diff --git a/axi/__init__.py b/axi/__init__.py
index bee7761..9b0ac4d 100644
--- a/axi/__init__.py
+++ b/axi/__init__.py
@@ -1,5 +1,6 @@
 from .device import Device
 from .drawing import Drawing
+from .paths import sort_paths, join_paths
 from .planner import Planner
 from .turtle import Turtle
-from .util import draw
+from .util import draw, reset
diff --git a/axi/device.py b/axi/device.py
index 7b0025d..974512e 100644
--- a/axi/device.py
+++ b/axi/device.py
@@ -18,8 +18,8 @@ PEN_DOWN_POSITION = 40
 PEN_DOWN_SPEED = 150
 PEN_DOWN_DELAY = 100
 
-ACCELERATION = 5
-MAX_VELOCITY = 3
+ACCELERATION = 8
+MAX_VELOCITY = 4
 CORNER_FACTOR = 0.01
 
 VID_PID = '04D8:FD92'
diff --git a/axi/drawing.py b/axi/drawing.py
index 6c91541..504a3b8 100644
--- a/axi/drawing.py
+++ b/axi/drawing.py
@@ -2,7 +2,7 @@ from __future__ import division
 
 from math import sin, cos, radians
 
-from .paths import sort_paths
+from .paths import sort_paths, join_paths
 
 class Drawing(object):
     def __init__(self, paths=None):
@@ -36,8 +36,8 @@ class Drawing(object):
     def sort_paths(self, reversable=True):
         return Drawing(sort_paths(self.paths, reversable))
 
-    # def join_paths(self, tolerance=0.05):
-    #     return Drawing(util.join_paths(self.paths, tolerance))
+    def join_paths(self, tolerance):
+        return Drawing(join_paths(self.paths, tolerance))
 
     # def remove_duplicates(self):
     #     return Drawing(util.remove_duplicates(self.paths))
diff --git a/axi/paths.py b/axi/paths.py
index 0930b9d..888b6da 100644
--- a/axi/paths.py
+++ b/axi/paths.py
@@ -1,3 +1,5 @@
+from math import hypot
+
 from .spatial import Index
 
 def sort_paths(paths, reversable=True):
@@ -24,3 +26,17 @@ def sort_paths(paths, reversable=True):
         else:
             result.append(path)
     return result
+
+def join_paths(paths, tolerance):
+    if len(paths) < 2:
+        return paths
+    result = [list(paths[0])]
+    for path in paths[1:]:
+        x1, y1 = result[-1][-1]
+        x2, y2 = path[0]
+        d = hypot(x2 - x1, y2 - y1)
+        if d <= tolerance:
+            result[-1].extend(path)
+        else:
+            result.append(list(path))
+    return result