenTK.dll b/ThirdParty/OpenTK/OpenTK.dll
new file mode 100644
index 0000000..4cadccb
Binary files /dev/null and b/ThirdParty/OpenTK/OpenTK.dll differ
diff --git a/ThirdParty/STLdotNET/QuantumConcepts.Formats.StereoLithography.dll b/ThirdParty/STLdotNET/QuantumConcepts.Formats.StereoLithography.dll
new file mode 100644
index 0000000..91ba572
Binary files /dev/null and b/ThirdParty/STLdotNET/QuantumConcepts.Formats.StereoLithography.dll differ
diff --git a/ThirdParty/Triangle/Geometry/InputGeometry.cs b/ThirdParty/Triangle/Geometry/InputGeometry.cs
index b1d72ed..7235ea2 100644
--- a/ThirdParty/Triangle/Geometry/InputGeometry.cs
+++ b/ThirdParty/Triangle/Geometry/InputGeometry.cs
@@ -80,7 +80,7 @@ public int Count
         /// </summary>
         public IEnumerable<Point> Points
         {
-            get { return points; }
+            get { return points.ConvertAll(o => o as Point); }
         }
 
         /// <summary>
diff --git a/ThirdParty/Triangle/IO/FileReader.cs b/ThirdParty/Triangle/IO/FileReader.cs
index 470c7de..c230749 100644
--- a/ThirdParty/Triangle/IO/FileReader.cs
+++ b/ThirdParty/Triangle/IO/FileReader.cs
@@ -36,7 +36,7 @@ static bool TryReadLine(StreamReader reader, out string[] token)
 
             string line = reader.ReadLine().Trim();
 
-            while (String.IsNullOrWhiteSpace(line) || line.StartsWith("#"))
+            while (String.IsNullOrEmpty(line) || line.Trim().Length == 0 || line.StartsWith("#"))
             {
                 if (reader.EndOfStream)
                 {
diff --git a/ThirdParty/Triangle/Quality.cs b/ThirdParty/Triangle/Quality.cs
index ae2acc5..344e80c 100644
--- a/ThirdParty/Triangle/Quality.cs
+++ b/ThirdParty/Triangle/Quality.cs
@@ -26,7 +26,7 @@ class Quality
         NewLocation newLocation;
 
         // Not used at the moment
-        Func<Point, Point, Point, double, bool> userTest;
+        //Func<Point, Point, Point, double, bool> userTest;
 
         ILog<SimpleLogItem> logger;
 
@@ -441,14 +441,14 @@ public void TestTriangle(ref Otri testtri)
                 }
 
                 // Check whether the user thinks this triangle is too large.
-                if (behavior.Usertest && userTest != null)
-                {
-                    if (userTest(torg, tdest, tapex, area))
-                    {
-                        queue.Enqueue(ref testtri, minedge, tapex, torg, tdest);
-                        return;
-                    }
-                }
+                //if (behavior.Usertest && userTest != null)
+                //{
+                //    if (userTest(torg, tdest, tapex, area))
+                //    {
+                //        queue.Enqueue(ref testtri, minedge, tapex, torg, tdest);
+                //        return;
+                //    }
+                //}
             }
 
             // find the maximum edge and accordingly the pqr orientation
diff --git a/ThirdParty/Triangle/Triangle.csproj b/ThirdParty/Triangle/Triangle.csproj
index 7fd80b9..96ffe93 100644
--- a/ThirdParty/Triangle/Triangle.csproj
+++ b/ThirdParty/Triangle/Triangle.csproj
@@ -10,9 +10,10 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>TriangleNet</RootNamespace>
     <AssemblyName>Triangle</AssemblyName>
-    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
-    <TargetFrameworkProfile>Client</TargetFrameworkProfile>
+    <TargetFrameworkProfile>
+    </TargetFrameworkProfile>
     <SccProjectName>SAK</SccProjectName>
     <SccLocalPath>SAK</SccLocalPath>
     <SccAuxPath>SAK</SccAuxPath>
diff --git a/ThirdParty/clipper_library/clipper_library.csproj b/ThirdParty/clipper_library/clipper_library.csproj
index 4f8ee9f..289376a 100644
--- a/ThirdParty/clipper_library/clipper_library.csproj
+++ b/ThirdParty/clipper_library/clipper_library.csproj
@@ -10,8 +10,9 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>ClipperLib</RootNamespace>
     <AssemblyName>clipper_library</AssemblyName>
-    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
+    <TargetFrameworkProfile />
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
     <DebugSymbols>true</DebugSymbols>