Merge pull request #1 from YetAnotherMinion/master

Added documentation and License
Merge pull request #3 from YetAnotherMinion/master

Code cleaned up and better organized.
Merge pull request #8 from YetAnotherMinion/master

Master
Merge pull request #9 from YetAnotherMinion/master

Update to add 3D position output
Merge pull request #11 from YetAnotherMinion/master

More Functionality
Merge pull request #12 from YetAnotherMinion/master

Looks good
Merge pull request #13 from YetAnotherMinion/master

Made some minor fixes