diff --git a/Firmware/Tests/test_runner.cpp b/Firmware/Tests/test_runner.cpp
index dfaaf981..cd00e93f 100644
--- a/Firmware/Tests/test_runner.cpp
+++ b/Firmware/Tests/test_runner.cpp
@@ -13,6 +13,7 @@
 
 using std::cout;
 using std::endl;
+
 struct can_Message_t {
     uint32_t id = 0x000;  // 11-bit max is 0x7ff, 29-bit max is 0x1FFFFFFF
     bool isExt = false;
@@ -22,16 +23,18 @@ struct can_Message_t {
 };
 
 struct can_Signal_t {
-    uint8_t startBit = 0;
-    uint8_t length = 16;
-    bool isIntel = true;
-    float factor = 1.0f;
-    float offset = 0.0f;
+    const uint8_t startBit;
+    const uint8_t length;
+    const bool isIntel;
+    const float factor;
+    const float offset;
 };
 
+
+
 // Fetch a specific signal from the message
 template <typename T>
-T getSignal(can_Message_t msg, uint8_t startBit, uint8_t length, bool isIntel, float factor, float offset) {
+T can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
     uint64_t tempVal = 0;
     uint64_t mask = (1ULL << length) - 1;
 
@@ -49,12 +52,45 @@ T getSignal(can_Message_t msg, uint8_t startBit, uint8_t length, bool isIntel, f
     return static_cast<T>((retVal * factor) + offset);
 }
 
+template <typename T>
+void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
+    T scaledVal = (val - offset) / factor;
+    uint64_t valAsBits = 0;
+    std::memcpy(&valAsBits, &scaledVal, sizeof(scaledVal));
+
+    uint64_t mask = (1ULL << length) - 1;
+
+    if (isIntel) {
+        uint64_t data = 0;
+        std::memcpy(&data, msg.buf, sizeof(data));
+
+        data &= ~(mask << startBit);
+        data |= valAsBits << startBit;
+
+        std::memcpy(msg.buf, &data, sizeof(data));
+    } else {
+        uint64_t data = 0;
+        std::reverse(std::begin(msg.buf), std::end(msg.buf));
+        std::memcpy(&data, msg.buf, sizeof(data));
+
+        data &= ~(mask << (64 - startBit - length));
+        data |= valAsBits << (64 - startBit - length);
+
+        std::memcpy(msg.buf, &data, sizeof(data));
+        std::reverse(std::begin(msg.buf), std::end(msg.buf));
+    }
+}
+
 // template<typename T>
 // T can_getSignal(can_Message_t msg, can_Signal_t signal){
 //     return can_getSignal(msg, signal.startBit, signal.length, signal.isIntel, signal.factor, signal.offset);
 // }
 
-TEST_SUITE("getSignal") {
+TEST_CASE("fake"){
+    cout << endl;
+}
+
+TEST_SUITE("CAN Functions") {
     TEST_CASE("reverse") {
         can_Message_t rxmsg;
         rxmsg.id = 0x000;
@@ -76,15 +112,39 @@ TEST_SUITE("getSignal") {
         auto val = 0x1234;
         std::memcpy(rxmsg.buf, &val, sizeof(val));
 
-        val = getSignal<uint16_t>(rxmsg, 0, 16, true, 1, 0);
+        val = can_getSignal<uint16_t>(rxmsg, 0, 16, true, 1, 0);
         CHECK(val == 0x1234);
 
-        val = getSignal<uint16_t>(rxmsg, 0, 16, false, 1, 0);
+        val = can_getSignal<uint16_t>(rxmsg, 0, 16, false, 1, 0);
         CHECK(val == 0x3412);
 
         float myFloat = 1234.6789f;
         std::memcpy(rxmsg.buf, &myFloat, sizeof(myFloat));
-        auto floatVal = getSignal<float>(rxmsg, 0, 32, true, 1, 0);
+        auto floatVal = can_getSignal<float>(rxmsg, 0, 32, true, 1, 0);
         CHECK(floatVal == 1234.6789f);
     }
+
+    TEST_CASE("setSignal") {
+        can_Message_t txmsg;
+
+        can_setSignal<uint16_t>(txmsg, 0x1234, 0, 16, true, 1.0f, 0.0f);
+        CHECK(can_getSignal<uint16_t>(txmsg, 0, 16, true, 1.0f, 0.0f) == 0x1234);
+
+        can_setSignal<uint16_t>(txmsg, 0xABCD, 16, 16, true, 1.0f, 0.0f);
+        CHECK(can_getSignal<uint16_t>(txmsg, 0, 16, true, 1.0f, 0.0f) == 0x1234);
+        CHECK(can_getSignal<uint16_t>(txmsg, 16, 16, true, 1.0f, 0.0f) == 0xABCD);
+
+        can_setSignal<float>(txmsg, 1234.5678f, 32, 32, true, 1.0f, 0.0f);
+        CHECK(can_getSignal<uint16_t>(txmsg, 0, 16, true, 1.0f, 0.0f) == 0x1234);
+        CHECK(can_getSignal<uint16_t>(txmsg, 16, 16, true, 1.0f, 0.0f) == 0xABCD);
+        CHECK(can_getSignal<float>(txmsg, 32, 32, true, 1.0f, 0.0f));
+
+        can_setSignal<uint16_t>(txmsg, 0x1234, 0, 16, false, 1.0f, 0.0f);
+        CHECK(can_getSignal<uint16_t>(txmsg, 0, 16, false, 1.0f, 0.0f) == 0x1234);
+        CHECK(can_getSignal<uint16_t>(txmsg, 16, 16, true, 1.0f, 0.0f) == 0xABCD);
+        CHECK(can_getSignal<float>(txmsg, 32, 32, true, 1.0f, 0.0f));
+
+        can_setSignal<float>(txmsg, 234981.0f, 12, 32, false, 2.0f, 1.1f);
+        CHECK(can_getSignal<float>(txmsg, 12, 32, false, 2.0f, 1.1f) == 234981.0f);
+    }
 }
\ No newline at end of file