diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..b71b998
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "embedded-pio"]
+	path = embedded-pio
+	url = git@github.com:badgerloop-software/embedded-pio.git
diff --git a/embedded-pio b/embedded-pio
new file mode 160000
index 0000000..ce0f7c8
--- /dev/null
+++ b/embedded-pio
@@ -0,0 +1 @@
+Subproject commit ce0f7c83cbf9592b13fa20d8e59f7f27b6d20861
diff --git a/include/candecoder.h b/include/candecoder.h
new file mode 100644
index 0000000..d57a9e6
--- /dev/null
+++ b/include/candecoder.h
@@ -0,0 +1,16 @@
+#include "canmanager.h"
+ 
+class CANDecoder : public CANManager {
+   public:
+   
+      CANDecoder(CAN_TypeDef* canPort, CAN_PINS pins, int frequency = DEFAULT_CAN_FREQ);
+
+      /* Reads input message and does any logic handling needed
+       * Intended to be implemented by class extension per board
+       */
+      void readHandler(CAN_message_t msg);
+
+      /* Send all of this board's message over CAN
+       */ 
+      void sendSignal();
+};
\ No newline at end of file
diff --git a/platformio.ini b/platformio.ini
index 7b1bcdb..a9e0ed6 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -12,3 +12,8 @@
 platform = ststm32
 board = nucleo_f767zi
 framework = arduino
+build_flags = -DHAL_CAN_MODULE_ENABLED
+lib_extra_dirs = ./embedded-pio
+lib_deps = pazi88/STM32_CAN@^1.1.2
+
+        
diff --git a/src/candecoder.cpp b/src/candecoder.cpp
new file mode 100644
index 0000000..0a3cd1b
--- /dev/null
+++ b/src/candecoder.cpp
@@ -0,0 +1,63 @@
+#include "candecoder.h"
+
+#define IS_FIRST_CAN false
+
+#if IS_FIRST_CAN
+#define RECEIVE_BASE_ID 0x000
+#define SEND_BASE_ID 0x100
+#define INT8_VAL 16
+#define INT16_VAL 30271
+#define FLOAT_VAL 9.8
+#define BOOL_VAL true
+#else
+#define RECEIVE_BASE_ID 0x100
+#define SEND_BASE_ID 0x000
+#define INT8_VAL 234
+#define INT16_VAL 57219
+#define FLOAT_VAL 8.6
+#define BOOL_VAL false
+#endif
+
+uint8_t int8Received;
+uint16_t int16Received;
+float floatReceived;
+bool boolReceived;
+
+int numMessagesReceived[4] = {0,0,0,0};
+
+CANDecoder::CANDecoder(CAN_TypeDef* canPort, CAN_PINS pins, int frequency) : CANManager(canPort, pins, frequency){};
+
+void CANDecoder::readHandler(CAN_message_t msg) {
+   switch (msg.id) {
+      case (RECEIVE_BASE_ID + 0):
+         int8Received = *(int8_t*)msg.buf;
+         numMessagesReceived[0]++;
+         break;
+      case (RECEIVE_BASE_ID + 1):
+         int16Received = *(int16_t*)msg.buf;
+         numMessagesReceived[1]++;
+         break;
+      case (RECEIVE_BASE_ID + 2):
+         floatReceived = *(float*)msg.buf;
+         numMessagesReceived[2]++;
+         break;
+      case (RECEIVE_BASE_ID + 3):
+         boolReceived = *(bool*)msg.buf;
+         numMessagesReceived[3]++;
+         break;
+   }   
+}
+
+void CANDecoder::sendSignal() {
+   uint8_t test8int = INT8_VAL; 
+   this->sendMessage(SEND_BASE_ID + 0, (void*)&test8int, sizeof(test8int));
+
+   uint16_t test16int = INT16_VAL;
+   this->sendMessage(SEND_BASE_ID + 1, (void*)&test16int, sizeof(test16int));
+
+   float testFloat = FLOAT_VAL;
+   this->sendMessage(SEND_BASE_ID + 2, (void*)&testFloat, sizeof(testFloat));
+
+   bool testBoolean = BOOL_VAL;
+   this->sendMessage(SEND_BASE_ID + 3, (void*)&testBoolean, sizeof(testBoolean));
+}
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index cb9fbba..854194d 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,18 +1,34 @@
 #include <Arduino.h>
+#include "STM32_CAN.h"
+#include "candecoder.h"
 
-// put function declarations here:
-int myFunction(int, int);
+CANDecoder candecoder(CAN1, ALT_2, 500000);
+
+extern uint8_t int8Received;
+extern uint16_t int16Received;
+extern float floatReceived;
+extern bool boolReceived;
+
+extern int numMessagesReceived[4];
+
+int counter = 0;
 
 void setup() {
-  // put your setup code here, to run once:
-  int result = myFunction(2, 3);
+  Serial.begin(9600);
 }
 
 void loop() {
-  // put your main code here, to run repeatedly:
-}
+  candecoder.sendSignal();
+  candecoder.runQueue(50); // 50ms, so 20 sets of messages sent per second
+  counter++;
 
-// put function definitions here:
-int myFunction(int x, int y) {
-  return x + y;
+  // print out debug info every second (instead of every 50ms)
+  if (counter > 20) {
+    counter = 0;
+    Serial.println(int8Received);
+    Serial.println(int16Received);
+    Serial.println(floatReceived);
+    Serial.println(boolReceived);
+    printf("%d | %d | %d | %d\n\n", numMessagesReceived[0], numMessagesReceived[1], numMessagesReceived[2], numMessagesReceived[3]);
+  }
 }
\ No newline at end of file