diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4bcf4f6d..8dd67e96 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -96,6 +96,8 @@ add_app_subdirectory(${ROVER_APPS_DIR}/pdb)
 add_app_subdirectory(${ROVER_APPS_DIR}/science)
 
 # Include Test Apps
+add_app_subdirectory(${TEST_APPS_DIR}/tutorial-servo-can-control)
+add_app_subdirectory(${TEST_APPS_DIR}/tutorial-servo-pot-control)
 add_app_subdirectory(${TEST_APPS_DIR}/test-actuator-controller)
 add_app_subdirectory(${TEST_APPS_DIR}/test-adafruitSTEMMA)
 add_app_subdirectory(${TEST_APPS_DIR}/test-aeat-6012)
diff --git a/supported_build_configurations.yaml b/supported_build_configurations.yaml
index 4121244a..f315ae7a 100644
--- a/supported_build_configurations.yaml
+++ b/supported_build_configurations.yaml
@@ -106,4 +106,10 @@ test-stress-can:
   - GIMBAL_REV2
   - PDB_REV2
   - SCIENCE_REV2
-  - UWRT_NUCLEO
\ No newline at end of file
+  - UWRT_NUCLEO
+
+tutorial-servo-pot-control:
+- UWRT_NUCLEO
+
+tutorial-servo-can-control:
+- UWRT_NUCLEO
\ No newline at end of file
diff --git a/test-apps/tutorial-servo-can-control/CMakeLists.txt b/test-apps/tutorial-servo-can-control/CMakeLists.txt
new file mode 100644
index 00000000..f9d45330
--- /dev/null
+++ b/test-apps/tutorial-servo-can-control/CMakeLists.txt
@@ -0,0 +1,10 @@
+add_executable(tutorial-servo-can-control)
+target_sources(tutorial-servo-can-control PRIVATE src/main.cpp)
+target_link_libraries(tutorial-servo-can-control PRIVATE mbed-os)
+mbed_set_post_build(tutorial-servo-can-control)
+
+add_library (TutorialServo STATIC)
+target_sources (TutorialServo PRIVATE src/TutorialServo.cpp)
+target_include_directories (TutorialServo PUBLIC include)
+target_link_libraries (TutorialServo PRIVATE mbed-os)
+target_link_libraries (tutorial-servo-can-control PRIVATE TutorialServo CANMsg)
diff --git a/test-apps/tutorial-servo-can-control/include/TutorialServo.h b/test-apps/tutorial-servo-can-control/include/TutorialServo.h
new file mode 100644
index 00000000..1b51d482
--- /dev/null
+++ b/test-apps/tutorial-servo-can-control/include/TutorialServo.h
@@ -0,0 +1,25 @@
+#pragma once
+#include "mbed.h"
+
+class TutorialServo {
+public :
+// Constructor: Takes a servo pin name (ex. PA_1), and optionally a servo range
+// that has a default value of 180.0 degrees, a minimum pulsewidth of 1ms, and a
+// maximum pulsewidth of 2ms.
+TutorialServo(PinName servoPin, float servoRangeInDegrees = 180.0, float
+minPulsewidthInMs = 1, float maxPulsewidthInMs = 2) ;
+// Set servo position (ex. 45 deg)
+void setPositionInDegrees( const float degrees) ;
+// Get the servo range in degrees (ex: 90 deg)
+float getServoRangeInDegrees( ) const ;
+// Get the min pulse width in ms (ex: 1ms)
+float getMinPulseWidthInMs( ) const ;
+// Get the max pulse width in ms (ex: 2ms)
+float getMaxPulseWidthInMs( ) const ;
+
+private :
+    PwmOut m_servoPwmOut ;
+    const float m_servoRangeInDegrees ;
+    const float m_minPulsewidthInMs;
+    const float m_maxPulsewidthInMs;
+};
\ No newline at end of file
diff --git a/test-apps/tutorial-servo-can-control/src/TutorialServo.cpp b/test-apps/tutorial-servo-can-control/src/TutorialServo.cpp
new file mode 100644
index 00000000..66a22686
--- /dev/null
+++ b/test-apps/tutorial-servo-can-control/src/TutorialServo.cpp
@@ -0,0 +1,35 @@
+#pragma once
+#include "mbed.h"
+#include "TutorialServo.h"
+
+TutorialServo::TutorialServo(PinName servoPin, float servoRangeInDegrees, float
+minPulsewidthInMs, float maxPulsewidthInMs):
+m_servoPwmOut(servoPin),
+m_servoRangeInDegrees(servoRangeInDegrees),
+m_minPulsewidthInMs(minPulsewidthInMs),
+m_maxPulsewidthInMs(maxPulsewidthInMs){
+    m_servoPwmOut.period_ms(20);
+}
+
+void TutorialServo::setPositionInDegrees( const float degrees){
+    if (degrees <= m_servoRangeInDegrees && degrees >= 0)
+    {
+        m_servoPwmOut.pulsewidth((degrees/m_servoRangeInDegrees)*(m_maxPulsewidthInMs-m_minPulsewidthInMs));
+    }else if (degrees < 0){
+        m_servoPwmOut.pulsewidth(m_minPulsewidthInMs);
+    }else{
+        m_servoPwmOut.pulsewidth(m_maxPulsewidthInMs);
+    }
+}
+
+float TutorialServo::getServoRangeInDegrees( ) const{
+    return m_servoRangeInDegrees;
+}
+
+float TutorialServo::getMinPulseWidthInMs( ) const {
+    return m_minPulsewidthInMs;
+}
+
+float TutorialServo::getMaxPulseWidthInMs( ) const{
+    return m_maxPulsewidthInMs;
+}
diff --git a/test-apps/tutorial-servo-can-control/src/main.cpp b/test-apps/tutorial-servo-can-control/src/main.cpp
new file mode 100644
index 00000000..05548721
--- /dev/null
+++ b/test-apps/tutorial-servo-can-control/src/main.cpp
@@ -0,0 +1,18 @@
+#include "CANMsg.h"
+#include "mbed.h"
+#include "TutorialServo.h"
+
+TutorialServo servo(PA_1); //initialize servo variable from class we created using appropriate pin
+CAN can(PB_8, PB_9); //rx and tx pins
+CANMsg  rxMsg;
+
+
+int main() {
+    float  percentage;
+    while (1) {
+        if (can.read(rxMsg)) {
+            rxMsg.getPayload(percentage);
+            servo.setPositionInDegrees(percentage * servo.getServoRangeInDegrees());
+        }
+    }
+}
\ No newline at end of file
diff --git a/test-apps/tutorial-servo-pot-control/CmakeLists.txt b/test-apps/tutorial-servo-pot-control/CmakeLists.txt
new file mode 100644
index 00000000..efb4064e
--- /dev/null
+++ b/test-apps/tutorial-servo-pot-control/CmakeLists.txt
@@ -0,0 +1,4 @@
+add_executable(tutorial-servo-pot-control)
+target_sources(tutorial-servo-pot-control PRIVATE src/main.cpp)
+target_link_libraries(tutorial-servo-pot-control PRIVATE mbed-os)
+mbed_set_post_build(tutorial-servo-pot-control)
\ No newline at end of file
diff --git a/test-apps/tutorial-servo-pot-control/src/main.cpp b/test-apps/tutorial-servo-pot-control/src/main.cpp
new file mode 100644
index 00000000..f54b213e
--- /dev/null
+++ b/test-apps/tutorial-servo-pot-control/src/main.cpp
@@ -0,0 +1,12 @@
+#include "mbed.h"
+
+AnalogIn potVoltageIn(PA_0);
+PwmOut servoPwmOut(PA_1);
+
+int main() {
+    servoPwmOut.period_ms(20);
+    while (1){
+        float potVoltage = potVoltageIn.read();
+        servoPwmOut.pulsewidth((1 + potVoltage/3.3) / 1000);    
+    }
+}