diff --git a/src/led/led_can_control.py b/src/led/led_can_control.py
new file mode 100644
index 0000000..ac7a18c
--- /dev/null
+++ b/src/led/led_can_control.py
@@ -0,0 +1,64 @@
+from machine import Pin
+from neopixel import NeoPixel
+import time
+from rp2350_can import RP2350_CAN, ALL_MSGS
+
+# --- LED SETUP ---
+num_leds = 10
+np = NeoPixel(Pin(2), num_leds)
+off = (0,0,0)
+
+def set_all_leds(color):
+    r, g, b = color
+    # Your GRB fix for WS2811
+    for i in range(num_leds):
+        np[i] = (g, r, b) 
+    np.write()
+    
+# --- CAN SETUP ---
+# device_number 1, mode normal to listen to the robot bus
+#can = RP2350_CAN(device_number=1, filter_mode=FILTER_MSGS, tx_mode='normal')
+
+# testing mode by sending a message to itself
+can = RP2350_CAN(device_number=1, filter_mode=ALL_MSGS, tx_mode='loopback')
+
+# --- COLOR DICTIONARY ---
+# We map a Byte (Key) to an RGB Value
+# Let's pretend: 0x01 is "searching", 0x02 is "found", and 0x03 is "error"
+commands = {
+    0x00: (0, 0, 0),    # All LED's Off
+    0x01: (0, 0, 100),   # Dim Blue (Searching)
+    0x02: (0, 100, 0),   # Dim Green (Found!)
+    0x03: (100, 0, 0)    # Dim Red (Error/Stop)
+}
+
+# Ensure we start with LEDs off
+set_all_leds(off)
+
+# 2. TEST MODE: Send a sequence to ourselves
+# This sends Blue (0x01), Green (0x02), Red (0x03), then Off (0x00)
+test_sequence = [0x01, 0x02, 0x03, 0x00]
+print(f"Loopback Test: Sending sequence {test_sequence} to ID {hex(can.get_can_id())}")
+
+can.send(can.get_can_id(), test_sequence)
+
+print ("Listening for Messages...")
+
+while True:
+    data = can.recv() 
+    
+    if data:
+        print(f"Received sequence: {[hex(b) for b in data]}")
+        
+        # Cycle through each byte in the received message
+        for byte in data:
+            if byte in commands:
+                color_to_show = commands[byte]
+                set_all_leds(color_to_show)
+                
+                # How long each color stays on (2 seconds)
+                time.sleep(2) 
+
+        print("Sequence complete.")
+
+    time.sleep(0.01)
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