diff --git a/tools/odrive/tests/calibration_test.py b/tools/odrive/tests/calibration_test.py
new file mode 100644
index 00000000..0c179a20
--- /dev/null
+++ b/tools/odrive/tests/calibration_test.py
@@ -0,0 +1,205 @@
+
+import test_runner
+
+import time
+from math import pi
+import os
+
+from fibre.utils import Logger
+from test_runner import AxisTestContext, MotorTestContext, EncoderTestContext, test_assert_eq, test_assert_no_error, request_state, program_teensy
+from odrive.enums import *
+
+def modpm(val, range):
+    return ((val + (range / 2)) % range) - (range / 2)
+
+
+class TestMotorCalibration():
+    """
+    Runs the motor calibration (phase inductance and phase resistance measurement)
+    and checks if the measurements match the expectation.
+    """
+
+    def is_compatible(self, axis_ctx: AxisTestContext, motor_ctx: MotorTestContext):
+        return axis_ctx.yaml == motor_ctx.yaml['name'] # check if connected
+
+    def run_test(self, axis_ctx: AxisTestContext, motor_ctx: MotorTestContext, logger: Logger):
+        # reset old calibration values
+        axis_ctx.handle.motor.config.phase_resistance = 0.0
+        axis_ctx.handle.motor.config.phase_inductance = 0.0
+        axis_ctx.handle.motor.config.pre_calibrated = False
+
+        axis_ctx.handle.clear_errors()
+
+        # run calibration
+        request_state(axis_ctx, AXIS_STATE_MOTOR_CALIBRATION)
+        time.sleep(6)
+        test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_IDLE)
+        test_assert_no_error(axis_ctx)
+
+        # check if measurements match expectation
+        test_assert_eq(axis_ctx.handle.motor.config.phase_resistance, float(motor_ctx.yaml['phase-resistance']), accuracy=0.2)
+        test_assert_eq(axis_ctx.handle.motor.config.phase_inductance, float(motor_ctx.yaml['phase-inductance']), accuracy=0.5)
+        test_assert_eq(axis_ctx.handle.motor.is_calibrated, True)
+
+
+class TestDisconnectedMotorCalibration():
+    """
+    Tests if the motor calibration fails as expected if the phases are floating.
+    """
+
+    def is_compatible(self, axis_ctx: AxisTestContext):
+        return axis_ctx.yaml == 'floating'
+
+    def run_test(self, axis_ctx: AxisTestContext, logger: Logger):
+        axis = axis_ctx.handle
+
+        # reset old calibration values
+        axis_ctx.handle.motor.config.phase_resistance = 0.0
+        axis_ctx.handle.motor.config.phase_inductance = 0.0
+        axis_ctx.handle.motor.config.pre_calibrated = False
+
+        axis_ctx.handle.clear_errors()
+
+        # run test
+        request_state(axis_ctx, AXIS_STATE_MOTOR_CALIBRATION)
+        time.sleep(6)
+        test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_IDLE)
+        test_assert_eq(axis_ctx.handle.error, errors.axis.ERROR_MOTOR_FAILED)
+        test_assert_eq(axis_ctx.handle.motor.error, errors.motor.ERROR_PHASE_RESISTANCE_OUT_OF_RANGE)
+
+
+class TestEncoderDirFind():
+    """
+    Runs the encoder index search.
+    """
+
+    def is_compatible(self, axis_ctx: AxisTestContext, motor_ctx: MotorTestContext, enc_ctx: EncoderTestContext):
+        return (axis_ctx.yaml == motor_ctx.yaml['name']) and (axis_ctx.num == enc_ctx.num) # check if connected
+
+    def run_test(self, axis_ctx: AxisTestContext, motor_ctx: MotorTestContext, enc_ctx: EncoderTestContext, logger: Logger):
+        axis = axis_ctx.handle
+        # TODO: read teensy config from YAML file
+        hexfile = 'encoder_pass_through.ino.hex'
+        program_teensy(os.path.join(os.path.dirname(__file__), hexfile), 26, logger)
+        time.sleep(1.0) # wait for PLLs to stabilize
+
+        # Set motor calibration values
+        axis_ctx.handle.motor.config.phase_resistance = float(motor_ctx.yaml['phase-resistance'])
+        axis_ctx.handle.motor.config.phase_inductance = float(motor_ctx.yaml['phase-inductance'])
+        axis_ctx.handle.motor.config.pre_calibrated = True
+
+        # Set calibration settings
+        axis_ctx.handle.motor.config.direction = 0
+        axis_ctx.handle.config.calibration_lockin.vel = 12.566 # 2 electrical revolutions per second
+
+        axis_ctx.handle.clear_errors()
+
+        # run test
+        request_state(axis_ctx, AXIS_STATE_ENCODER_DIR_FIND)
+
+        time.sleep(4) # actual calibration takes 3 seconds
+        
+        test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_IDLE)
+        test_assert_no_error(axis_ctx)
+
+        test_assert_eq(axis_ctx.handle.motor.config.direction in [-1, 1], True)
+
+
+class TestEncoderOffsetCalibration():
+    """
+    Runs the encoder index search.
+    """
+
+    def is_compatible(self, axis_ctx: AxisTestContext, motor_ctx: MotorTestContext, enc_ctx: EncoderTestContext):
+        return (axis_ctx.yaml == motor_ctx.yaml['name']) and (axis_ctx.num == enc_ctx.num) # check if connected
+
+    def run_test(self, axis_ctx: AxisTestContext, motor_ctx: MotorTestContext, enc_ctx: EncoderTestContext, logger: Logger):
+        axis = axis_ctx.handle
+        # TODO: read teensy config from YAML file
+        hexfile = 'encoder_pass_through.ino.hex'
+        program_teensy(os.path.join(os.path.dirname(__file__), hexfile), 26, logger)
+        time.sleep(1.0) # wait for PLLs to stabilize
+
+        # Set motor calibration values
+        axis_ctx.handle.motor.config.phase_resistance = float(motor_ctx.yaml['phase-resistance'])
+        axis_ctx.handle.motor.config.phase_inductance = float(motor_ctx.yaml['phase-inductance'])
+        axis_ctx.handle.motor.config.pre_calibrated = True
+
+        # Set calibration settings
+        axis_ctx.handle.motor.config.direction = 0
+        enc_ctx.handle.config.use_index = False
+        enc_ctx.handle.config.calib_scan_omega = 12.566 # 2 electrical revolutions per second
+        enc_ctx.handle.config.calib_scan_distance = 50.265 # 8 revolutions
+
+        axis_ctx.handle.clear_errors()
+
+        # run test
+        request_state(axis_ctx, AXIS_STATE_ENCODER_OFFSET_CALIBRATION)
+
+        time.sleep(9) # actual calibration takes 8 seconds
+        
+        test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_IDLE)
+        test_assert_no_error(axis_ctx)
+
+        test_assert_eq(enc_ctx.handle.is_ready, True)
+        test_assert_eq(axis_ctx.handle.motor.config.direction in [-1, 1], True)
+
+
+class TestEncoderIndexSearch():
+    """
+    Runs the encoder index search.
+    The index pin is triggered manually after three seconds from the testbench
+    host's GPIO.
+    """
+
+    def is_compatible(self, axis_ctx: AxisTestContext, motor_ctx: MotorTestContext, enc_ctx: EncoderTestContext):
+        return (axis_ctx.yaml == motor_ctx.yaml['name']) and (axis_ctx.num == enc_ctx.num) # check if connected
+
+    def run_test(self, axis_ctx: AxisTestContext, motor_ctx: MotorTestContext, enc_ctx: EncoderTestContext, logger: Logger):
+        axis = axis_ctx.handle
+        # TODO: read teensy config from YAML file
+        hexfile = 'encoder_pass_through.ino.hex'
+        program_teensy(os.path.join(os.path.dirname(__file__), hexfile), 26, logger)
+        time.sleep(1.0) # wait for PLLs to stabilize
+
+        # Set motor calibration values
+        axis_ctx.handle.motor.config.phase_resistance = float(motor_ctx.yaml['phase-resistance'])
+        axis_ctx.handle.motor.config.phase_inductance = float(motor_ctx.yaml['phase-inductance'])
+        axis_ctx.handle.motor.config.pre_calibrated = True
+
+        # Set calibration settings
+        axis_ctx.handle.config.calibration_lockin.vel = 12.566 # 2 electrical revolutions per second
+
+        axis_ctx.handle.clear_errors()
+
+        # run test
+        request_state(axis_ctx, AXIS_STATE_ENCODER_INDEX_SEARCH)
+
+        time.sleep(3)
+
+        test_assert_eq(enc_ctx.handle.index_found, False)
+        with open("/sys/class/gpio/gpio{}/value".format(20), "w") as gpio:
+            gpio.write("0")
+        time.sleep(0.1)
+        with open("/sys/class/gpio/gpio{}/value".format(20), "w") as gpio:
+            gpio.write("1")
+        test_assert_eq(enc_ctx.handle.index_found, True)
+        
+        test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_IDLE)
+        test_assert_no_error(axis_ctx)
+
+        test_assert_eq(enc_ctx.handle.shadow_count, 0.0, range=20)
+        test_assert_eq(enc_ctx.handle.count_in_cpr, 0.0, range=20)
+        test_assert_eq(enc_ctx.handle.pos_estimate, 0.0, range=20)
+        test_assert_eq(enc_ctx.handle.pos_cpr, 0.0, range=20)
+        test_assert_eq(enc_ctx.handle.pos_abs, 0.0, range=20)
+
+
+if __name__ == '__main__':
+    test_runner.run([
+        TestMotorCalibration(),
+        TestDisconnectedMotorCalibration(),
+        TestEncoderDirFind(),
+        TestEncoderOffsetCalibration(),
+        TestEncoderIndexSearch()
+    ])
diff --git a/tools/odrive/tests/encoder_pass_through.ino.hex b/tools/odrive/tests/encoder_pass_through.ino.hex
new file mode 100644
index 00000000..2f0798bf
--- /dev/null
+++ b/tools/odrive/tests/encoder_pass_through.ino.hex
@@ -0,0 +1,792 @@
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diff --git a/tools/odrive/tests/motor_calibration_test.py b/tools/odrive/tests/motor_calibration_test.py
deleted file mode 100644
index e755f832..00000000
--- a/tools/odrive/tests/motor_calibration_test.py
+++ /dev/null
@@ -1,70 +0,0 @@
-
-import test_runner
-
-import time
-from math import pi
-import os
-
-from fibre.utils import Logger
-from test_runner import AxisTestContext, MotorTestContext, test_assert_eq, test_assert_no_error, request_state
-from odrive.enums import *
-
-def modpm(val, range):
-    return ((val + (range / 2)) % range) - (range / 2)
-
-class TestMotorCalibration():
-    """
-    Runs the motor calibration and checks if the measurements match the expectation.
-    """
-
-    def is_compatible(self, axis_ctx: AxisTestContext, motor_ctx: MotorTestContext):
-        return axis_ctx.yaml == motor_ctx.yaml['name'] # check if connected
-
-    def run_test(self, axis_ctx: AxisTestContext, motor_ctx: MotorTestContext, logger: Logger):
-        # reset old calibration values
-        axis_ctx.handle.motor.config.phase_resistance = 0.0
-        axis_ctx.handle.motor.config.phase_inductance = 0.0
-
-        axis_ctx.handle.clear_errors()
-
-        # run calibration
-        request_state(axis_ctx, AXIS_STATE_MOTOR_CALIBRATION)
-        time.sleep(6)
-        test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_IDLE)
-        test_assert_no_error(axis_ctx)
-
-        # check if measurements match expectation
-        test_assert_eq(axis_ctx.handle.motor.config.phase_resistance, float(motor_ctx.yaml['phase-resistance']), accuracy=0.2)
-        test_assert_eq(axis_ctx.handle.motor.config.phase_inductance, float(motor_ctx.yaml['phase-inductance']), accuracy=0.5)
-
-
-class TestDisconnectedMotorCalibration():
-    """
-    Tests if the motor calibration fails as expected if the phases are floating.
-    """
-
-    def is_compatible(self, axis_ctx: AxisTestContext):
-        return axis_ctx.yaml == 'floating'
-
-    def run_test(self, axis_ctx: AxisTestContext, logger: Logger):
-        axis = axis_ctx.handle
-
-        # reset old calibration values
-        axis_ctx.handle.motor.config.phase_resistance = 0.0
-        axis_ctx.handle.motor.config.phase_inductance = 0.0
-
-        axis_ctx.handle.clear_errors()
-
-        # run test
-        request_state(axis_ctx, AXIS_STATE_MOTOR_CALIBRATION)
-        time.sleep(6)
-        test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_IDLE)
-        test_assert_eq(axis_ctx.handle.error, errors.axis.ERROR_MOTOR_FAILED)
-        test_assert_eq(axis_ctx.handle.motor.error, errors.motor.ERROR_PHASE_RESISTANCE_OUT_OF_RANGE)
-
-
-if __name__ == '__main__':
-    test_runner.run([
-        TestMotorCalibration(),
-        TestDisconnectedMotorCalibration()
-    ])