diff --git a/float/Tranciever_Reciever/Tranciever_Reciever.ino b/float/Tranciever_Reciever/Tranciever_Reciever.ino
deleted file mode 100644
index 7637c3df..00000000
--- a/float/Tranciever_Reciever/Tranciever_Reciever.ino
+++ /dev/null
@@ -1,164 +0,0 @@
-// rf69 demo tx rx.pde
-// -*- mode: C++ -*-
-// Example sketch showing how to create a simple messaging client
-// with the RH_RF69 class. RH_RF69 class does not provide for addressing or
-// reliability, so you should only use RH_RF69  if you do not need the higher
-// level messaging abilities.
-// It is designed to work with the other example rf69_server.
-// Demonstrates the use of AES encryption, setting the frequency and modem 
-// configuration
-
-#include <SPI.h>
-#include <RH_RF69.h>
-
-/************ Radio Setup ***************/
-
-//yes, the key is EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE. best key ever.
-uint8_t key[] = { 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE,
-                  0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE};
-
-// Change to 434.0 or other frequency, must match RX's freq!
-#define RF69_FREQ 877.0
-
-#if defined (__AVR_ATmega32U4__) // Feather 32u4 w/Radio
-  #define RFM69_CS      8
-  #define RFM69_INT     7
-  #define RFM69_RST     4
-  #define LED           13
-#endif
-
-#if defined(ADAFRUIT_FEATHER_M0) || defined(ADAFRUIT_FEATHER_M0_EXPRESS) || defined(ARDUINO_SAMD_FEATHER_M0)
-  // Feather M0 w/Radio
-  #define RFM69_CS      8
-  #define RFM69_INT     3
-  #define RFM69_RST     4
-  #define LED           13
-#endif
-
-#if defined (__AVR_ATmega328P__)  // Feather 328P w/wing
-  #define RFM69_INT     3  // 
-  #define RFM69_CS      4  //
-  #define RFM69_RST     2  // "A"
-  #define LED           13
-#endif
-
-#if defined(ESP8266)    // ESP8266 feather w/wing
-  #define RFM69_CS      2    // "E"
-  #define RFM69_IRQ     15   // "B"
-  #define RFM69_RST     16   // "D"
-  #define LED           0
-#endif
-
-#if defined(ARDUINO_ADAFRUIT_FEATHER_ESP32S2) || defined(ARDUINO_NRF52840_FEATHER) || defined(ARDUINO_NRF52840_FEATHER_SENSE)
-  #define RFM69_INT     9  // "A"
-  #define RFM69_CS      10  // "B"
-  #define RFM69_RST     11  // "C"
-  #define LED           13
-
-#elif defined(ESP32)    // ESP32 feather w/wing
-  #define RFM69_RST     13   // same as LED
-  #define RFM69_CS      33   // "B"
-  #define RFM69_INT     27   // "A"
-  #define LED           13
-#endif
-
-#if defined(ARDUINO_NRF52832_FEATHER)
-  /* nRF52832 feather w/wing */
-  #define RFM69_RST     7   // "A"
-  #define RFM69_CS      11   // "B"
-  #define RFM69_INT     31   // "C"
-  #define LED           17
-#endif
-
-/* Teensy 3.x w/wing
-#define RFM69_RST     9   // "A"
-#define RFM69_CS      10   // "B"
-#define RFM69_IRQ     4    // "C"
-#define RFM69_IRQN    digitalPinToInterrupt(RFM69_IRQ )
-*/
- 
-/* WICED Feather w/wing 
-#define RFM69_RST     PA4     // "A"
-#define RFM69_CS      PB4     // "B"
-#define RFM69_IRQ     PA15    // "C"
-#define RFM69_IRQN    RFM69_IRQ
-*/
-
-// Singleton instance of the radio driver
-RH_RF69 rf69(RFM69_CS, RFM69_INT);
-
-int16_t packetnum = 0;  // packet counter, we increment per xmission
-
-void setup() 
-{
-  Serial.begin(115200);
-  //while (!Serial) { delay(1); } // wait until serial console is open, remove if not tethered to computer
-
-  Serial.println("Float Receiver");
-  pinMode(LED, OUTPUT);     
-  pinMode(RFM69_RST, OUTPUT);
-  digitalWrite(RFM69_RST, LOW);
-
-  Serial.println("Feather RFM69 RX Test!");
-  Serial.println();
-
-  // manual reset
-  digitalWrite(RFM69_RST, HIGH);
-  delay(10);
-  digitalWrite(RFM69_RST, LOW);
-  delay(10);
-  
-  if (!rf69.init()) {
-    Serial.println("RFM69 radio init failed");
-    while (1);
-  }
-  Serial.println("RFM69 radio init OK!");
-  
-  // Defaults after init are 434.0MHz, modulation GFSK_Rb250Fd250, +13dbM (for low power module)
-  // No encryption
-  if (!rf69.setFrequency(RF69_FREQ)) {
-    Serial.println("setFrequency failed");
-  }
-
-  // If you are using a high power RF69 eg RFM69HW, you *must* set a Tx power with the
-  // ishighpowermodule flag set like this:
-  rf69.setTxPower(20, true);  // range from 14-20 for power, 2nd arg must be true for 69HCW
-
-  // The encryption key has to be the same as the one in the server
-  rf69.setEncryptionKey(key);
-  
-  pinMode(LED, OUTPUT);
-
-  Serial.print("RFM69 radio @");  Serial.print((int)RF69_FREQ);  Serial.println(" MHz");
-}
-
-
-void loop() {
- if (rf69.available()) {
-    // Should be a message for us now   
-    uint8_t buf[RH_RF69_MAX_MESSAGE_LEN];
-    uint8_t len = sizeof(buf);
-    if (rf69.recv(buf, &len)) {
-      if (!len) return;
-      buf[len] = 0;
-      Serial.print("Received [");
-      Serial.print(len);
-      Serial.print("]: ");
-      Serial.println((char*)buf);
-      Serial.print("RSSI: ");
-      Serial.println(rf69.lastRssi(), DEC);
-    } else {
-      Serial.println("Receive failed");
-    }
-  }
-}
-
-
-void Blink(byte PIN, byte DELAY_MS, byte loops) {
-  for (byte i=0; i<loops; i++)  {
-    digitalWrite(PIN,HIGH);
-    delay(DELAY_MS);
-    digitalWrite(PIN,LOW);
-    delay(DELAY_MS);
-  }
-}
diff --git a/float/Tranciever_Transmitter_WithUTC/Tranciever_Transmitter_WithUTC.ino b/float/Tranciever_Transmitter_WithUTC/Tranciever_Transmitter_WithUTC.ino
deleted file mode 100644
index 2e2d58f4..00000000
--- a/float/Tranciever_Transmitter_WithUTC/Tranciever_Transmitter_WithUTC.ino
+++ /dev/null
@@ -1,218 +0,0 @@
-// rf69 demo tx rx.pde
-// -*- mode: C++ -*-
-// Example sketch showing how to create a simple messaging client
-// with the RH_RF69 class. RH_RF69 class does not provide for addressing or
-// reliability, so you should only use RH_RF69  if you do not need the higher
-// level messaging abilities.
-// It is designed to work with the other example rf69_server.
-// Demonstrates the use of AES encryption, setting the frequency and modem 
-// configuration
-
-#include <SPI.h>
-#include <RH_RF69.h>
-#include "RTClib.h"
-
-RTC_PCF8523 rtc;
-
-#define TEAM_NUM 42
-/************ Radio Setup ***************/
-
-//If you ever forget the key, just remember that it's EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE
-  uint8_t key[] = { 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE,
-                    0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE};
-
-// Change to 434.0 or other frequency, must match RX's freq!
-#define RF69_FREQ 877.0
-
-#if defined (__AVR_ATmega32U4__) // Feather 32u4 w/Radio
-  #define RFM69_CS      8
-  #define RFM69_INT     7
-  #define RFM69_RST     4
-  #define LED           13
-  
-#elif defined(ADAFRUIT_FEATHER_M0) || defined(ADAFRUIT_FEATHER_M0_EXPRESS) || defined(ARDUINO_SAMD_FEATHER_M0)
-  // Feather M0 w/Radio
-  #define RFM69_CS      8
-  #define RFM69_INT     3
-  #define RFM69_RST     4
-  #define LED           13
-  
-#elif defined (__AVR_ATmega328P__)  // Feather 328P w/wing
-  #define RFM69_INT     3  // 
-  #define RFM69_CS      4  //
-  #define RFM69_RST     2  // "A"
-  #define LED           13
-
-#elif defined(ESP8266)    // ESP8266 feather w/wing
-  #define RFM69_CS      2    // "E"
-  #define RFM69_IRQ     15   // "B"
-  #define RFM69_RST     16   // "D"
-  #define LED           0
-
-#elif defined(ARDUINO_ADAFRUIT_FEATHER_ESP32S2) || defined(ARDUINO_NRF52840_FEATHER) || defined(ARDUINO_NRF52840_FEATHER_SENSE)
-  #define RFM69_INT     9  // "A"
-  #define RFM69_CS      10  // "B"
-  #define RFM69_RST     11  // "C"
-  #define LED           13
-
-#elif defined(ESP32)    // ESP32 feather w/wing
-  #define RFM69_RST     13   // same as LED
-  #define RFM69_CS      33   // "B"
-  #define RFM69_INT     27   // "A"
-  #define LED           13
-
-#elif defined(ARDUINO_NRF52832_FEATHER)
-  /* nRF52832 feather w/wing */
-  #define RFM69_RST     7   // "A"
-  #define RFM69_CS      11   // "B"
-  #define RFM69_INT     31   // "C"
-  #define LED           17
-
-#endif
-
-
-/* Teensy 3.x w/wing
-#define RFM69_RST     9   // "A"
-#define RFM69_CS      10   // "B"
-#define RFM69_IRQ     4    // "C"
-#define RFM69_IRQN    digitalPinToInterrupt(RFM69_IRQ )
-*/
- 
-/* WICED Feather w/wing 
-#define RFM69_RST     PA4     // "A"
-#define RFM69_CS      PB4     // "B"
-#define RFM69_IRQ     PA15    // "C"
-#define RFM69_IRQN    RFM69_IRQ
-*/
-
-// Singleton instance of the radio driver
-RH_RF69 rf69(RFM69_CS, RFM69_INT);
-
-int16_t packetnum = 0;  // packet counter, we increment per xmission
-
-void setup() 
-{
-  Serial.begin(115200);
-  //while (!Serial) { delay(1); } // wait until serial console is open, remove if not tethered to computer
-#ifndef ESP8266
-  while (!Serial); // wait for serial port to connect. Needed for native USB
-#endif
-
-  Serial.println("Float Transmitter");
-  Serial.println();
-
-  if (! rtc.begin()) {
-    Serial.println("Couldn't find RTC");
-    Serial.flush();
-    while (1) delay(10);
-  }
-
-  if (! rtc.initialized() || rtc.lostPower()) {
-    Serial.println("RTC is NOT initialized, let's set the time!");
-    // When time needs to be set on a new device, or after a power loss, the
-    // following line sets the RTC to the date & time this sketch was compiled
-    rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
-    // This line sets the RTC with an explicit date & time, for example to set
-    // January 21, 2014 at 3am you would call:
-    // rtc.adjust(DateTime(2014, 1, 21, 3, 0, 0));
-    //
-    // Note: allow 2 seconds after inserting battery or applying external power
-    // without battery before calling adjust(). This gives the PCF8523's
-    // crystal oscillator time to stabilize. If you call adjust() very quickly
-    // after the RTC is powered, lostPower() may still return true.
-  }
-
-  rtc.start();
-
-  pinMode(LED, OUTPUT);     
-  pinMode(RFM69_RST, OUTPUT);
-  digitalWrite(RFM69_RST, LOW);
-
-  Serial.println("Feather RFM69 TX Test!");
-  Serial.println();
-
-  // manual reset
-  digitalWrite(RFM69_RST, HIGH);
-  delay(10);
-  digitalWrite(RFM69_RST, LOW);
-  delay(10);
-  
-  if (!rf69.init()) {
-    Serial.println("RFM69 radio init failed");
-    while (1);
-  }
-  Serial.println("RFM69 radio init OK!");
-  // Defaults after init are 434.0MHz, modulation GFSK_Rb250Fd250, +13dbM (for low power module)
-  // No encryption
-  if (!rf69.setFrequency(RF69_FREQ)) {
-    Serial.println("setFrequency failed");
-  }
-
-  // If you are using a high power RF69 eg RFM69HW, you *must* set a Tx power with the
-  // ishighpowermodule flag set like this:
-  rf69.setTxPower(20, true);  // range from 14-20 for power, 2nd arg must be true for 69HCW
-
-  // The encryption key has to be the same as the one in the server
-
-  rf69.setEncryptionKey(key);
-  
-  pinMode(LED, OUTPUT);
-
-  Serial.print("RFM69 radio @");  Serial.print((int)RF69_FREQ);  Serial.println(" MHz");
-}
-
-DateTime prevTime = new DateTime((uint32_t)0);
-
-void loop() {
-  DateTime now = rtc.now();
-
-  if(now.second() != prevTime.second()){
-    char radiopacket[20] = "";
-
-    char namepacket[10] = "Team ";
-    itoa(TEAM_NUM, namepacket + 5, 10);
-
-
-    strcpy(radiopacket, namepacket);
-    strcat(radiopacket, "  Time: ");
-
-    char timepacket[10] = "";
-
-    sprintf (timepacket, "%u:%u:%u", now.hour(), now.minute(), now.second());
-    strcat(radiopacket, timepacket);
-
-    Serial.print("Sending: "); Serial.println(radiopacket);
-
-    // Send a message!
-    rf69.send((uint8_t *)radiopacket, strlen(radiopacket));
-    rf69.waitPacketSent();
-
-    // Now wait for a reply
-    uint8_t buf[RH_RF69_MAX_MESSAGE_LEN];
-    uint8_t len = sizeof(buf);
-
-    /*if (rf69.waitAvailableTimeout(500))  { 
-      // Should be a reply message for us now   
-      if (rf69.recv(buf, &len)) {
-        Serial.print("Got a reply: ");
-        Serial.println((char*)buf);
-        Blink(LED, 50, 3); //blink LED 3 times, 50ms between blinks
-      } else {
-        Serial.println("Receive failed");
-      }
-    } else {
-      Serial.println("No reply.");
-    }*/
-
-    prevTime = now;
-  }
-}
-
-void Blink(byte PIN, byte DELAY_MS, byte loops) {
-  for (byte i=0; i<loops; i++)  {
-    digitalWrite(PIN,HIGH);
-    delay(DELAY_MS);
-    digitalWrite(PIN,LOW);
-    delay(DELAY_MS);
-  }
-}
diff --git a/float/float_transceiver/float_transceiver.ino b/float/float_transceiver/float_transceiver.ino
new file mode 100755
index 00000000..10234eda
--- /dev/null
+++ b/float/float_transceiver/float_transceiver.ino
@@ -0,0 +1,406 @@
+// FLOAT TRANSCEIVER sketch originally built from:
+//  rf69 demo tx rx.pde
+//  -*- mode: C++ -*-
+//  Example sketch showing how to create a simple messageing client
+//  with the RH_RF69 class. RH_RF69 class does not provide for addressing or
+//  reliability, so you should only use RH_RF69  if you do not need the higher
+//  level messaging abilities.
+//  It is designed to work with the other example rf69_server.
+//  Demonstrates the use of AES encryption, setting the frequency and modem
+//  configuration
+
+#include <SPI.h>
+#include <RH_RF69.h>
+#include "RTClib.h"
+
+#if defined (__AVR_ATmega32U4__) // Feather 32u4 w/Radio
+#define RFM69_CS      8
+#define RFM69_INT     7
+#define RFM69_RST     4
+#define LED           13
+
+#elif defined(ADAFRUIT_FEATHER_M0) || defined(ADAFRUIT_FEATHER_M0_EXPRESS) || defined(ARDUINO_SAMD_FEATHER_M0)
+// Feather M0 w/Radio
+#define RFM69_CS      8
+#define RFM69_INT     3
+#define RFM69_RST     4
+#define LED           13
+
+#elif defined (__AVR_ATmega328P__)  // Feather 328P w/wing
+#define RFM69_INT     3  // 
+#define RFM69_CS      4  //
+#define RFM69_RST     2  // "A"
+#define LED           13
+
+#elif defined(ESP8266)    // ESP8266 feather w/wing
+#define RFM69_CS      2    // "E"
+#define RFM69_IRQ     15   // "B"
+#define RFM69_RST     16   // "D"
+#define LED           0
+
+#elif defined(ARDUINO_ADAFRUIT_FEATHER_ESP32S2) || defined(ARDUINO_NRF52840_FEATHER) || defined(ARDUINO_NRF52840_FEATHER_SENSE)
+#define RFM69_INT     9  // "A"
+#define RFM69_CS      10  // "B"
+#define RFM69_RST     11  // "C"
+#define LED           13
+
+#elif defined(ESP32)    // ESP32 feather w/wing
+#define RFM69_RST     13   // same as LED
+#define RFM69_CS      33   // "B"
+#define RFM69_INT     27   // "A"
+#define LED           13
+
+#elif defined(ARDUINO_NRF52832_FEATHER)
+/* nRF52832 feather w/wing */
+#define RFM69_RST     7   // "A"
+#define RFM69_CS      11   // "B"
+#define RFM69_INT     31   // "C"
+#define LED           17
+
+#endif
+
+
+/* Teensy 3.x w/wing
+  #define RFM69_RST     9   // "A"
+  #define RFM69_CS      10   // "B"
+  #define RFM69_IRQ     4    // "C"
+  #define RFM69_IRQN    digitalPinToInterrupt(RFM69_IRQ )
+*/
+
+/* WICED Feather w/wing
+  #define RFM69_RST     PA4     // "A"
+  #define RFM69_CS      PB4     // "B"
+  #define RFM69_IRQ     PA15    // "C"
+  #define RFM69_IRQN    RFM69_IRQ
+*/
+
+// H-bridge direction control pins
+#define MOTOR_PWM 9   // Leave 100% cycle for top speed
+#define MOTOR_DIR 10  // Set high for pump (CW when facing down), low for suck (CCW when facing down)
+
+
+// Limit switch pins
+#define LIMIT_FULL  6  // Low when syringe is full
+#define LIMIT_EMPTY 5  // Low when syringe is empty
+
+#define TEAM_NUM 11
+
+// Change to 434.0 or other frequency, must match RX's freq!
+#define RF69_FREQ 877.0
+
+#define SECOND 1000
+
+// All delays in ms
+#define RELEASE_MAX   1200000
+#define SUCK_MAX      45000
+#define DESCEND_TIME  5000
+#define PUMP_MAX      45000
+#define ASCEND_TIME   5000
+#define TX_MAX        60000
+#define ONE_HOUR      360000
+
+#define WAIT 0
+#define SUCK 1
+#define PUMP 2
+#define STOP 3
+
+unsigned long SCHEDULE[][2] = {
+  // Wait for max <time> or until surface signal
+  {WAIT, RELEASE_MAX },
+
+  // Profile 1
+  {SUCK, SUCK_MAX    },
+  {WAIT, DESCEND_TIME},
+  {PUMP, PUMP_MAX    },
+  {WAIT, ASCEND_TIME },
+
+  {WAIT, TX_MAX      },
+
+  // Profile 2
+  {SUCK, SUCK_MAX    },
+  {WAIT, DESCEND_TIME},
+  {PUMP, PUMP_MAX    },
+  {WAIT, ASCEND_TIME },
+
+  {WAIT, ONE_HOUR    },
+};
+
+uint8_t SCHEDULE_LENGTH = 11;
+
+uint8_t stage = 0;
+
+unsigned long previous_time;
+
+
+/************ Radio Setup ***************/
+
+// If you ever forget the key, just remember that it's EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE
+uint8_t key[] = {
+                  0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE,
+                  0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE
+                };
+
+RTC_PCF8523 rtc;
+
+// Singleton instance of the radio driver
+RH_RF69 rf69(RFM69_CS, RFM69_INT);
+
+DateTime prevTime((uint32_t) 0);
+
+
+void setup() {
+  Serial.begin(115200);
+  
+  Serial.println("Float Transceiver");
+  Serial.println();
+
+  previous_time = millis();
+
+  pinMode(LED_BUILTIN, OUTPUT);
+
+  pinMode(LIMIT_EMPTY, INPUT_PULLUP);
+  pinMode(LIMIT_FULL,  INPUT_PULLUP);
+
+  pinMode(MOTOR_PWM, OUTPUT);
+  pinMode(MOTOR_DIR, OUTPUT);
+
+  digitalWrite(MOTOR_PWM, LOW);
+  digitalWrite(MOTOR_DIR, LOW);
+
+  initRTC();
+  initRadio();
+}
+
+
+void loop() {
+  sendTime();
+
+  // Move to next stage if necessary
+  bool signal = signalReceived();
+
+  if (
+    millis() >= previous_time + SCHEDULE[stage][1]   ||
+    (SCHEDULE[stage][0] == WAIT && signal) ||
+    (SCHEDULE[stage][0] == SUCK && !digitalRead(LIMIT_FULL)) ||
+    (SCHEDULE[stage][0] == PUMP && !digitalRead(LIMIT_EMPTY))
+  ) {
+    Serial.print(stage);
+    Serial.print(" ");
+    Serial.print(SCHEDULE[stage][0]);
+    Serial.print(" ");
+    Serial.print(previous_time);
+    Serial.print(" ");
+    Serial.print(SCHEDULE[stage][1]);
+    Serial.print(" ");
+    Serial.print(millis());
+    Serial.print(" ");
+    Serial.print(millis() >= previous_time + SCHEDULE[stage][1]);
+    Serial.println();
+
+    previous_time = millis();
+    stage++;
+    digitalWrite(MOTOR_PWM, LOW);
+    digitalWrite(MOTOR_DIR, LOW);
+
+    // If we signal a third profile
+    if (stage >= SCHEDULE_LENGTH) {
+      stage = 1;
+    }
+
+    if (SCHEDULE[stage][0] == SUCK) {
+      digitalWrite(MOTOR_PWM, HIGH);
+      digitalWrite(MOTOR_DIR, HIGH);
+    }
+    else if (SCHEDULE[stage][0] == PUMP) {
+      digitalWrite(MOTOR_PWM, HIGH);
+      digitalWrite(MOTOR_DIR, LOW);
+    }
+
+    Serial.println(stage);
+
+    
+  }
+}
+
+void sendTime() {
+  DateTime now = rtc.now();
+
+  if (now.second() != prevTime.second()) {
+    char radiopacket[22] = "";
+
+    char namepacket[12] = "Team EX";
+    itoa(TEAM_NUM, namepacket + 7, 10);
+
+    strcpy(radiopacket, namepacket);
+    strcat(radiopacket, "  Time: ");
+
+    char timepacket[10] = "";
+
+    sprintf(timepacket, "%u:%u:%u", now.hour(), now.minute(), now.second());
+    strcat(radiopacket, timepacket);
+
+    Serial.print("Sending: ");
+    Serial.println(radiopacket);
+
+    // Send a message!
+    rf69.send((uint8_t *) radiopacket, strlen(radiopacket));
+    rf69.waitPacketSent();
+
+    prevTime = now;
+  }
+}
+
+uint8_t hours = 1;
+uint8_t minutes = 1;
+uint8_t seconds = 1;
+
+bool signalReceived() {
+  if (rf69.available()) {
+    uint8_t buf[RH_RF69_MAX_MESSAGE_LEN];
+    uint8_t len = sizeof(buf);
+    Serial.println(len);
+    if (rf69.recv(buf, &len)) {
+      if (!len) return false;
+      buf[len] = 0;
+      Serial.print("Received [");
+      Serial.print(len);
+      Serial.print("]: '");
+      Serial.print((char*) buf);
+      Serial.println("'");
+      Serial.print("RSSI: ");
+      Serial.println(rf69.lastRssi(), DEC);
+
+      Serial.print(buf[0]);
+      Serial.print(", ");
+      Serial.println(buf[1]);
+
+      if (strcmp((char*) buf, "su") == 0) {
+        uint8_t test_packet[] = {50, 60};
+        rf69.send(test_packet, strlen(test_packet));
+        rf69.waitPacketSent();
+
+        // Jiggle motor
+        // digitalWrite(MOTOR_PWM, HIGH);
+        // digitalWrite(MOTOR_DIR, HIGH);
+        // delay(2000);
+        // delay(100);
+        // digitalWrite(MOTOR_PWM, LOW);
+        // delay(500);
+        return true;
+      } else if (buf[0] == 104) { // hours
+        Serial.println("Setting hours");
+        hours = buf[1] - 50;
+        rtc.adjust(DateTime(2023, 6, 23, hours, minutes, seconds));
+        return false;
+      } else if (buf[0] == 109) { // minutes
+        Serial.println("Setting minutes");
+        minutes = buf[1] - 50;
+        rtc.adjust(DateTime(2023, 6, 23, hours, minutes, seconds));
+        return false;
+      } else if (buf[0] == 115) { // seconds
+        Serial.println("Setting seconds");
+        seconds = buf[1] - 50;
+        rtc.adjust(DateTime(2023, 6, 23, hours, minutes, seconds));
+        return false;
+      }
+      else {
+        Serial.println("Invalid command");
+      }
+    }
+    else {
+      Serial.println("Receive failed");
+    }
+  }
+
+  return false;
+}
+
+
+/******* Setup Methods (down here cause they're lorge) *******/
+
+void initRTC() {
+  if (!rtc.begin()) {
+    Serial.println("Couldn't find RTC");
+    Serial.flush();
+    while (1) delay(10);
+  }
+
+  // Set rtc if power lost
+  if (!rtc.initialized() || rtc.lostPower()) {
+    Serial.println("Warning: RTC is NOT initialized");
+
+    // Serial.println("Assume year is 2023");
+    // Serial.println("Enter month [number format]");
+    // while (Serial.available() == 0);
+    // int month = Serial.parseInt();
+    // Serial.println(month);
+    // Serial.println("Enter day");
+    // while (Serial.available() == 0);
+    // int day = Serial.parseInt();
+    // Serial.println(day);
+    // Serial.println("Enter hour");
+    // while (Serial.available() == 0);
+    // int hour = Serial.parseInt();
+    // Serial.println(hour);
+    // Serial.println("Enter minute [make sure you have enough time to enter seconds!]");
+    // while (Serial.available() == 0);
+    // int minute = Serial.parseInt();
+    // Serial.println(minute);
+    // Serial.println("Enter second");
+    // while (Serial.available() == 0);
+    // int second = Serial.parseInt();
+    // Serial.println(second);
+
+    // rtc.adjust(DateTime(2023, month, day, hour, minute, second));
+    
+    // rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
+    // This line sets the RTC with an explicit date & time, for example to set
+    // January 21, 2014 at 3am you would call:
+    // rtc.adjust(DateTime(2014, 1, 21, 3, 0, 0));
+    //
+    // Note: allow 2 seconds after inserting battery or applying external power
+    // without battery before calling adjust(). This gives the PCF8523's
+    // crystal oscillator time to stabilize. If you call adjust() very quickly
+    // after the RTC is powered, lostPower() may still return true.
+  }
+
+  rtc.start();
+}
+
+void initRadio() {
+  pinMode(RFM69_RST, OUTPUT);
+  digitalWrite(RFM69_RST, LOW);
+
+  Serial.println("Feather RFM69 TX Test!");
+  Serial.println();
+
+  // Manually reset radio module
+  digitalWrite(RFM69_RST, HIGH);
+  delay(10);
+  digitalWrite(RFM69_RST, LOW);
+  delay(10);
+
+  if (!rf69.init()) {
+    Serial.println("RFM69 radio init failed");
+    while (1);
+  }
+  Serial.println("RFM69 radio init OK!");
+
+  // Defaults after init are: 434.0MHz, modulation GFSK_Rb250Fd250
+  // +13dbM (for low power module), no encryption
+  // But we override frequency
+  if (!rf69.setFrequency(RF69_FREQ)) {
+    Serial.println("setFrequency failed");
+  }
+
+  // If you are using a high power RF69 eg RFM69HW, you *must* set a Tx power
+  // with the ishighpowermodule flag set like this:
+  rf69.setTxPower(20, true);  // range from 14-20 for power, 2nd arg must be true for 69HCW
+
+  // The encryption key has to be the same as the one in the server
+  rf69.setEncryptionKey(key);
+
+  Serial.print("RFM69 radio @");  
+  Serial.print((int) RF69_FREQ);  
+  Serial.println(" MHz");
+}
diff --git a/float/surface_transceiver/surface_transceiver.ino b/float/surface_transceiver/surface_transceiver.ino
new file mode 100755
index 00000000..b6f35906
--- /dev/null
+++ b/float/surface_transceiver/surface_transceiver.ino
@@ -0,0 +1,187 @@
+// SURFACE TRANSCEIVER sketch originally built from:
+//  rf69 demo tx rx.pde
+//  -*- mode: C++ -*-
+//  Example sketch showing how to create a simple messageing client
+//  with the RH_RF69 class. RH_RF69 class does not provide for addressing or
+//  reliability, so you should only use RH_RF69  if you do not need the higher
+//  level messaging abilities.
+//  It is designed to work with the other example rf69_server.
+//  Demonstrates the use of AES encryption, setting the frequency and modem
+//  configuration
+
+#include <SPI.h>
+#include <RH_RF69.h>
+
+#if defined (__AVR_ATmega32U4__) // Feather 32u4 w/Radio
+#define RFM69_CS      8
+#define RFM69_INT     7
+#define RFM69_RST     4
+#define LED           13
+#endif
+
+#if defined(ADAFRUIT_FEATHER_M0) || defined(ADAFRUIT_FEATHER_M0_EXPRESS) || defined(ARDUINO_SAMD_FEATHER_M0)
+// Feather M0 w/Radio
+#define RFM69_CS      8
+#define RFM69_INT     3
+#define RFM69_RST     4
+#define LED           13
+#endif
+
+#if defined (__AVR_ATmega328P__)  // Feather 328P w/wing
+#define RFM69_INT     3  // 
+#define RFM69_CS      4  //
+#define RFM69_RST     2  // "A"
+#define LED           13
+#endif
+
+#if defined(ESP8266)    // ESP8266 feather w/wing
+#define RFM69_CS      2    // "E"
+#define RFM69_IRQ     15   // "B"
+#define RFM69_RST     16   // "D"
+#define LED           0
+#endif
+
+#if defined(ARDUINO_ADAFRUIT_FEATHER_ESP32S2) || defined(ARDUINO_NRF52840_FEATHER) || defined(ARDUINO_NRF52840_FEATHER_SENSE)
+#define RFM69_INT     9  // "A"
+#define RFM69_CS      10  // "B"
+#define RFM69_RST     11  // "C"
+#define LED           13
+
+#elif defined(ESP32)    // ESP32 feather w/wing
+#define RFM69_RST     13   // same as LED
+#define RFM69_CS      33   // "B"
+#define RFM69_INT     27   // "A"
+#define LED           13
+#endif
+
+#if defined(ARDUINO_NRF52832_FEATHER)
+/* nRF52832 feather w/wing */
+#define RFM69_RST     7   // "A"
+#define RFM69_CS      11   // "B"
+#define RFM69_INT     31   // "C"
+#define LED           17
+#endif
+
+/* Teensy 3.x w/wing
+  #define RFM69_RST     9   // "A"
+  #define RFM69_CS      10   // "B"
+  #define RFM69_IRQ     4    // "C"
+  #define RFM69_IRQN    digitalPinToInterrupt(RFM69_IRQ )
+*/
+
+/* WICED Feather w/wing
+  #define RFM69_RST     PA4     // "A"
+  #define RFM69_CS      PB4     // "B"
+  #define RFM69_IRQ     PA15    // "C"
+  #define RFM69_IRQN    RFM69_IRQ
+*/
+
+/************ Radio Setup ***************/
+
+// yes, the key is EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE. best key ever.
+uint8_t key[] = { 
+                  0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE,
+                  0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE
+                };
+
+// Change to 434.0 or other frequency, must match float's freq!
+#define RF69_FREQ 877.0
+
+// Singleton instance of the radio driver
+RH_RF69 rf69(RFM69_CS, RFM69_INT);
+
+void setup() {
+  Serial.begin(115200);
+  // Wait until serial console is open; remove if not tethered to computer
+  // while (!Serial) { delay(1); }
+
+  Serial.println("Surface Transceiver");
+  pinMode(RFM69_RST, OUTPUT);
+  digitalWrite(RFM69_RST, LOW);
+
+  Serial.println("Feather RFM69 RX Test!");
+  Serial.println();
+
+  // Manually reset radio module
+  digitalWrite(RFM69_RST, HIGH);
+  delay(10);
+  
+  digitalWrite(RFM69_RST, LOW);
+  delay(10);
+
+  if (!rf69.init()) {
+    Serial.println("RFM69 radio init failed");
+    while (1);
+  }
+  Serial.println("RFM69 radio init OK!");
+
+  // Defaults after init are: 434.0MHz, modulation GFSK_Rb250Fd250
+  // +13dbM (for low power module), no encryption
+  // But we override frequency
+  if (!rf69.setFrequency(RF69_FREQ)) {
+    Serial.println("setFrequency failed");
+  }
+
+  // If you are using a high power RF69 eg RFM69HW, you *must* set a Tx power
+  // with the ishighpowermodule flag set like this:
+  rf69.setTxPower(20, true);  // range from 14-20 for power, 2nd arg must be true for 69HCW
+
+  // The encryption key has to be the same as the one on the float
+  rf69.setEncryptionKey(key);
+
+  Serial.print("RFM69 radio @");
+  Serial.print((int) RF69_FREQ);
+  Serial.println(" MHz");
+}
+
+
+void loop() {
+  receiveTime();
+
+  if (Serial.available() == 1) {
+    String command;
+    command = Serial.readString();
+    Serial.println(command);
+    if (command == "submerge" || command == "submerge\n") {
+      sendControlSignal("submerge");
+    } else {
+      char command_arr[command.length() + 1];
+      command.toCharArray(command_arr, command.length() + 1);
+      sendControlSignal(command_arr);
+    }
+    // else if (command == "extend") {
+    //   sendControlSignal("extend");
+    // }
+    // else if (command == "retract") {
+    //   sendControlSignal("retract");
+    // }
+
+  }
+}
+
+void receiveTime() {
+  if (rf69.available()) {
+    uint8_t buf[RH_RF69_MAX_MESSAGE_LEN];
+    uint8_t len = sizeof(buf);
+    if (rf69.recv(buf, &len)) {
+      if (!len) return;
+      buf[len] = 0;
+      Serial.print("Received [");
+      Serial.print(len);
+      Serial.print("]: ");
+      Serial.println((char*) buf);
+      // Serial.print("RSSI: ");
+      // Serial.println(rf69.lastRssi(), DEC);
+    }
+    else {
+      Serial.println("Receive failed");
+    }
+  }
+}
+
+void sendControlSignal(char* message) {
+  rf69.send(message, sizeof(message));
+  rf69.waitPacketSent();
+  Serial.print(message);
+  Serial.println(" signal sent!");
+}
diff --git a/interfaces/CMakeLists.txt b/interfaces/CMakeLists.txt
index 961b1707..63feeb89 100644
--- a/interfaces/CMakeLists.txt
+++ b/interfaces/CMakeLists.txt
@@ -29,6 +29,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/TaskRequest.srv"
   "action/Example.action"
   "action/BasicTask.action"
+  "msg/FloatCommand.msg"
   "msg/TaskFeedback.msg"
   "msg/ROVControl.msg"
   "msg/Armed.msg"
diff --git a/interfaces/msg/FloatCommand.msg b/interfaces/msg/FloatCommand.msg
new file mode 100644
index 00000000..e1bede3b
--- /dev/null
+++ b/interfaces/msg/FloatCommand.msg
@@ -0,0 +1 @@
+string command
\ No newline at end of file
diff --git a/surface/gui/gui/modules/float_comm.py b/surface/gui/gui/modules/float_comm.py
new file mode 100644
index 00000000..352a940b
--- /dev/null
+++ b/surface/gui/gui/modules/float_comm.py
@@ -0,0 +1,79 @@
+from datetime import datetime, timezone
+from PyQt5.QtWidgets import QPushButton, QHBoxLayout, QLabel, QWidget
+from gui.event_nodes.publisher import GUIEventPublisher
+from gui.event_nodes.subscriber import GUIEventSubscriber
+from interfaces.msg import FloatCommand
+from PyQt5.QtCore import pyqtSignal, pyqtSlot
+from time import sleep
+
+
+class FloatComm(QWidget):
+    """Arm widget for sending Arm Commands."""
+
+    handle_scheduler_response_signal: pyqtSignal = pyqtSignal(FloatCommand)
+
+    def __init__(self):
+        super().__init__()
+
+        layout: QHBoxLayout = QHBoxLayout()
+        self.setLayout(layout)
+
+        submerge_button = QPushButton()
+        submerge_button.setText("Submerge")
+        submerge_button.setFixedSize(300, 200)
+        submerge_button.clicked.connect(self.submerge_clicked)
+        layout.addWidget(submerge_button)
+
+        set_hour_button = QPushButton()
+        set_hour_button.setText("Set hour")
+        set_hour_button.setFixedSize(100, 200)
+        set_hour_button.clicked.connect(self.set_hour_clicked)
+        layout.addWidget(set_hour_button)
+
+        set_minute_button = QPushButton()
+        set_minute_button.setText("Set minute")
+        set_minute_button.setFixedSize(100, 200)
+        set_minute_button.clicked.connect(self.set_minute_clicked)
+        layout.addWidget(set_minute_button)
+
+        set_second_button = QPushButton()
+        set_second_button.setText("Set second")
+        set_second_button.setFixedSize(100, 200)
+        set_second_button.clicked.connect(self.set_second_clicked)
+        layout.addWidget(set_second_button)
+
+        self.handle_scheduler_response_signal.connect(self.handle_text)
+
+        self.label: QLabel = QLabel()
+        self.label.setText('Waiting for radio...')
+        layout.addWidget(self.label)
+
+        self.transceiver_publisher: GUIEventPublisher = GUIEventPublisher(
+            FloatCommand,
+            "transceiver_control"
+        )
+
+        self.transceiver_subscription: GUIEventSubscriber = GUIEventSubscriber(
+            FloatCommand,
+            "transceiver_data",
+            self.handle_scheduler_response_signal
+        )
+
+    @pyqtSlot(FloatCommand)
+    def handle_text(self, msg: FloatCommand):
+        self.label.setText(msg.command)
+
+    def submerge_clicked(self):
+        self.transceiver_publisher.publish(FloatCommand(command="submerge"))
+
+    def set_hour_clicked(self):
+        utc = datetime.now(timezone.utc)
+        self.transceiver_publisher.publish(FloatCommand(command="h" + chr(utc.hour + 50)))
+
+    def set_minute_clicked(self):
+        utc = datetime.now(timezone.utc)
+        self.transceiver_publisher.publish(FloatCommand(command="m" + chr(utc.minute + 50)))
+
+    def set_second_clicked(self):
+        utc = datetime.now(timezone.utc)
+        self.transceiver_publisher.publish(FloatCommand(command="s" + chr(utc.second + 50)))
diff --git a/surface/gui/gui/operator_app.py b/surface/gui/gui/operator_app.py
index b88923d3..127cf3fc 100644
--- a/surface/gui/gui/operator_app.py
+++ b/surface/gui/gui/operator_app.py
@@ -3,6 +3,7 @@
 
 from gui.modules.task_selector import TaskSelector
 from gui.modules.logger import Logger
+from gui.modules.float_comm import FloatComm
 from gui.modules.seagrass import SeagrassWidget
 from gui.modules.timer import Timer
 from gui.app import App
@@ -27,6 +28,9 @@ def __init__(self):
         self.task_selector: TaskSelector = TaskSelector()
         main_layout.addWidget(self.task_selector, 1, 1)
 
+        self.float_comm: FloatComm = FloatComm()
+        main_layout.addWidget(self.float_comm, 0, 0)
+
         self.logger: Logger = Logger()
         main_layout.addWidget(self.logger, 1, 0)
 
diff --git a/surface/surface_main/launch/surface_operator_launch.py b/surface/surface_main/launch/surface_operator_launch.py
index 55b57990..6500393e 100644
--- a/surface/surface_main/launch/surface_operator_launch.py
+++ b/surface/surface_main/launch/surface_operator_launch.py
@@ -9,6 +9,8 @@ def generate_launch_description():
 
     gui_path: str = get_package_share_directory('gui')
     task_selector_path: str = get_package_share_directory('task_selector')
+    transceiver_path: str = get_package_share_directory('transceiver')
+
     # Launches Gui
     gui_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
@@ -26,8 +28,17 @@ def generate_launch_description():
             )
         ]),
     )
+    # Launches Transceiver
+    transceiver_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            os.path.join(
+                transceiver_path, 'launch', 'serial_reader_launch.py'
+            )
+        ]),
+    )
 
     return LaunchDescription([
         gui_launch,
         task_selector_launch,
+        transceiver_launch,
     ])
diff --git a/surface/transceiver/launch/serial_reader_launch.py b/surface/transceiver/launch/serial_reader_launch.py
new file mode 100644
index 00000000..edd22a35
--- /dev/null
+++ b/surface/transceiver/launch/serial_reader_launch.py
@@ -0,0 +1,18 @@
+from launch_ros.actions import Node
+from launch import LaunchDescription
+
+
+def generate_launch_description():
+
+    # launches transceiver
+    reader_node: Node = Node(
+        namespace='surface',
+        package='transceiver',
+        executable='serial',
+        remappings=[("transceiver_control", "gui/transceiver_control"),
+                    ("transceiver_data", "gui/transceiver_data")]
+    )
+
+    return LaunchDescription([
+        reader_node
+    ])
diff --git a/surface/transceiver/package.xml b/surface/transceiver/package.xml
new file mode 100644
index 00000000..bbffc36f
--- /dev/null
+++ b/surface/transceiver/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>transceiver</name>
+  <version>0.0.3</version>
+  <description>Mate ROV transceiver communication code</description>
+  <maintainer email="ery12@case.edu">ericy</maintainer>
+  <license>Apache License 2.0</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+
+  <exec_depend>interfaces</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/surface/transceiver/resource/transceiver b/surface/transceiver/resource/transceiver
new file mode 100644
index 00000000..e69de29b
diff --git a/surface/transceiver/setup.cfg b/surface/transceiver/setup.cfg
new file mode 100644
index 00000000..66a95b3b
--- /dev/null
+++ b/surface/transceiver/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/transceiver
+[install]
+install_scripts=$base/lib/transceiver
diff --git a/surface/transceiver/setup.py b/surface/transceiver/setup.py
new file mode 100644
index 00000000..6bd723f0
--- /dev/null
+++ b/surface/transceiver/setup.py
@@ -0,0 +1,31 @@
+from setuptools import setup
+from glob import glob
+import os
+
+package_name = 'transceiver'
+
+setup(
+    name=package_name,
+    version='0.0.3',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        # Include all launch files.
+        (os.path.join('share', package_name, 'launch'),
+         glob('launch/*launch.[pxy][yma]*'))
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ericy',
+    maintainer_email='ery12@case.edu',
+    description='Mate ROV transceiver communication code',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'serial = transceiver.serial_reader:main',
+        ],
+    },
+)
diff --git a/surface/transceiver/test/test_flake8.py b/surface/transceiver/test/test_flake8.py
new file mode 100644
index 00000000..27ee1078
--- /dev/null
+++ b/surface/transceiver/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/surface/transceiver/test/test_pep257.py b/surface/transceiver/test/test_pep257.py
new file mode 100644
index 00000000..b234a384
--- /dev/null
+++ b/surface/transceiver/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/surface/transceiver/transceiver/__init__.py b/surface/transceiver/transceiver/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/surface/transceiver/transceiver/doc/README.md b/surface/transceiver/transceiver/doc/README.md
new file mode 100644
index 00000000..cf00a2fd
--- /dev/null
+++ b/surface/transceiver/transceiver/doc/README.md
@@ -0,0 +1 @@
+sudo usermod -a -G dialout $USER
diff --git a/surface/transceiver/transceiver/serial_reader.py b/surface/transceiver/transceiver/serial_reader.py
new file mode 100644
index 00000000..7cd14e92
--- /dev/null
+++ b/surface/transceiver/transceiver/serial_reader.py
@@ -0,0 +1,45 @@
+import serial
+import rclpy
+from rclpy.node import Node
+from interfaces.msg import FloatCommand
+
+
+class SerialReader(Node):
+
+    def __init__(self):
+        super().__init__('serial_reader',
+                         parameter_overrides=[])
+        self.publisher = self.create_publisher(FloatCommand, 'transceiver_data', 10)
+        self.listener = self.create_subscription(
+            FloatCommand,
+            'transceiver_control',
+            self.control_callback,
+            10)
+        timer_period = .5
+        self.ser = serial.Serial('/dev/ttyUSB0', 115200)
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+    def timer_callback(self):
+        msg = FloatCommand()
+        msg.command = self.ser.readline().decode()
+        self.publisher.publish(msg)
+        # self.get_logger().info('Publishing: "%s"' % msg.data)
+        # self.i += 1
+
+    def control_callback(self, msg: FloatCommand):
+        msg_encode: bytes = msg.command.encode()
+        self.ser.write(msg_encode)
+        self.get_logger().info(f'Command sent via serial monitor: {msg_encode}')
+
+
+def main():
+    rclpy.init()
+
+    serial_reader = SerialReader()
+
+    rclpy.spin(serial_reader)
+
+
+if __name__ == '__main__':
+    main()