diff --git a/src/Firmware/Firmware.ino b/src/Firmware/Firmware.ino
new file mode 100644
index 0000000..e098116
--- /dev/null
+++ b/src/Firmware/Firmware.ino
@@ -0,0 +1,58 @@
+#define HAPTIC_FWD_PIN 3
+#define HAPTIC_MID_PIN 5
+#define HAPTIC_BACK_PIN 6
+#define MQ3_ENABLE_PIN 4
+#define MQ3_READ_PIN A0
+#define MQ3_READ_RATE 100
+
+unsigned long lastSend = 0;
+uint8_t cmd = 0xFF;
+
+void setup() {
+  pinMode(HAPTIC_FWD_PIN, OUTPUT);
+  pinMode(HAPTIC_MID_PIN, OUTPUT);
+  pinMode(HAPTIC_BACK_PIN, OUTPUT);
+  pinMode(MQ3_ENABLE_PIN, OUTPUT);
+  pinMode(MQ3_READ_PIN, INPUT);
+  Serial.begin(9600);
+}
+
+void loop() {
+  if (millis() - lastSend > MQ3_READ_RATE) {
+    Serial.print(analogRead(MQ3_READ_PIN));
+    Serial.print("\n");
+    lastSend = millis();
+  }
+
+  if (Serial.available() > 0) {
+    if (cmd == 0xFF) {
+      cmd = Serial.read();
+    }
+    
+    if (cmd == 0x00) { // Turn off MQ3
+      digitalWrite(MQ3_ENABLE_PIN, LOW);
+      cmd = 0xFF;
+    } else if (cmd == 0x01) { // Turn on MQ3
+      digitalWrite(MQ3_ENABLE_PIN, HIGH);
+      cmd = 0xFF;
+    } else if (cmd == 0x02) { // Send motor commands
+      if (Serial.available() >= 3) {
+        analogWrite(HAPTIC_FWD_PIN, Serial.read());
+        analogWrite(HAPTIC_MID_PIN, Serial.read());
+        analogWrite(HAPTIC_BACK_PIN, Serial.read());
+        cmd = 0xFF;
+      }
+    } else if (cmd == 0x10) { // Ping
+      Serial.print("P\n");
+      cmd = 0xFF;
+    } else if (cmd == 0x11) { // Oh god oh fuck it's on fire
+      analogWrite(HAPTIC_FWD_PIN, 0);
+      analogWrite(HAPTIC_MID_PIN, 0);
+      analogWrite(HAPTIC_BACK_PIN, 0);
+      digitalWrite(MQ3_ENABLE_PIN, LOW);
+      cmd = 0xFF;
+    } else {
+      cmd = 0xFF;
+    }
+  }
+}