diff --git a/.github/workflows/build_base_controller.yml b/.github/workflows/build_base_controller.yml
new file mode 100644
index 00000000..d9119314
--- /dev/null
+++ b/.github/workflows/build_base_controller.yml
@@ -0,0 +1,32 @@
+name: Build base controller
+on:
+  push:
+    branches:
+      - "**"
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  build_teensy_40:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: true
+    
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/cache@v3
+        with:
+          path: |
+            ~/.cache/pip
+            ~/.platformio/.cache
+          key: ${{ runner.os }}-pio
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.9'
+      - name: Install PlatformIO Core
+        run: pip install --upgrade platformio
+
+      - name: Build PlatformIO Project
+        run: |
+          cd diffbot_base/scripts/base_controller
+          pio run
\ No newline at end of file
diff --git a/diffbot_base/scripts/base_controller/lib/base_controller/base_controller.h b/diffbot_base/scripts/base_controller/lib/base_controller/base_controller.h
index 2ca139bf..b0bfb7f7 100644
--- a/diffbot_base/scripts/base_controller/lib/base_controller/base_controller.h
+++ b/diffbot_base/scripts/base_controller/lib/base_controller/base_controller.h
@@ -342,7 +342,7 @@ namespace diffbot {
         // Measured left and right joint states (angular position (rad) and angular velocity (rad/s))
         diffbot::JointState joint_state_left_, joint_state_right_;
 
-        unsigned long encoder_resolution_;
+        int encoder_resolution_;
 
         ros::Subscriber<std_msgs::Empty, BaseController<TMotorController, TMotorDriver>> sub_reset_encoders_;
 
diff --git a/diffbot_base/scripts/base_controller/platformio.ini b/diffbot_base/scripts/base_controller/platformio.ini
index f80398b8..91cc29a1 100644
--- a/diffbot_base/scripts/base_controller/platformio.ini
+++ b/diffbot_base/scripts/base_controller/platformio.ini
@@ -9,12 +9,22 @@
 ; https://docs.platformio.org/page/projectconf.html
 
 [platformio]
-default_envs = teensy31
+default_envs = teensy40
 
 [env:teensy31]
 platform = teensy
 board = teensy31
 framework = arduino
+lib_deps = 
+    frankjoshua/Rosserial Arduino Library@^0.9.1
+    ./lib
+    adafruit/Adafruit Motor Shield V2 Library@^1.0.11
+    Wire
+
+[env:teensy40]
+platform = teensy
+board = teensy40
+framework = arduino
 lib_deps = 
     frankjoshua/Rosserial Arduino Library@^0.9.1
     ./lib
diff --git a/raspi-setup.sh b/raspi-setup.sh
new file mode 100755
index 00000000..b8aab663
--- /dev/null
+++ b/raspi-setup.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+# update & upgrade #
+sudo apt update
+sudo apt upgrade
+
+sudo apt -y install i2c-tools curl
+
+# Add i2c support to /boot/firmware/config.txt
+# dtparam=i2c0=on
+sudo sed -i '/dtparam=i2c0=on/s/^#//g' /boot/firmware/config.txt
+
+# ROS Noetic setup
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+sudo apt -y update
+sudo apt -y install ros-noetic-ros-base
+
+sudo apt -y install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-vcstool \
+    python3-rosdep python3-catkin-tools build-essential
+
+sudo rosdep init
+rosdep update
+echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+
+cd ~/catkin_ws
+rosdep install --from-paths src --ignore-src -r -y
+
+catkin build