diff --git a/Firmware/communication/interface_can.cpp b/Firmware/communication/interface_can.cpp
index b020f4c1..6709daa5 100644
--- a/Firmware/communication/interface_can.cpp
+++ b/Firmware/communication/interface_can.cpp
@@ -52,7 +52,7 @@ static void can_server_thread_wrapper(void* ctx){
 
 void ODriveCAN::can_server_thread() {
     for (;;) {
-       // Do nothing
+       osDelay(1000);
     }
 }
 
@@ -80,4 +80,22 @@ bool ODriveCAN::start_can_server() {
     thread_id_valid_ = true;
     
     return true;
+}
+
+void ODriveCAN::set_baud_rate(uint32_t baudRate){
+    switch(baudRate){
+        case CAN_BAUD_125K: 
+        case CAN_BAUD_250K:
+        case CAN_BAUD_500K:
+        case CAN_BAUD_1000K:
+            config_.baud = baudRate; // baudRate is a valid CAN baud
+            break;
+        default:
+            break; // baudRate is invalid, so do nothing
+    }
+}
+
+void ODriveCAN::set_node_id(uint8_t nodeID){
+    // Allow for future nodeID validation by making this a set function
+    config_.node_id = nodeID;
 }
\ No newline at end of file
diff --git a/Firmware/communication/interface_can.hpp b/Firmware/communication/interface_can.hpp
index 548a444f..35b7c3b3 100644
--- a/Firmware/communication/interface_can.hpp
+++ b/Firmware/communication/interface_can.hpp
@@ -21,8 +21,8 @@ enum {
     CAN_BAUD_1M = 1000000
 };
 struct CANConfig_t {
-    uint8_t node_id;
-    uint32_t baud;
+    uint8_t node_id = 0;
+    uint32_t baud = CAN_BAUD_250K;
 };
 
 class ODriveCAN {
@@ -38,13 +38,20 @@ class ODriveCAN {
     auto make_protocol_definitions() {
         return make_protocol_member_list(
             make_protocol_object("config",
-                                 make_protocol_property("node_id", &config_.node_id),
-                                 make_protocol_property("baud_rate", &config_.baud)));
+                                 make_protocol_ro_property("node_id", &config_.node_id),
+                                 make_protocol_ro_property("baud_rate", &config_.baud)
+                                ),
+            make_protocol_function("set_node_id", *this, &ODriveCAN::set_node_id, "nodeID"),
+            make_protocol_function("set_baud_rate", *this, &ODriveCAN::set_baud_rate, "baudRate")
+        );
     }
 
    private:
     CAN_HandleTypeDef *handle_ = nullptr;
     CANConfig_t &config_;
+
+    void set_node_id(uint8_t nodeID);
+    void set_baud_rate(uint32_t baudRate);
 };
 
 #endif  // __INTERFACE_CAN_HPP