diff --git a/lib/motors/can_processor.rs b/lib/motors/can_processor.rs
new file mode 100644
index 0000000..6f3cd61
--- /dev/null
+++ b/lib/motors/can_processor.rs
@@ -0,0 +1,10 @@
+fn process_message(id: u16, data: &[u8; 8]) -> Message {
+    Message.id = id;
+    Message.index = data[1] << 8 | data[0];
+    Message.command = data[3];
+    Message.subindex = data[2]
+    Message.data = data[7] << 24 | data[6] << 16 | data[5] << 8 | data[4];
+}
+
+
+
diff --git a/lib/motors/config/messages.rs b/lib/motors/config/messages.rs
new file mode 100644
index 0000000..577a40b
--- /dev/null
+++ b/lib/motors/config/messages.rs
@@ -0,0 +1,95 @@
+struct Message {
+    id: u16,
+    index: u16,
+    subindex: u8,
+    command: u8,
+    data: u32,
+} 
+
+mod config_messages {
+    use super::Message;
+
+    pub const TEST_STEPPER_ENABLE: Message = Message {
+        id: 0x601,
+        command: 0x2B,
+        index: 0x6040,
+        subindex: 0x09,
+        data: 0x00000001,
+    };
+
+    pub const TEST_MODE_COMMAND: Message = Message {
+        id: 0x601,
+        command: 0x2B,
+        index: 0x2031,
+        subindex: 0x00,
+        data: 0x00000060,
+    };
+}
+
+mod messages {
+    use super::Message;
+
+    pub const ENTER_STOP_STATE: Message = Message {
+        id: 0x000,
+        command: 0x02,
+        index: 0x0000,
+        subindex: 0x00,
+        data: 0x00000000,
+    };
+
+    pub const ENTER_PREOPERATIONAL_STATE: Message = Message {
+        id: 0x000,
+        command: 0x03,
+        index: 0x0000,
+        subindex: 0x00,
+        data: 0x00000000,
+    };
+
+    pub const ENTER_OPERATIONAL_STATE: Message = Message {
+        id: 0x000,
+        command: 0x01,
+        index: 0x0000,
+        subindex: 0x00,
+        data: 0x00000000,
+    };
+
+    pub const SET_FREQUENCY: Message = Message {
+        id: 0x601,
+        command: 0x2B,
+        index: 0x2040,
+        subindex: 0x04,
+        data: 0x00000000,
+    };
+
+    pub const SHUTDOWN: Message = Message {
+        id: 0x601,
+        command: 0x2B,
+        index: 0x6040,
+        subindex: 0x00,
+        data: 0x00000006,
+    };
+
+    pub const SWITCH_ON: Message = Message {
+        id: 0x601,
+        command: 0x2B,
+        index: 0x6040,
+        subindex: 0x00,
+        data: 0x00000007,
+    };
+
+    pub const START_DRIVE: Message = Message {
+        id: 0x601,
+        command: 0x2B,
+        index: 0x6040,
+        subindex: 0x00,
+        data: 0x0000000F,
+    };
+
+    pub const QUICK_STOP: Message = Message {
+        id: 0x601,
+        command: 0x2B,
+        index: 0x6040,
+        subindex: 0x00,
+        data: 0x00000002,
+    };
+}
\ No newline at end of file