diff --git a/footProjection.py b/footProjection.py
new file mode 100644
index 0000000..2fcfc96
--- /dev/null
+++ b/footProjection.py
@@ -0,0 +1,52 @@
+import math as m
+def createXProjection(length, duration):
+    t = 0;
+    f = open("xValues.txt", "w")
+    f2 = open("timeX.txt", "w")
+    xLambda = length/duration
+    w = m.pi * 2
+    w = w/duration
+    projectedPoints = []
+    deltaT = 0.01 #this is an arbitrary delta t, which can be changed later on
+    while(t < duration+deltaT):
+        value = xLambda*t - (xLambda/w)*m.sin(w*t)
+        projectedPoints.append(value)
+        f.write(str(value) + "\n")
+        f2.write(str(t) + "\n")
+        t += deltaT
+        t = round(t, 2)
+    f.close()
+    f2.close()
+    return projectedPoints
+def createZProjection(height, duration):
+    t = 0;
+    f = open("zValues.txt", "w")
+    f2 = open("timeZ.txt", "w")
+    duration = duration/2
+    zLambda = height/(duration)
+    w = m.pi * 2
+    w = w/duration
+    projectedPoints = []
+    deltaT = 0.01 #this is an arbitrary delta t, which can be changed later on
+    while(t < duration+deltaT):
+        value = zLambda*t - (zLambda/w)*m.sin(w*t)
+        projectedPoints.append(value)
+        f.write(str(value) + "\n")
+        f2.write(str(t) + "\n")
+        t += deltaT
+        t = round(t, 2)
+    t = duration+deltaT
+    while(t < (2 * duration)+deltaT):
+        value = -(zLambda*t - (zLambda/w)*m.sin(w*t)) + (height*2)
+        projectedPoints.append(value)
+        f.write(str(value) +"\n")
+        f2.write(str(t)+"\n")
+        t += deltaT
+        t = round(t, 2)
+    f.close()
+    f2.close()
+    return projectedPoints
+
+#change the values based on the length/height of the step and how long the duration is
+createXProjection(3,4)
+createZProjection(2,4)
\ No newline at end of file