diff --git a/app/raspberry_pi/src/car/system/CarSystem.cpp b/app/raspberry_pi/src/car/system/CarSystem.cpp
index c637779b..d1c6a20e 100644
--- a/app/raspberry_pi/src/car/system/CarSystem.cpp
+++ b/app/raspberry_pi/src/car/system/CarSystem.cpp
@@ -1,7 +1,12 @@
 #include "CarSystem.h"
 
 namespace car::system {
-	CarSystem::CarSystem(const std::string& websocket_url, std::unique_ptr<LidarDevice> lidar_device, std::unique_ptr<MessagingSystem> messaging_system) : lidar_device(std::move(lidar_device)), messaging_system(std::move(messaging_system))
+	CarSystem::CarSystem(
+		const std::string& websocket_url,
+		std::unique_ptr<LidarDevice> lidar_device, 
+		std::unique_ptr<MessagingSystem> messaging_system, 
+		std::unique_ptr<MovementSystem> movement_system
+	) : lidar_device(std::move(lidar_device)), messaging_system(std::move(messaging_system)), movement_system(std::move(movement_system))
 	{
 	}
 
@@ -62,5 +67,6 @@ namespace car::system {
 
 	void CarSystem::turn(const TurnCommand& turn_command)
 	{
+		this->movement_system->turn(turn_command);
 	}
 }
\ No newline at end of file
diff --git a/app/raspberry_pi/src/car/system/CarSystem.h b/app/raspberry_pi/src/car/system/CarSystem.h
index 2ae993ba..aa40f8f3 100644
--- a/app/raspberry_pi/src/car/system/CarSystem.h
+++ b/app/raspberry_pi/src/car/system/CarSystem.h
@@ -9,17 +9,19 @@
 
 #include "lidar/LidarDevice.hpp"
 #include "messaging/MessagingSystem.hpp"
+#include "movement/MovementSystem.hpp"
 
 using json = nlohmann::json;
 
 using namespace car::system::lidar;
 using namespace car::system::messaging;
+using namespace car::system::movement;
 
 namespace car::system {
 	class CarSystem
 	{
 	public:
-		CarSystem(const std::string& websocket_url, std::unique_ptr<LidarDevice> lidar_device, std::unique_ptr<MessagingSystem> messaging_system);
+		CarSystem(const std::string& websocket_url, std::unique_ptr<LidarDevice> lidar_device, std::unique_ptr<MessagingSystem> messaging_system, std::unique_ptr<MovementSystem> movement_system);
 		~CarSystem();
 
 		void initalize();
@@ -34,6 +36,7 @@ namespace car::system {
 	private:
 		std::unique_ptr<LidarDevice> lidar_device;
 		std::unique_ptr<MessagingSystem> messaging_system;
+		std::unique_ptr<MovementSystem> movement_system;
 
 		bool terminated = false;
 	};
diff --git a/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp b/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp
new file mode 100644
index 00000000..d4224743
--- /dev/null
+++ b/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp
@@ -0,0 +1,72 @@
+#ifndef MOVEMENTSYSTEM_HPP
+#define MOVEMENTSYSTEM_HPP
+
+#pragma once
+
+#include <memory>
+
+#include "PCA9685.h"
+
+#include "../messaging/commands/MoveCommand.hpp"
+#include "../messaging/commands/TurnCommand.hpp"
+
+using namespace car::system::messaging::commands;
+
+namespace car::system::movement {
+    constexpr int MIN_PULSE_WIDTH = 900;
+    constexpr int MAX_PULSE_WIDTH = 2100;
+    constexpr int FREQUENCY = 50;
+
+    class MovementSystem
+	{
+	public:
+        MovementSystem() {
+		};
+
+		void initalize()
+		{
+            this->pwn->init(1, 0x40);
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            this->pwn->setPWMFreq(FREQUENCY);
+            std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+        }
+
+		void start()
+		{
+		}
+
+		void terminate() {
+		}
+        //def map(self, x, in_min, in_max, out_min, out_max):
+        int map(int x, int in_min, int in_max, int out_min, int out_max) {
+            return ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
+        }
+
+        //def _angle_to_analog(self, angle):
+        int setAngleToAnalog(int angle) {
+            float pulse_wide;
+            int analog_value;
+
+            pulse_wide = map(angle, 0, 180, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+            analog_value = int(float(pulse_wide) / 1000000 * FREQUENCY * 4096);
+            return (analog_value);
+        }
+
+		void turn(const TurnCommand& command) {
+            const float angle = std::clamp(command.angle, 1.0f, 179.0f);
+            for (int channel = 0; channel < 2; channel++) {
+                int val = 0;
+                val = setAngleToAnalog(angle);
+                this->pwm->setPWM(channel, 0, val);
+			}
+		}
+
+		~MovementSystem() {
+		};
+
+	private:
+        std::unique_ptr<PCA9685> pwm;
+	};
+};
+
+#endif
\ No newline at end of file
diff --git a/app/raspberry_pi/xmake.lua b/app/raspberry_pi/xmake.lua
index 8ea0b3c4..60fabc96 100644
--- a/app/raspberry_pi/xmake.lua
+++ b/app/raspberry_pi/xmake.lua
@@ -12,11 +12,8 @@ add_requires("nod")
 add_requires("ftxui")
 
 add_requires("nlohmann_json")
-
 add_requires("spdlog")
-
 add_requires("fmt")
-
 add_requires("imath")
 
 if is_plat("linux", "macosx") then
@@ -31,17 +28,24 @@ add_requires("rplidar")
 
 target("raspberry_pi")
     set_kind("binary")
-    
+    set_license("LGPL-2.1")
+            
     add_packages("spdlog")
     add_packages("fmt")
+    add_packages("nlohmann_json")
     add_packages("imath")
+    add_packages("tl_expected")
 
+    -- Messaging System
     add_packages("ixwebsocket")
     add_packages("nod")
+
+    -- UI
     add_packages("ftxui")
-    add_packages("nlohmann_json")
+
+    -- For the SunFounder Car
     add_packages("rplidar")
-    add_packages("tl_expected")
+    add_packages("pca9685")
 
     add_headerfiles("include/**.h")
 
@@ -59,12 +63,13 @@ target("raspberry_pi")
     
 -- From xmake sample code:
 
-if is_plat("linux", "macosx") then
+if is_plat("linux") then
     for _, file in ipairs(os.files("tests/pca9685/test_*.cpp")) do
         local name = path.basename(file)
         target(name)
             set_kind("binary")
             set_default(false)
+            set_license("LGPL-2.1")
             
             add_packages("pca9685")