More can test

[nwdepatie]

Changes

Making a PR for @HamzaIqbal69, want to merge this in ASAP

Notes

Git got a little messed up, I have to clean this

Test Cases

• Works on hardware
• Spun motor with this code!

To Do

Any remaining things that need to get done

• [x] Fix Git history
• [x] Clean up IOC file