diff --git a/Firmware/.vscode/c_cpp_properties.json b/Firmware/.vscode/c_cpp_properties.json
index d5536eb9..2c96b614 100644
--- a/Firmware/.vscode/c_cpp_properties.json
+++ b/Firmware/.vscode/c_cpp_properties.json
@@ -18,7 +18,8 @@
                 "${workspaceRoot}/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
                 "${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
                 "${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/include",
-                "${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"
+                "${workspaceRoot}/Board/v3/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
+                "C:/Tools/doctest/doctest"
             ],
             "defines": [
                 "STM32F405xx",
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index ba3c8776..ed34ba20 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -106,6 +106,7 @@ void enter_dfu_mode() {
 
 extern "C" {
 int odrive_main(void);
+
 void vApplicationStackOverflowHook(xTaskHandle *pxTask, signed portCHAR *pcTaskName) {
     for (;;); // TODO: safe action
 }
@@ -125,8 +126,16 @@ void vApplicationIdleHook(void) {
 }
 }
 
+#include <doctest.h>
 int odrive_main(void) {
 
+doctest::Context context;
+
+auto vals = context.run();
+while(vals){
+
+}
+
 #if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
     if (board_config.enable_i2c_instead_of_can) {
         // Set up the direction GPIO as input
diff --git a/Firmware/Tests/test_runner.cpp b/Firmware/Tests/test_runner.cpp
new file mode 100644
index 00000000..26238a00
--- /dev/null
+++ b/Firmware/Tests/test_runner.cpp
@@ -0,0 +1,18 @@
+
+
+#define DOCTEST_CONFIG_IMPLEMENT
+#define DOCTEST_CONFIG_TREAT_CHAR_STAR_AS_STRING
+#define DOCTEST_CONFIG_USE_STD_HEADERS
+#define DOCTEST_CONFIG_NO_TRY_CATCH_IN_ASSERTS
+#define DOCTEST_CONFIG_NO_EXCEPTIONS
+#define DOCTEST_CONFIG_NO_WINDOWS_SEH
+#define DOCTEST_CONFIG_NO_POSIX_SIGNALS
+// #define DOCTEST_CONFIG_VOID_CAST_EXPRESSIONS
+
+#include <doctest.h>
+
+#include "odrive_main.h"
+
+TEST_CASE("[something]"){
+    CHECK(mod(3, 10) == 3);
+}
\ No newline at end of file
diff --git a/Firmware/Tupfile.lua b/Firmware/Tupfile.lua
index 6c705844..e667d708 100644
--- a/Firmware/Tupfile.lua
+++ b/Firmware/Tupfile.lua
@@ -177,12 +177,14 @@ build{
         'communication/interface_can.cpp',
         'communication/interface_i2c.cpp',
         'fibre/cpp/protocol.cpp',
-        'FreeRTOS-openocd.c'
+        'FreeRTOS-openocd.c',
+        'Tests/test_runner.cpp'
     },
     includes={
         'Drivers/DRV8301',
         'MotorControl',
         'fibre/cpp/include',
-        '.'
+        '.',
+        "C:/Tools/doctest/doctest"
     }
-}
+}
\ No newline at end of file