diff --git a/src/heading_drawing.rs b/src/heading_drawing.rs
new file mode 100644
index 0000000..52b1dfe
--- /dev/null
+++ b/src/heading_drawing.rs
@@ -0,0 +1,31 @@
+use crate::line_drawing::{draw_line, FourQuadrantMatrix, Line, UPoint};
+
+#[derive(Debug, Clone, Copy)]
+struct Sector {
+    total_sectors: u8,
+    sectors: u8,
+}
+
+//heading starts at north, with the positive direction being clockwise.
+//Heading ranges from -pi to pi.
+//
+//sectors have 0 at north an proceed clockwise, always being positive.
+fn heading_to_sector(sectors: u8, heading: f32) -> Sector {
+    todo!()
+}
+
+fn sector_to_line(sector: Sector, radius: usize) -> Line {
+    todo!()
+}
+
+pub fn draw_heading<const X: usize, const Y: usize>(
+    heading: f32,
+    sectors: u8,
+) -> FourQuadrantMatrix<{ X }, { Y }, u8> {
+    let mut ret = FourQuadrantMatrix::new(UPoint { x: X / 2, y: Y / 2 });
+    draw_line::<X, Y>(
+        &sector_to_line(heading_to_sector(sectors, heading), X.max(Y)),
+        &mut ret,
+    );
+    ret
+}
diff --git a/src/line_drawing.rs b/src/line_drawing.rs
index d03db08..cd4eceb 100644
--- a/src/line_drawing.rs
+++ b/src/line_drawing.rs
@@ -1,15 +1,16 @@
-use core::mem::swap;
+use core::{mem::swap, ops::Index, ops::IndexMut};
 
-struct Point {
-    x: isize,
-    y: isize,
+#[derive(Debug, Clone, Copy)]
+pub struct Point {
+    pub x: isize,
+    pub y: isize,
 }
 
 impl Point {
     /// converts a point (representing a point on a 4 quadrant grid) into a upoint (representing a
     /// point on a 1 quadrant grid with the origin in the bottom-left corner). Returns none if
     /// the resulting point would have either number negative.
-    fn to_upoint(&self, zero_coord: &UPoint) -> Option<UPoint> {
+    pub fn to_upoint(self, zero_coord: &UPoint) -> Option<UPoint> {
         Some(UPoint {
             x: zero_coord.x.checked_add_signed(self.x)?,
             y: zero_coord.y.checked_add_signed(self.y)?,
@@ -17,15 +18,16 @@ impl Point {
     }
 }
 
-struct UPoint {
-    x: usize,
-    y: usize,
+#[derive(Debug, Clone, Copy)]
+pub struct UPoint {
+    pub x: usize,
+    pub y: usize,
 }
 
 impl UPoint {
     /// converts a upoint (representing a point on a 1 quadrant grid with the origin in the
-    /// bottom-left corner) into a point( representing a point on a 4 quadrant grid
-    pub fn to_point(&self, zero_coord: &UPoint) -> Point {
+    /// bottom-left corner) into a point( representing a point on a 4 quadrant grid)
+    pub fn to_point(self, zero_coord: &UPoint) -> Point {
         Point {
             x: zero_coord.x as isize - self.x as isize,
             y: zero_coord.y as isize - self.y as isize,
@@ -33,44 +35,95 @@ impl UPoint {
     }
 }
 
-fn draw_line<const X: usize, const Y: usize>(
-    mut p0: Point,
-    mut p1: Point,
-    matrix: &mut [[u8; X]; Y],
+/// A matrix that allows negative co-oordinates. Will panic if referencing out of bounds, just like
+/// a nomral matrix.
+pub struct FourQuadrantMatrix<const X: usize, const Y: usize, T> {
+    matrix: [[T; X]; Y],
+    pub zero_coord: UPoint,
+}
+
+impl<const X: usize, const Y: usize, T> FourQuadrantMatrix<{ X }, { Y }, T>
+where
+    T: Copy,
+    T: Default,
+{
+    pub fn new(zero_coord: UPoint) -> FourQuadrantMatrix<{ X }, { Y }, T> {
+        FourQuadrantMatrix {
+            matrix: [[T::default(); X]; Y],
+            zero_coord,
+        }
+    }
+}
+
+impl<T, const X: usize, const Y: usize> IndexMut<Point> for FourQuadrantMatrix<{ X }, { Y }, T> {
+    fn index_mut(&mut self, index: Point) -> &mut Self::Output {
+        let upoint = index
+            .to_upoint(&self.zero_coord)
+            .expect("would result in negative unsigned coordinate!");
+        &mut self.matrix[upoint.x][upoint.y]
+    }
+}
+
+impl<T, const X: usize, const Y: usize> Index<Point> for FourQuadrantMatrix<{ X }, { Y }, T> {
+    type Output = T;
+
+    fn index(&self, index: Point) -> &Self::Output {
+        let upoint = index
+            .to_upoint(&self.zero_coord)
+            .expect("would result in negative unsigned coordinate!");
+        &self.matrix[upoint.x][upoint.y]
+    }
+}
+
+impl<T, const X: usize, const Y: usize> From<FourQuadrantMatrix<{ X }, { Y }, T>> for [[T; X]; Y] {
+    fn from(value: FourQuadrantMatrix<{ X }, { Y }, T>) -> Self {
+        value.matrix
+    }
+}
+
+#[derive(Debug, Clone, Copy)]
+pub struct Line(pub Point, pub Point);
+
+//no boxes here!
+#[derive(Debug, Clone, Copy)]
+pub struct ULine(pub UPoint, pub UPoint);
+
+/// Renders a line into a matrix of pixels.
+pub fn draw_line<const X: usize, const Y: usize>(
+    line: &Line,
+    matrix: &mut FourQuadrantMatrix<{ X }, { Y }, u8>,
 ) {
-    let steep = (p0.x - p1.x).abs() < (p0.y - p1.x).abs();
+    let mut line = *line;
+    let steep = (line.0.x - line.1.x).abs() < (line.0.y - line.1.x).abs();
 
     if steep {
-        swap(&mut p0.x, &mut p0.y);
-        swap(&mut p1.x, &mut p1.y);
+        swap(&mut line.0.x, &mut line.0.y);
+        swap(&mut line.1.x, &mut line.1.y);
     }
 
-    if p0.x > p1.x {
-        swap(&mut p0, &mut p1)
+    if line.0.x > line.1.x {
+        swap(&mut line.0.x, &mut line.1.x);
+        swap(&mut line.0.y, &mut line.1.y)
     }
 
-    let dx = p1.x - p0.x;
-    let dy = p1.y - p0.y;
+    let dx = line.1.x - line.0.x;
+    let dy = line.1.y - line.0.y;
     let derror2 = dy.abs() * 2;
     let mut error2 = 0;
-    let mut y = p0.y;
+    let mut y = line.0.y;
 
-    for x in p0.x..=p1.x {
+    for x in line.0.x..=line.1.x {
         if steep {
-            matrix[y as usize][x as usize] = 1;
+            matrix[Point { x: y, y: x }] = 1;
         } else {
-            matrix[x as usize][y as usize] = 1;
+            matrix[Point { x, y }] = 1;
         }
 
         error2 += derror2;
 
         if error2 > dx {
-            y += if p1.y > p0.y { 1 } else { -1 };
+            y += if line.1.y > line.0.y { 1 } else { -1 };
             error2 -= dx * 2
         }
     }
 }
-
-fn heading_to_sector(sectors: u8, heading: f32) -> u8 {
-    todo!()
-}
diff --git a/src/main.rs b/src/main.rs
index 5ec174e..4d829a0 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -17,6 +17,7 @@ mod calibration;
 mod led;
 mod tilt_compensation;
 mod line_drawing;
+mod heading_drawing;
 
 use microbit::{display::blocking::Display, hal::Timer};