diff --git a/.github/workflows/test-check.yml b/.github/workflows/test-check.yml
new file mode 100644
index 00000000..1a471da2
--- /dev/null
+++ b/.github/workflows/test-check.yml
@@ -0,0 +1,20 @@
+name: Unit Test Check
+
+on: [push]
+
+jobs:
+  test-check:
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Run UNITY Testing files
+        run: |
+          if ! docker compose run --rm ner-gcc-arm \
+            bash -c "python3 Drivers/Embedded-Base/ner_environment/build_system/test_runner.py"; then
+            echo "Unit tests failed."
+            exit 1
+          fi
diff --git a/Core/Inc/bms.h b/Core/Inc/bms.h
index 80598c40..01df7008 100644
--- a/Core/Inc/bms.h
+++ b/Core/Inc/bms.h
@@ -1,7 +1,7 @@
 #ifndef BMS_H
 #define BMS_H
 
-#include "cmsis_os.h"
+#include "ner_cmsis_os.h"
 #include "can.h"
 
 #define BMS_CANID_CELL_TEMPS 0x84 /* BMS CELL TEMPERATURES */
diff --git a/Core/Inc/can_handler.h b/Core/Inc/can_handler.h
index fb075bc1..a1a0e9b4 100644
--- a/Core/Inc/can_handler.h
+++ b/Core/Inc/can_handler.h
@@ -2,11 +2,11 @@
 #define CAN_HANDLER_H
 
 #include "can.h"
-#include "cmsis_os.h"
+#include "ner_cmsis_os.h"
 #include "control.h"
 #include "dti.h"
 #include "bms.h"
-#include "stm32f4xx_hal.h"
+#include "stm32xx_hal.h"
 
 /**
  * @brief Callback to be called when a message is received on CAN line 1.
diff --git a/Core/Inc/dti.h b/Core/Inc/dti.h
index a97cf539..92f4b6b1 100644
--- a/Core/Inc/dti.h
+++ b/Core/Inc/dti.h
@@ -13,7 +13,7 @@
 #define DTI_H
 
 #include "can.h"
-#include "cmsis_os.h"
+#include "ner_cmsis_os.h"
 
 /* Message IDs from DTI CAN Datasheet */
 #define DTI_CANID_ERPM	      0x416 /* ERPM, Duty, Input Voltage */
diff --git a/Core/Inc/fault.h b/Core/Inc/fault.h
index 87a9671d..3bef4b9d 100644
--- a/Core/Inc/fault.h
+++ b/Core/Inc/fault.h
@@ -1,8 +1,9 @@
 #ifndef CERBERUS_FAULT_H
 #define CERBERUS_FAULT_H
 
-#include "cmsis_os.h"
+#include "ner_cmsis_os.h"
 #include <stdbool.h>
+#include "stm32xx_hal.h"
 
 typedef enum {
 	/* START CRIT FAULTS HERE */
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index e2ed20a1..7e6dcd53 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -27,7 +27,7 @@ extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
-#include "stm32f4xx_hal.h"
+#include "stm32xx_hal.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
diff --git a/Core/Inc/monitor.h b/Core/Inc/monitor.h
index 8a27d9ae..8f869a85 100644
--- a/Core/Inc/monitor.h
+++ b/Core/Inc/monitor.h
@@ -3,7 +3,7 @@
 
 #include <stdbool.h>
 
-#include "cmsis_os.h"
+#include "ner_cmsis_os.h"
 #include "mpu.h"
 #include "pdu.h"
 
diff --git a/Core/Inc/mpu.h b/Core/Inc/mpu.h
index 9e5baf82..c22046c7 100644
--- a/Core/Inc/mpu.h
+++ b/Core/Inc/mpu.h
@@ -3,8 +3,8 @@
 
 #include <stdbool.h>
 
-#include "cmsis_os.h"
-#include "stm32f4xx_hal.h"
+#include "ner_cmsis_os.h"
+#include "stm32xx_hal.h"
 
 typedef struct {
 	I2C_HandleTypeDef *hi2c;
diff --git a/Core/Inc/pdu.h b/Core/Inc/pdu.h
index 60070b91..ffa83a84 100644
--- a/Core/Inc/pdu.h
+++ b/Core/Inc/pdu.h
@@ -2,14 +2,14 @@
 #define PDU_H
 
 #include <stdbool.h>
-#include "cmsis_os.h"
+#include "ner_cmsis_os.h"
 #include "tca9539.h"
 #include "INA226.h"
 #include <stdbool.h>
 #include <stdint.h>
 #include "bitstream.h"
 #include "c_utils.h"
-#include "stm32f4xx_hal.h"
+#include "stm32xx_hal.h"
 
 typedef struct {
 	I2C_HandleTypeDef *hi2c;
@@ -115,6 +115,11 @@ bool verify_tca_config(pdu_t *pdu);
  */
 int8_t read_expander_debug(pdu_t *pdu, uint8_t expander_debug_data[4]);
 
+/**
+ * @brief sounds rtds by settings its thread flag
+ */
+void sound_rtds();
+
 /**
  * @brief Taskf for sounding RTDS.
  * 
diff --git a/Core/Inc/pedals.h b/Core/Inc/pedals.h
index b84f5581..d0c403ba 100644
--- a/Core/Inc/pedals.h
+++ b/Core/Inc/pedals.h
@@ -107,4 +107,10 @@ void toggle_launch_control();
  */
 bool get_launch_control();
 
+/**
+ * @brief determines if APPS should fault based on pedal readings
+ */
+bool calc_pedal_faults(float accel1, float accel2, float accel1_norm,
+		       float accel2_norm);
+
 #endif
diff --git a/Core/Inc/state_machine.h b/Core/Inc/state_machine.h
index c811b23f..e78ee069 100644
--- a/Core/Inc/state_machine.h
+++ b/Core/Inc/state_machine.h
@@ -134,4 +134,17 @@ int set_ready_mode();
  */
 int fault();
 
+/**
+ * @brief tranitions the functional state based on current sate
+ * 
+ * @param new_state state that is requesting transition
+ * @param pdu pdu interface
+ * @param mc dti interface
+ * @param mpu mpu interface
+ * 
+ * @return error code
+ */
+int transition_functional_state(func_state_t new_state, pdu_t *pdu, dti_t *mc,
+				mpu_t *mpu);
+
 #endif
\ No newline at end of file
diff --git a/Core/Src/cerb_tasks.c b/Core/Src/cerb_tasks.c
new file mode 100644
index 00000000..e69de29b
diff --git a/Core/Src/pdu.c b/Core/Src/pdu.c
index 1cb8eff4..744612d5 100644
--- a/Core/Src/pdu.c
+++ b/Core/Src/pdu.c
@@ -279,6 +279,11 @@ static int8_t write_ctrl(pdu_t *pdu, bool state, uint8_t pin, uint8_t reg)
 	return 0;
 }
 
+void sound_rtds()
+{
+	osThreadFlagsSet(rtds_thread, SOUND_RTDS_FLAG);
+}
+
 int8_t write_pump_1(pdu_t *pdu, bool state)
 {
 	return write_ctrl(pdu, state, PIN_PUMP_CTRL_1, TCA_OUTPUT_PORT_0);
diff --git a/Core/Src/state_machine.c b/Core/Src/state_machine.c
index 2b17096c..4a4d86b8 100644
--- a/Core/Src/state_machine.c
+++ b/Core/Src/state_machine.c
@@ -9,6 +9,7 @@
 #include "monitor.h"
 #include "pedals.h"
 #include "can_handler.h"
+#include "pdu.h"
 
 #define STATE_TRANS_QUEUE_SIZE 4
 
@@ -91,8 +92,8 @@ void sound_reverse_callback(void *pdu)
 	sound = !sound;
 }
 
-static int transition_functional_state(func_state_t new_state, pdu_t *pdu,
-				       dti_t *mc, mpu_t *mpu)
+int transition_functional_state(func_state_t new_state, pdu_t *pdu, dti_t *mc,
+				mpu_t *mpu)
 {
 	/* Special case: should be able to fault no matter what conditions */
 	if (new_state == FAULTED) {
@@ -151,11 +152,9 @@ static int transition_functional_state(func_state_t new_state, pdu_t *pdu,
 			return 3;
 		}
 #endif
-
 		if (get_tsms()) {
-			osThreadFlagsSet(rtds_thread, SOUND_RTDS_FLAG);
+			sound_rtds();
 		}
-
 		printf("ACTIVE STATE\r\n");
 		break;
 	default:
diff --git a/Drivers/Embedded-Base b/Drivers/Embedded-Base
index c7704a99..e4a6bde3 160000
--- a/Drivers/Embedded-Base
+++ b/Drivers/Embedded-Base
@@ -1 +1 @@
-Subproject commit c7704a998b12cca8d2a7c3880d5b3562ccae41df
+Subproject commit e4a6bde3381eff4aabbbc4bf5c252ccd5c21a935
diff --git a/Test/unity/tests/can_handler_test.c b/Test/unity/tests/can_handler_test.c
deleted file mode 100644
index 0c0ffd4c..00000000
--- a/Test/unity/tests/can_handler_test.c
+++ /dev/null
@@ -1,6 +0,0 @@
-#include "unity.h"
-
-void test_can_handler(void)
-{
-    //TEST_ASSERT_NOT_NULL(getFunction(0x2010));
-}
\ No newline at end of file
diff --git a/Test/unity/tests/cerberus_test.c b/Test/unity/tests/cerberus_test.c
deleted file mode 100644
index 1c58a5be..00000000
--- a/Test/unity/tests/cerberus_test.c
+++ /dev/null
@@ -1,16 +0,0 @@
-#include "unity.h"
-#include "cerberus_test.h"
-
-void setUp(void) {
-    // set stuff up here
-}
-
-void tearDown(void) {
-    // clean stuff up here
-}
-
-int main(void) {
-    UNITY_BEGIN();
-    RUN_TEST(test_can_handler);
-    return UNITY_END();
-}
\ No newline at end of file
diff --git a/Test/unity/tests/cerberus_test.h b/Test/unity/tests/cerberus_test.h
deleted file mode 100644
index 57cf964b..00000000
--- a/Test/unity/tests/cerberus_test.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef CERBERUS_TEST_H
-#define CERBERUS_TEST_H
-
-/* 
- *  ************** NOTE **************
- *  These test files are specifically 
- *  for unit tests, developers can 
- *  make sure that specific functions 
- *  and APIs meet requirements set out. 
- *  This should NOT be used for actually 
- *  simulating drivers and hardware, 
- *  that is what we are using Renode for
- */
-
-void test_can_handler(void);
-
-#endif // CERBERUS_TEST_H
\ No newline at end of file
diff --git a/Tests/Inc/test_pedals.h b/Tests/Inc/test_pedals.h
new file mode 100644
index 00000000..8ce34dac
--- /dev/null
+++ b/Tests/Inc/test_pedals.h
@@ -0,0 +1,9 @@
+#ifndef TEST_PEDALS_H
+#define TEST_PEDALS_H
+
+#include "unity.h"
+#include "pedals.h"
+
+void test_calc_pedal_faults(void);
+
+#endif
\ No newline at end of file
diff --git a/Tests/Inc/test_state_machine.h b/Tests/Inc/test_state_machine.h
new file mode 100644
index 00000000..25fb5e9d
--- /dev/null
+++ b/Tests/Inc/test_state_machine.h
@@ -0,0 +1,9 @@
+#ifndef TEST_STATE_MACHINE_H
+#define TEST_STATE_MACHINE_H
+
+#include "unity.h"
+#include "state_machine.h"
+
+void test_tansition_functional_state(void);
+
+#endif // TEST_STATE_MACHINE_H
\ No newline at end of file
diff --git a/Tests/Src/test_pedals.c b/Tests/Src/test_pedals.c
new file mode 100644
index 00000000..c5ada7af
--- /dev/null
+++ b/Tests/Src/test_pedals.c
@@ -0,0 +1,31 @@
+
+#include "mock_stub_functions.h"
+#include "mock_debounce.h"
+#include "mock_c_utils.h"
+#include "mock_pdu.h"
+#include "mock_mpu.h"
+#include "mock_can_handler.h"
+#include "test_pedals.h"
+
+void setUp(void) {
+
+}
+
+void tearDown(void) {
+}
+
+void test_calc_pedal_faults() {
+    debounce_Ignore();
+    debounce_Ignore();
+    TEST_ASSERT_EQUAL_INT(calc_pedal_faults(3.2, 1.2, 0.50, .10), true); 
+
+    debounce_Ignore();
+    debounce_Ignore();
+    TEST_ASSERT_EQUAL_INT(calc_pedal_faults(3.2, 1.2, 0.50, .30), false); 
+}
+
+int main(void) {
+    UNITY_BEGIN();
+    RUN_TEST(test_calc_pedal_faults);
+    return UNITY_END();
+}
\ No newline at end of file
diff --git a/Tests/Src/test_state_machine.c b/Tests/Src/test_state_machine.c
new file mode 100644
index 00000000..396753d2
--- /dev/null
+++ b/Tests/Src/test_state_machine.c
@@ -0,0 +1,35 @@
+
+#include "mock_mpu.h"
+#include "mock_pdu.h"
+#include "test_state_machine.h"
+
+#include <stdbool.h>
+#include <stdlib.h>
+
+mpu_t *mpu;
+pdu_t *pdu;
+dti_t *dti;
+
+void setUp(void) {
+    mpu = malloc(sizeof(mpu_t));
+    pdu = malloc(sizeof(pdu_t));
+    dti = malloc(sizeof(dti_t));
+}
+
+void tearDown(void) {
+    free(mpu);
+    free(pdu);
+    free(dti);
+}
+
+// A simple random test
+void test_tansition_functional_state(void) {
+    write_fault_IgnoreAndReturn(0);
+    //TEST_ASSERT_EQUAL_INT(transition_functional_state(FAULTED, pdu, dti, mpu), 0);
+}
+
+int main(void) {
+    UNITY_BEGIN();
+    RUN_TEST(test_tansition_functional_state);
+    return UNITY_END();
+}
\ No newline at end of file
diff --git a/Tests/mock_configs/test_pedals.txt b/Tests/mock_configs/test_pedals.txt
new file mode 100644
index 00000000..3aec91f7
--- /dev/null
+++ b/Tests/mock_configs/test_pedals.txt
@@ -0,0 +1,5 @@
+Core/Inc/dti.h
+Core/Inc/fault.h
+Core/Inc/pdu.h
+Core/Inc/mpu.h
+Core/Inc/can_handler.h
diff --git a/Tests/mock_configs/test_state_machine.txt b/Tests/mock_configs/test_state_machine.txt
new file mode 100644
index 00000000..5cb11d87
--- /dev/null
+++ b/Tests/mock_configs/test_state_machine.txt
@@ -0,0 +1,5 @@
+Core/Inc/dti.h
+Core/Inc/fault.h
+Core/Inc/pdu.h
+Core/Inc/mpu.h
+Core/Inc/can_handler.h
\ No newline at end of file
diff --git a/compose.yml b/compose.yml
index 71089463..2e358afe 100644
--- a/compose.yml
+++ b/compose.yml
@@ -2,7 +2,7 @@ name: cerberus
 
 services:
     ner-gcc-arm:
-        image: ghcr.io/northeastern-electric-racing/embedded-base:main
+        image: ghcr.io/northeastern-electric-racing/embedded-base:unity-testing
         build: .
         network_mode: host
         privileged: true