diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 00000000..de171cd8
Binary files /dev/null and b/.DS_Store differ
diff --git a/.gitignore b/.gitignore
index 8b137891..236a7399 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,7 @@
+.vs/
+.vscode/
 
+*.o
+*.bin
+
+*/__pycache__
\ No newline at end of file
diff --git a/README.md b/README.md
index 0927af9a..734f58d9 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,42 @@
 # Wireless22A
-Code for Wireless22A project,
+Code for Wireless22A project.
 
+## Siren
+Siren is our [pub/sub](https://www.stackpath.com/edge-academy/what-is-pub-sub-messaging/) server that uses the WebSocket protocol to send telemetry data from the car. Siren is built off of the [Bun framework](https://bun.sh/), which is a JavaScript framework that has the capability to host extremely fast WebSocket servers using pub/sub messaging.
 
-## Websockets
-Initial version for a client/server protocol that can be used to send data over websockets. It supports sending data from the server to the client and
-sending control commands from the client to the server. The server has a task running to clean up closed connections. 
+### About WebSockets
+For information about WebSockets, check out [this confluence page](https://nerdocs.atlassian.net/wiki/spaces/NER/pages/161972226/WebSocket+Basics) about WebSocket basics.
+
+### Running with Docker
+Coming soon.
+
+### Local Setup
+To set up Siren locally on your machine, simply use the `install` script.
+
+- For Mac/Linux:
+```
+$ ./install
+```
+
+- For Windows:
+```
+No script yet.
+```
+
+### Running Locally
+To run Siren locally on your machine, simply use the `run` script.
+
+- For Mac/Linux:
+```
+$ ./run
+```
+
+- For Windows:
+```
+No script yet.
+```
+
+After that, Siren should start up and it is open to connections.
+
+### Testing Siren
+To test that Siren is working properly, run the `subscriber.py` and `publisher.py` scripts in the same environment that Siren is hosted in. After a few seconds, the terminal running the `subscriber.py` script should begin receiving messages, which means that Siren is working properly.
diff --git a/siren/.gitignore b/siren/.gitignore
new file mode 100644
index 00000000..f81d56ea
--- /dev/null
+++ b/siren/.gitignore
@@ -0,0 +1,169 @@
+# Based on https://raw.githubusercontent.com/github/gitignore/main/Node.gitignore
+
+# Logs
+
+logs
+_.log
+npm-debug.log_
+yarn-debug.log*
+yarn-error.log*
+lerna-debug.log*
+.pnpm-debug.log*
+
+# Diagnostic reports (https://nodejs.org/api/report.html)
+
+report.[0-9]_.[0-9]_.[0-9]_.[0-9]_.json
+
+# Runtime data
+
+pids
+_.pid
+_.seed
+\*.pid.lock
+
+# Directory for instrumented libs generated by jscoverage/JSCover
+
+lib-cov
+
+# Coverage directory used by tools like istanbul
+
+coverage
+\*.lcov
+
+# nyc test coverage
+
+.nyc_output
+
+# Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files)
+
+.grunt
+
+# Bower dependency directory (https://bower.io/)
+
+bower_components
+
+# node-waf configuration
+
+.lock-wscript
+
+# Compiled binary addons (https://nodejs.org/api/addons.html)
+
+build/Release
+
+# Dependency directories
+
+node_modules/
+jspm_packages/
+
+# Snowpack dependency directory (https://snowpack.dev/)
+
+web_modules/
+
+# TypeScript cache
+
+\*.tsbuildinfo
+
+# Optional npm cache directory
+
+.npm
+
+# Optional eslint cache
+
+.eslintcache
+
+# Optional stylelint cache
+
+.stylelintcache
+
+# Microbundle cache
+
+.rpt2_cache/
+.rts2_cache_cjs/
+.rts2_cache_es/
+.rts2_cache_umd/
+
+# Optional REPL history
+
+.node_repl_history
+
+# Output of 'npm pack'
+
+\*.tgz
+
+# Yarn Integrity file
+
+.yarn-integrity
+
+# dotenv environment variable files
+
+.env
+.env.development.local
+.env.test.local
+.env.production.local
+.env.local
+
+# parcel-bundler cache (https://parceljs.org/)
+
+.cache
+.parcel-cache
+
+# Next.js build output
+
+.next
+out
+
+# Nuxt.js build / generate output
+
+.nuxt
+dist
+
+# Gatsby files
+
+.cache/
+
+# Comment in the public line in if your project uses Gatsby and not Next.js
+
+# https://nextjs.org/blog/next-9-1#public-directory-support
+
+# public
+
+# vuepress build output
+
+.vuepress/dist
+
+# vuepress v2.x temp and cache directory
+
+.temp
+.cache
+
+# Docusaurus cache and generated files
+
+.docusaurus
+
+# Serverless directories
+
+.serverless/
+
+# FuseBox cache
+
+.fusebox/
+
+# DynamoDB Local files
+
+.dynamodb/
+
+# TernJS port file
+
+.tern-port
+
+# Stores VSCode versions used for testing VSCode extensions
+
+.vscode-test
+
+# yarn v2
+
+.yarn/cache
+.yarn/unplugged
+.yarn/build-state.yml
+.yarn/install-state.gz
+.pnp.\*
diff --git a/siren/Dockerfile b/siren/Dockerfile
new file mode 100644
index 00000000..0723a736
--- /dev/null
+++ b/siren/Dockerfile
@@ -0,0 +1,69 @@
+FROM ubuntu:latest
+
+# Set up container and time zones
+RUN apt-get update && \
+    DEBIAN_FRONTEND=noninteractive TZ="America/New_York" \
+    apt-get -y install tzdata
+
+# Download Linux support tools
+RUN apt-get install -y \
+    build-essential \
+    wget \
+    curl \
+    openocd \
+    git \
+    gdb-multiarch \
+    minicom \
+    vim
+
+# Download Python, Pip, and install websocket support
+RUN apt-get install -y \
+    python3 \
+    pip 
+RUN pip install websocket-client
+
+# Download setup support for Rasperry Pi Probe
+RUN apt-get install -y \
+    automake \
+    autoconf \
+    texinfo \
+    libtool \
+    libftdi-dev \
+    libusb-1.0-0-dev \
+    pkg-config
+
+RUN git clone https://github.com/raspberrypi/openocd.git \
+    --branch rp2040 \
+    --depth=1 \
+    --no-single-branch
+
+# Build Rasberry Pi Probe Package
+RUN cd openocd && ./bootstrap
+RUN cd openocd && ./configure
+RUN cd openocd && make -j4 && make install
+
+# Set up a development tools directory
+WORKDIR /home/dev
+ADD . /home/dev
+
+RUN echo 'if [ $n -e /home/app/shepherd.ioc ]; then echo \
+" ______     __  __     ______     ______   __  __     ______     ______     _____\n\
+/\  ___\   /\ \_\ \   /\  ___\   /\  == \ /\ \_\ \   /\  ___\   /\  == \   /\  __-.\n\
+\ \___  \  \ \  __ \  \ \  __\   \ \  _-/ \ \  __ \  \ \  __\   \ \  __<   \ \ \/\ \ \n\
+ \/\_____\  \ \_\ \_\  \ \_____\  \ \_\    \ \_\ \_\  \ \_____\  \ \_\ \_\  \ \____- \n\ 
+  \/_____/   \/_/\/_/   \/_____/   \/_/     \/_/\/_/   \/_____/   \/_/ /_/   \/____/"; fi;' >> ~/.bashrc
+
+RUN echo 'if [ $n -e /home/app/cerberus.ioc ]; then echo \
+"_________             ___.               \n\
+\_   ___ \  __________\_ |__   ___________ __ __  ______\n\
+/    \  \/_/ __ \_  __ \ __ \_/ __ \_  __ \  |  \/  ___/\n\
+\     \___\  ___/|  | \/ \_\ \  ___/|  | \/  |  /\___ \ \n\
+ \______  /\___  >__|  |___  /\___  >__|  |____//____  >\n\
+        \/     \/          \/     \/                 \/ "; fi;' >> ~/.bashrc
+
+# Install cross compiler
+RUN wget -qO- https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10-x86_64-linux.tar.bz2 | tar -xvj
+
+ENV PATH $PATH:/home/dev/gcc-arm-none-eabi-10.3-2021.10/bin
+
+WORKDIR /home/app
diff --git a/siren/bun.lockb b/siren/bun.lockb
new file mode 100755
index 00000000..b2e473d2
Binary files /dev/null and b/siren/bun.lockb differ
diff --git a/siren/index.ts b/siren/index.ts
new file mode 100644
index 00000000..2217b89c
--- /dev/null
+++ b/siren/index.ts
@@ -0,0 +1,35 @@
+const server = Bun.serve<WebSocketData>({
+    port: 3000,
+    fetch(req, server) {
+        server.upgrade(req, {
+            data: {
+                subTopics: new URL(req.url).searchParams.get("subTopics")
+            },
+        });
+
+        return new Response("Upgrade to WebSocket failed :(", { status: 500 });
+    },
+    websocket: {
+        open(ws) {
+
+            if (ws.data.subTopics) {
+                ws.subscribe(ws.data.subTopics); // TODO: parse for different topics and subscribe to them all
+            }
+        },
+        message(ws, message) {
+
+            // TODO: allow subscriptions to additional topics and unsubscribing from topics
+
+            server.publish("test", message);
+            // TODO: allow selection of publishing channel
+        },
+        close(ws) {
+            
+            if (ws.data.subTopics) {
+                ws.unsubscribe(ws.data.subTopics); // TODO: parse for different topics and unsubscribe to them all
+            }
+        }
+    }
+});
+
+console.log(`Listening on http://localhost:${server.port}`);
\ No newline at end of file
diff --git a/siren/install b/siren/install
new file mode 100755
index 00000000..fedcaf10
--- /dev/null
+++ b/siren/install
@@ -0,0 +1,3 @@
+curl -fsSL https://bun.sh/install | bash
+exec /bin/zsh
+bun add -d bun-types
\ No newline at end of file
diff --git a/siren/package.json b/siren/package.json
new file mode 100644
index 00000000..d998aa20
--- /dev/null
+++ b/siren/package.json
@@ -0,0 +1,15 @@
+{
+  "dependencies": {},
+  "devDependencies": {
+    "bun-types": "^1.0.1"
+  },
+  "name": "bun",
+  "module": "index.ts",
+  "type": "module",
+  "scripts": {
+    "start": "bun run index.ts"
+  },
+  "peerDependencies": {
+    "typescript": "^5.0.0"
+  }
+}
\ No newline at end of file
diff --git a/siren/publisher.py b/siren/publisher.py
new file mode 100644
index 00000000..32c7e11d
--- /dev/null
+++ b/siren/publisher.py
@@ -0,0 +1,42 @@
+import websocket
+import time
+
+# Callback for handling WebSocket open event
+def on_open(ws):
+    print("Started")
+    
+    while True:
+        time.sleep(5)
+        ws.send("Sending message to test topic!")
+
+# Callback for handling WebSocket message event
+def on_message(ws, message):
+    print("Received message: {}".format(message))
+
+# Callback for handling WebSocket error event
+def on_error(ws, error):
+    print("Error encountered: {}".format(error))
+
+# Callback for handling WebSocket close event
+def on_close(wsapp, close_status_code, close_msg):
+    print("WebSocket connection closed.")
+    
+    if (close_status_code):
+        print("Closing status code: " + close_status_code)
+    if (close_msg):
+        print("Closing message: " + close_msg)
+
+# Define the WebSocket server URL
+websocket_url = "ws://127.0.0.1:3000"
+
+# Creating WebSocket connection object and attaching event handlers
+ws = websocket.WebSocketApp(
+    websocket_url,
+    on_open=on_open,
+    on_message=on_message,
+    on_error=on_error,
+    on_close=on_close
+)
+
+# Start the WebSocket connection
+ws.run_forever()
diff --git a/siren/run b/siren/run
new file mode 100755
index 00000000..c9ff5436
--- /dev/null
+++ b/siren/run
@@ -0,0 +1 @@
+bun run start
\ No newline at end of file
diff --git a/siren/subscriber.py b/siren/subscriber.py
new file mode 100644
index 00000000..96b1a6be
--- /dev/null
+++ b/siren/subscriber.py
@@ -0,0 +1,38 @@
+import websocket
+import time
+
+# Callback for handling WebSocket open event
+def on_open(ws):
+    print("Started")
+
+# Callback for handling WebSocket message event
+def on_message(ws, message):
+    print("Received message: {}".format(message))
+
+# Callback for handling WebSocket error event
+def on_error(ws, error):
+    print("Error encountered: {}".format(error))
+
+# Callback for handling WebSocket close event
+def on_close(wsapp, close_status_code, close_msg):
+    print("WebSocket connection closed.")
+    
+    if (close_status_code):
+        print("Closing status code: " + close_status_code)
+    if (close_msg):
+        print("Closing message: " + close_msg)
+
+# Define the WebSocket server URL
+websocket_url = "ws://127.0.0.1:3000?subTopics=test"
+
+# Creating WebSocket connection object and attaching event handlers
+ws = websocket.WebSocketApp(
+    websocket_url,
+    on_open=on_open,
+    on_message=on_message,
+    on_error=on_error,
+    on_close=on_close
+)
+
+# Start the WebSocket connection
+ws.run_forever()
diff --git a/siren/tsconfig.json b/siren/tsconfig.json
new file mode 100644
index 00000000..1449bc3d
--- /dev/null
+++ b/siren/tsconfig.json
@@ -0,0 +1,22 @@
+{
+  "compilerOptions": {
+    "lib": ["ESNext"],
+    "module": "esnext",
+    "target": "esnext",
+    "moduleResolution": "bundler",
+    "moduleDetection": "force",
+    "allowImportingTsExtensions": true,
+    "noEmit": true,
+    "composite": true,
+    "strict": true,
+    "downlevelIteration": true,
+    "skipLibCheck": true,
+    "jsx": "preserve",
+    "allowSyntheticDefaultImports": true,
+    "forceConsistentCasingInFileNames": true,
+    "allowJs": true,
+    "types": [
+      "bun-types" // add Bun global
+    ]
+  }
+}
diff --git a/siren/websocket-data.d.ts b/siren/websocket-data.d.ts
new file mode 100644
index 00000000..f39a17fa
--- /dev/null
+++ b/siren/websocket-data.d.ts
@@ -0,0 +1,3 @@
+type WebSocketData = {
+    subTopics: string | null
+}
\ No newline at end of file