diff --git a/svgtroppagcode.py b/svgtroppagcode.py
new file mode 100644
index 0000000..86f9d78
--- /dev/null
+++ b/svgtroppagcode.py
@@ -0,0 +1,76 @@
+import svgpathtools
+import toppra as ta
+import toppra.constraint as constraint
+import toppra.algorithm as algo
+import numpy as np
+
+
+# Function to extract paths from an SVG file
+def extract_svg_paths(svg_file):
+    paths, *attributes = svgpathtools.svg2paths(svg_file)
+    return paths
+
+
+# Function to compute time-reparametrized velocities using toppra based on segment type
+def compute_reparametrized_speeds(path, velocity_limit=100, acceleration_limit=500):
+    sampled_points = []
+    ss = []
+    current_s = 0
+
+    for seg in path:
+        num_samples = 20 if isinstance(seg, svgpathtools.CubicBezier) else 10
+        segment_points = [seg.point(t) for t in np.linspace(0, 1, num_samples)]
+        sampled_points.extend(segment_points)
+        ss.extend(np.linspace(current_s, current_s + 1, num_samples))
+        current_s += 1
+
+    waypoints = np.array([(p.real, p.imag) for p in sampled_points])
+    ss = np.array(ss)
+    velocity_limits = np.array([[-velocity_limit, velocity_limit]] * len(ss))
+    acceleration_limits = np.array([[-acceleration_limit, acceleration_limit]] * len(ss))
+
+    pc = ta.SplineInterpolator(ss, waypoints)
+    constraints = [
+        constraint.JointVelocityConstraint(velocity_limits),
+        constraint.JointAccelerationConstraint(acceleration_limits)
+    ]
+
+    instance = algo.TOPPRA(constraints, pc, solver_wrapper="seidel")
+    sd_sq = instance.compute_parameterization(0, 0)
+
+    return list(sd_sq)
+
+
+# Function to convert a path to G-code using computed speeds
+def path_to_gcode(path, speeds):
+    gcode = []
+    gcode.append("G21 ; Set units to mm")
+    gcode.append("G90 ; Absolute positioning")
+
+    speed_index = 0
+    for seg in path:
+        num_samples = 20 if isinstance(seg, svgpathtools.CubicBezier) else 10
+        for t in np.linspace(0, 1, num_samples):
+            point = seg.point(t)
+            speed = speeds[speed_index] if speed_index < len(speeds) else 1000
+            gcode.append(f"G1 X{point.real:.3f} Y{point.imag:.3f} F{speed}")
+            speed_index += 1
+        gcode.append("M05 ; Stop spindle")
+
+    return '\n'.join(gcode)
+
+
+# Main function to process SVG to G-code
+def svg_to_gcode(svg_file):
+    paths = extract_svg_paths(svg_file)
+    gcode_output = []
+
+    for path in paths:
+        speeds = compute_reparametrized_speeds(path)
+        gcode_output.append(path_to_gcode(path, speeds))
+
+    return '\n'.join(gcode_output)
+
+
+# Example usage
+# print(svg_to_gcode("drawing.svg"))