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diff --git a/hapti-tester-firmware/hapti-tester-firmware.ino b/hapti-tester-firmware/hapti-tester-firmware.ino
new file mode 100644
index 0000000..759aa9c
--- /dev/null
+++ b/hapti-tester-firmware/hapti-tester-firmware.ino
@@ -0,0 +1,188 @@
+/*
+  EEncoder Basic Example
+  
+  Demonstrates simple usage of the EEncoder library with a rotary
+  encoder and push button for RP2040-based boards.
+  
+  Hardware:
+  - Connect encoder A pin to GPIO 2
+  - Connect encoder B pin to GPIO 3
+  - Connect encoder button to GPIO 4
+  - Assumes encoder module has built-in pull-up resistors
+  
+  This example:
+  - Increments/decrements a value with the encoder
+  - Resets to zero on button press
+  - Enters fine-tune mode on long press
+  - Shows acceleration when turning quickly
+*/
+
+#include 
+#include 
+#include 
+#include 
+#include "Adafruit_DRV2605.h"
+
+Adafruit_DRV2605 drv;
+
+#define SCREEN_WIDTH 128 // OLED display width, in pixels
+#define SCREEN_HEIGHT 32 // OLED display height, in pixels
+
+#define OLED_RESET     -1 // Reset pin # (or -1 if sharing Arduino reset pin)
+#define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32
+Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire1, OLED_RESET);
+
+
+// Pin definitions
+const uint8_t ENCODER_PIN_A = 5;
+const uint8_t ENCODER_PIN_B = 13;
+const uint8_t ENCODER_BUTTON = 3;
+
+// Create encoder instance
+// The last parameter (4) indicates this encoder produces 4 counts per physical detent
+// Adjust this value based on your specific encoder hardware
+EEncoder encoder(ENCODER_PIN_A, ENCODER_PIN_B, ENCODER_BUTTON, 4);
+
+// Variable to track the current value
+int currentValue = 0;
+bool fineTuneMode = false;
+
+bool triggered = false;
+
+// Encoder rotation callback
+void onEncoderRotate(EEncoder& enc) {
+    // Get the increment - always ±1 per physical detent (normalized)
+    int8_t increment = enc.getIncrement();
+    
+    // In fine-tune mode, ignore acceleration
+    if (fineTuneMode) {
+        currentValue += increment;  // 1 per click
+    } else {
+        // Normal mode - use the increment (may be accelerated to ±5)
+        currentValue += increment;
+    }
+    
+    if(currentValue > 122) currentValue = 0;
+    if(currentValue < 0) currentValue = 122;
+
+    // Print the new value
+    Serial.print("Value: ");
+    Serial.print(currentValue);
+    if (fineTuneMode) Serial.print(" [FINE]");
+    if (abs(increment) > 1) Serial.print(" [FAST]");
+    Serial.println();
+}
+
+// Button press callback
+void onButtonPress(EEncoder& enc) {
+    // Reset value to zero
+    fineTuneMode = false;
+    triggered = true;
+    Serial.println("Button pressed - haptic feedback triggered");
+}
+
+// Long press callback
+void onLongPress(EEncoder& enc) {
+    // Toggle fine-tune mode
+    fineTuneMode = !fineTuneMode;
+    
+    Serial.print("Long press - Fine tune mode ");
+    Serial.println(fineTuneMode ? "ON" : "OFF");
+}
+
+void setup() {
+    // Initialize serial communication
+    Serial.begin(115200);
+    while (!Serial) {
+        ; // Wait for serial port to connect (needed for some boards)
+    }
+    
+    Wire1.setSCL(15);
+    Wire1.setSDA(14);
+
+    // SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
+    if(!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
+      Serial.println(F("SSD1306 allocation failed"));
+      for(;;); // Don't proceed, loop forever
+    }
+
+    // Show initial display buffer contents on the screen --
+    // the library initializes this with an Adafruit splash screen.
+    display.display();
+    delay(2000); // Pause for 2 seconds
+    display.clearDisplay();
+
+    Serial.println("EEncoder Basic Example");
+    Serial.println("Rotate encoder to change value, press button to reset");
+    Serial.println("Long press to toggle fine-tune mode");
+    Serial.println("Turn quickly to see acceleration!");
+    
+    // Set up the callbacks
+    encoder.setEncoderHandler(onEncoderRotate);
+    encoder.setButtonHandler(onButtonPress);
+    encoder.setLongPressHandler(onLongPress);
+    
+    // Enable acceleration with 5x multiplier
+    encoder.setAcceleration(true);
+    encoder.setAccelerationRate(5);
+    
+    // Optional: adjust timing if needed
+    // encoder.setDebounceInterval(5);        // Faster debounce
+    // encoder.setLongPressDuration(750);     // Longer press required
+    display.setTextSize(2);             // Normal 1:1 pixel scale
+    display.setTextColor(SSD1306_WHITE);        // Draw white text
+
+    Wire.setSCL(17);
+    Wire.setSDA(16);
+
+    if (! drv.begin()) {
+      Serial.println("Could not find DRV2605");
+      while (1) delay(10);
+    }
+  
+    drv.writeRegister8(DRV2605_REG_OVERDRIVE, 1);
+    drv.writeRegister8(DRV2605_REG_RATEDV, 255);
+
+    drv.selectLibrary(1);
+    
+    // I2C trigger by sending 'go' command 
+    // default, internal trigger when sending GO command
+    drv.setMode(DRV2605_MODE_INTTRIG); 
+
+}
+
+void setup1(){
+
+}
+
+String value = "";
+
+void loop() {
+    // Update the encoder - this must be called as often as possible
+    encoder.update();
+
+    if(triggered){
+      // set the effect to play
+      drv.setWaveform(0, currentValue);  // play effect 
+      drv.setWaveform(1, 0);       // end waveform
+
+      // play the effect!
+      drv.go();
+
+      delay(500);
+      triggered = false;
+    }
+}
+
+void loop1(){
+    display.clearDisplay();
+    
+    display.setCursor(0,0);             // Start at top-left corner
+    
+    display.println(currentValue);
+
+    display.display();
+    delay(20);
+}
+
+