diff --git a/Simulator.py b/Simulator.py
index ad28c6d..80bd54e 100644
--- a/Simulator.py
+++ b/Simulator.py
@@ -5,6 +5,8 @@
 '''
 
 import numpy as np
+import matplotlib
+matplotlib.use("Agg")
 import matplotlib.pyplot as plt
 from numpy import *
 from World import *
@@ -15,7 +17,7 @@
 from LinearAlegebraUtils import distBetween
 from RunAtBallBrain import RunAtBallBrain
 from Team import Team
-
+from matplotlib import animation
 
 
 #Called once for initialization
@@ -33,17 +35,11 @@ def __init__(self, world, simTime, fps, imageDirName):
         self.imageDirName = imageDirName
         self.currWP = 0
         self.ballWPs = [array([50.0, -100.0, 0.0]), array([0.0, 100.0, -70.0]), array([50.0, 20.0, 100.0]),array([-30.0, 50.0, -100.0]), array([80.0, -50.0, 50.0]), array([80.0, -50.0, -50.0]), array([-65.0, 20.0, 50.0]), array([-50.0, 20.0, -60.0])]
+        self.fig = plt.figure(figsize=(16,12))
 
-    def setup(self):    
-        #setup directory to save the images
-        self.imageDirName = 'images'
-        try:
-            os.mkdir(self.imageDirName)
-        except:
-            print self.imageDirName + " subdirectory already exists. OK."
 
-  
-         #define teams which the agents can be a part of
+    def setup(self):
+        #define teams which the agents can be a part of
         teamA = Team("A", '#ff99ff')
         teamB = Team("B", '#ffcc99')
         #Defining a couple of agents 
@@ -74,7 +70,6 @@ def setup(self):
         self.world.agents.append(agent3)
         self.world.agents.append(agent4)
 
-#         
         #define a bunch of obstacles
         ob1Pos = array([-50,-50,-50])
         ob1 = Obstacle(ob1Pos, 30)
@@ -83,7 +78,7 @@ def setup(self):
         ob2 = Obstacle(ob2Pos, 20)
          
         #add obstacles to the world
-        self.world.obstacles.append(ob1);
+        self.world.obstacles.append(ob1)
         self.world.obstacles.append(ob2)
         
         #define a ball
@@ -93,7 +88,8 @@ def setup(self):
         #add the ball to the world
         self.world.balls.append(ball)
         
-#called at a fixed 30fps always
+    # called at a fixed 30fps always
+    # physics simulation
     def fixedLoop(self):
         for agent in self.world.agents:
             agent.moveAgent(self.world)
@@ -106,60 +102,36 @@ def fixedLoop(self):
                         self.ballWPs.remove(self.ballWPs[0])
 
     
-#Called at specifed fps
+    #Called at specifed fps
     def loop(self, ax):       
         self.world.draw(ax)
-       
-                
-    def run(self):
-        #Run setup once
-        self.setup()
-        
-        #Setup loop
-        timeStep = 1/double(30)
-        frameProb = double(self.fps) / 30
-        currTime = double(0)
-        drawIndex = 0
-        physicsIndex = 0
-        while(currTime < self.simTime):
-            self.fixedLoop()
-            currProb = double(drawIndex)/double(physicsIndex+1)
-            if currProb < frameProb:
-                self.drawFrame(drawIndex)  
-                drawIndex+=1
-            physicsIndex+=1
-            currTime+=double(timeStep)
-     
-        print "Physics ran for "+str(physicsIndex)+" steps"
-        print "Drawing ran for "+str(drawIndex)+" steps"
-            
-    def drawFrame(self, loopIndex):
-        fig = plt.figure(figsize=(16,12))
-        ax = fig.add_subplot(111, projection='3d') 
+
+    # advances simulation 1 tick, returns the current world state plot
+    def tick(self):
+        self.fixedLoop()
+
+        self.fig.clf()
+        ax = self.fig.add_subplot(111, projection='3d')
         ax.view_init(elev = 30)
         ax.set_xlabel("X")
         ax.set_ylabel("Y")
-        ax.set_zlabel("Z")    
-        fname = self.imageDirName + '/' + str(int(100000000+loopIndex)) + '.png' # name the file 
-        self.loop(ax)
-        plt.gca().set_ylim(ax.get_ylim()[::-1])
-        savefig(fname, format='png', bbox_inches='tight')
-        print 'Written Frame No.'+ str(loopIndex)+' to '+ fname
-        plt.close()
+        ax.set_zlabel("Z")
+
+        return self.loop(ax), plt.gca().set_ylim(ax.get_ylim()[::-1])
 
+def tick(i):
+    return sim.tick()
+
+# simulator assumes its physics simulation is running at dt = 1/30 s
+# would have to recalculate the true animation framerate (to get physically accurate speeds, etc)
+# if you change the raw sample rate of the animator function (which accepts arguments in ms)
+FPS = 30 # hardcoded into simulation assumptions
+simlen = 10 # sec
+frames = FPS * simlen
 
-#Simulation runs here
-#set the size of the world
 world = World(100, 100)
-#specify which world to simulate, total simulation time, and frammerate for video
-sim = Simulator(world, 60, 30, "images")
-#run the simulation
-sim.run()
+sim = Simulator(world, simlen, FPS, "images")
 
-'''
-To create a video using the image sequence, execute the following command in command line.
->ffmpeg -f image2 -i "1%08d.png" -r 30 outPut.mp4
-Make sure to set your current working directory to /images and have ffmpeg in your path.
-'''
+ani = animation.FuncAnimation(sim.fig, tick, frames=frames, blit=True, init_func=sim.setup)
 
-    
+ani.save('output.mp4', fps=FPS, extra_args=['-vcodec', 'libx264'])