diff --git a/AutonomousDistroBoard/AutonomousDistroBoard.ioc b/AutonomousDistroBoard/AutonomousDistroBoard.ioc
index 3e19a10..ab124c9 100644
--- a/AutonomousDistroBoard/AutonomousDistroBoard.ioc
+++ b/AutonomousDistroBoard/AutonomousDistroBoard.ioc
@@ -2,6 +2,14 @@
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
+CAN1.BS1=CAN_BS1_12TQ
+CAN1.BS2=CAN_BS2_2TQ
+CAN1.CalculateBaudRate=499999
+CAN1.CalculateTimeBit=2000
+CAN1.CalculateTimeQuantum=133.33333333333334
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Mode,Prescaler,BS1,BS2
+CAN1.Mode=CAN_MODE_SILENT
+CAN1.Prescaler=4
 CAN2.BS1=CAN_BS1_12TQ
 CAN2.BS2=CAN_BS2_2TQ
 CAN2.CalculateBaudRate=499999
@@ -26,17 +34,18 @@ GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32F407VGT6
 Mcu.Family=STM32F4
-Mcu.IP0=CAN2
-Mcu.IP1=DMA
-Mcu.IP2=NVIC
-Mcu.IP3=RCC
-Mcu.IP4=SYS
-Mcu.IP5=TIM1
-Mcu.IP6=TIM11
-Mcu.IP7=UART5
-Mcu.IP8=USART3
-Mcu.IP9=USB_OTG_FS
-Mcu.IPNb=10
+Mcu.IP0=CAN1
+Mcu.IP1=CAN2
+Mcu.IP10=USB_OTG_FS
+Mcu.IP2=DMA
+Mcu.IP3=NVIC
+Mcu.IP4=RCC
+Mcu.IP5=SYS
+Mcu.IP6=TIM1
+Mcu.IP7=TIM11
+Mcu.IP8=UART5
+Mcu.IP9=USART3
+Mcu.IPNb=11
 Mcu.Name=STM32F407V(E-G)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE5
@@ -44,14 +53,16 @@ Mcu.Pin1=PE6
 Mcu.Pin10=PA13
 Mcu.Pin11=PA14
 Mcu.Pin12=PC12
-Mcu.Pin13=PD2
-Mcu.Pin14=PB5
-Mcu.Pin15=PB6
-Mcu.Pin16=PB7
-Mcu.Pin17=PB9
-Mcu.Pin18=VP_SYS_VS_Systick
-Mcu.Pin19=VP_TIM11_VS_ClockSourceINT
+Mcu.Pin13=PD0
+Mcu.Pin14=PD1
+Mcu.Pin15=PD2
+Mcu.Pin16=PB5
+Mcu.Pin17=PB6
+Mcu.Pin18=PB7
+Mcu.Pin19=PB9
 Mcu.Pin2=PH0-OSC_IN
+Mcu.Pin20=VP_SYS_VS_Systick
+Mcu.Pin21=VP_TIM11_VS_ClockSourceINT
 Mcu.Pin3=PH1-OSC_OUT
 Mcu.Pin4=PE8
 Mcu.Pin5=PE9
@@ -59,7 +70,7 @@ Mcu.Pin6=PB10
 Mcu.Pin7=PB11
 Mcu.Pin8=PA11
 Mcu.Pin9=PA12
-Mcu.PinsNb=20
+Mcu.PinsNb=22
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
@@ -109,6 +120,10 @@ PB9.Signal=S_TIM11_CH1
 PC12.Locked=true
 PC12.Mode=Asynchronous
 PC12.Signal=UART5_TX
+PD0.Mode=CAN_Activate
+PD0.Signal=CAN1_RX
+PD1.Mode=CAN_Activate
+PD1.Signal=CAN1_TX
 PD2.Locked=true
 PD2.Mode=Asynchronous
 PD2.Signal=UART5_RX
@@ -161,7 +176,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=STM32CubeIDE
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN2_Init-CAN2-false-HAL-true,5-MX_UART5_Init-UART5-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM11_Init-TIM11-false-HAL-true,8-MX_USART3_UART_Init-USART3-false-HAL-true,9-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN2_Init-CAN2-false-HAL-true,5-MX_UART5_Init-UART5-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM11_Init-TIM11-false-HAL-true,8-MX_USART3_UART_Init-USART3-false-HAL-true,9-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true,10-MX_CAN1_Init-CAN1-false-HAL-true
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=120000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
diff --git a/AutonomousDistroBoard/Core/Src/main.c b/AutonomousDistroBoard/Core/Src/main.c
index c5d1fd1..ac4183f 100644
--- a/AutonomousDistroBoard/Core/Src/main.c
+++ b/AutonomousDistroBoard/Core/Src/main.c
@@ -18,7 +18,6 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
-#include <stdint.h>
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -41,6 +40,7 @@
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
+CAN_HandleTypeDef hcan1;
 CAN_HandleTypeDef hcan2;
 
 TIM_HandleTypeDef htim1;
@@ -66,6 +66,7 @@ static void MX_TIM1_Init(void);
 static void MX_TIM11_Init(void);
 static void MX_USART3_UART_Init(void);
 static void MX_USB_OTG_FS_PCD_Init(void);
+static void MX_CAN1_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -110,6 +111,7 @@ int main(void)
   MX_TIM11_Init();
   MX_USART3_UART_Init();
   MX_USB_OTG_FS_PCD_Init();
+  MX_CAN1_Init();
   /* USER CODE BEGIN 2 */
   // Initialize logic state
   logic_init(&g_logic_state);
@@ -136,6 +138,10 @@ int main(void)
     Error_Handler();
   }
   // Start CAN peripheral
+  if (HAL_CAN_Start(&hcan1) != HAL_OK) {
+    // Must start CAN1 even though we only use CAN2 because CAN2 is a slave to CAN1 on F4
+    Error_Handler();
+  }
   if (HAL_CAN_Start(&hcan2) != HAL_OK) {
     Error_Handler();
   }
@@ -209,6 +215,43 @@ void SystemClock_Config(void)
   }
 }
 
+/**
+  * @brief CAN1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_CAN1_Init(void)
+{
+
+  /* USER CODE BEGIN CAN1_Init 0 */
+
+  /* USER CODE END CAN1_Init 0 */
+
+  /* USER CODE BEGIN CAN1_Init 1 */
+
+  /* USER CODE END CAN1_Init 1 */
+  hcan1.Instance = CAN1;
+  hcan1.Init.Prescaler = 4;
+  hcan1.Init.Mode = CAN_MODE_SILENT;
+  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  hcan1.Init.TimeSeg1 = CAN_BS1_12TQ;
+  hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
+  hcan1.Init.TimeTriggeredMode = DISABLE;
+  hcan1.Init.AutoBusOff = DISABLE;
+  hcan1.Init.AutoWakeUp = DISABLE;
+  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.ReceiveFifoLocked = DISABLE;
+  hcan1.Init.TransmitFifoPriority = DISABLE;
+  if (HAL_CAN_Init(&hcan1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN CAN1_Init 2 */
+
+  /* USER CODE END CAN1_Init 2 */
+
+}
+
 /**
   * @brief CAN2 Initialization Function
   * @param None
diff --git a/AutonomousDistroBoard/Core/Src/stm32f4xx_hal_msp.c b/AutonomousDistroBoard/Core/Src/stm32f4xx_hal_msp.c
index 1c32176..112d52d 100644
--- a/AutonomousDistroBoard/Core/Src/stm32f4xx_hal_msp.c
+++ b/AutonomousDistroBoard/Core/Src/stm32f4xx_hal_msp.c
@@ -79,6 +79,8 @@ void HAL_MspInit(void)
   /* USER CODE END MspInit 1 */
 }
 
+static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
+
 /**
 * @brief CAN MSP Initialization
 * This function configures the hardware resources used in this example
@@ -88,14 +90,44 @@ void HAL_MspInit(void)
 void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(hcan->Instance==CAN2)
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspInit 0 */
+
+  /* USER CODE END CAN1_MspInit 0 */
+    /* Peripheral clock enable */
+    HAL_RCC_CAN1_CLK_ENABLED++;
+    if(HAL_RCC_CAN1_CLK_ENABLED==1){
+      __HAL_RCC_CAN1_CLK_ENABLE();
+    }
+
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**CAN1 GPIO Configuration
+    PD0     ------> CAN1_RX
+    PD1     ------> CAN1_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN CAN1_MspInit 1 */
+
+  /* USER CODE END CAN1_MspInit 1 */
+  }
+  else if(hcan->Instance==CAN2)
   {
   /* USER CODE BEGIN CAN2_MspInit 0 */
 
   /* USER CODE END CAN2_MspInit 0 */
     /* Peripheral clock enable */
     __HAL_RCC_CAN2_CLK_ENABLE();
-    __HAL_RCC_CAN1_CLK_ENABLE();
+    HAL_RCC_CAN1_CLK_ENABLED++;
+    if(HAL_RCC_CAN1_CLK_ENABLED==1){
+      __HAL_RCC_CAN1_CLK_ENABLE();
+    }
 
     __HAL_RCC_GPIOB_CLK_ENABLE();
     /**CAN2 GPIO Configuration
@@ -127,14 +159,38 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
 */
 void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
 {
-  if(hcan->Instance==CAN2)
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspDeInit 0 */
+
+  /* USER CODE END CAN1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    HAL_RCC_CAN1_CLK_ENABLED--;
+    if(HAL_RCC_CAN1_CLK_ENABLED==0){
+      __HAL_RCC_CAN1_CLK_DISABLE();
+    }
+
+    /**CAN1 GPIO Configuration
+    PD0     ------> CAN1_RX
+    PD1     ------> CAN1_TX
+    */
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
+
+  /* USER CODE BEGIN CAN1_MspDeInit 1 */
+
+  /* USER CODE END CAN1_MspDeInit 1 */
+  }
+  else if(hcan->Instance==CAN2)
   {
   /* USER CODE BEGIN CAN2_MspDeInit 0 */
 
   /* USER CODE END CAN2_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_CAN2_CLK_DISABLE();
-    __HAL_RCC_CAN1_CLK_DISABLE();
+    HAL_RCC_CAN1_CLK_ENABLED--;
+    if(HAL_RCC_CAN1_CLK_ENABLED==0){
+      __HAL_RCC_CAN1_CLK_DISABLE();
+    }
 
     /**CAN2 GPIO Configuration
     PB5     ------> CAN2_RX