diff --git a/visca_controller/src/Visca.cpp b/visca_controller/src/Visca.cpp
new file mode 100644
index 0000000..32aa647
--- /dev/null
+++ b/visca_controller/src/Visca.cpp
@@ -0,0 +1,78 @@
+#include "Visca.h"
+
+Visca::Visca(bool debug)
+{
+    Visca::debug = debug;
+}
+
+void Visca::begin(Stream &viscaControl, Stream &debugOutput)
+{
+    Visca::viscaControl = viscaControl;
+    Visca::debugOutput = debugOutput;
+}
+
+void Visca::sendPacket(unsigned char *packet, int byteSize) {
+    if (Visca::debug == true) {
+        Visca::debugOutput.print("Sending:");
+    }
+    for (int i = 0; i < byteSize; i++) {
+        if (Visca::debug == true) {
+            Visca::debugOutput.print(" 0x");
+            Visca::debugOutput.print(packet[i], HEX);
+        }
+
+        Visca::viscaControl.write(packet[i]);
+    }
+    if (Visca::debug == true) {
+        Visca::debugOutput.println();
+    }
+}
+
+void Visca::receiveViscaData() {
+    static unsigned char ndx = 0;
+    while (Visca::viscaControl.available() > 0) {
+        unsigned char rc = Visca::viscaControl.read();
+
+        if (rc != 0xFF) {
+            Visca::viscaMessage[ndx] = rc;
+            ndx++;
+            if (ndx >= Visca::maxViscaMessageSize) {
+                ndx = Visca::maxViscaMessageSize - 1;
+            }
+        } else {
+            if (Visca::viscaMessage[0] == 0x90) {
+                if (Visca::debug == true) {
+                    if (Visca::viscaMessage[1] == 0x50) {
+                        Visca::debugOutput.println("Command: OK");
+                    }
+                }
+
+                if (Visca::viscaMessage[1] == 0x60) {
+                    switch (Visca::viscaMessage[2]) {
+                        case 0x01:
+                            Visca::debugOutput.println("Error: Message length error");
+                        case 0x02:
+                            Visca::debugOutput.println("Error: Syntax error");
+                        case 0x03:
+                            Visca::debugOutput.println("Error: Command buffer full");
+                        case 0x04:
+                            Visca::debugOutput.println("Error: Command cancelled");
+                        case 0x05:
+                            Visca::debugOutput.println("Error: No socket (to be cancelled)");
+                        case 0x41:
+                            Visca::debugOutput.println("Error: Command not executable");
+                        default:
+                            Visca::debugOutput.print("Unknown Error: ");
+                            for (uint8_t i = 0; i < ndx; i++) {
+                                Visca::debugOutput.print("0x");
+                                Visca::debugOutput.print(viscaMessage[i], HEX);
+                                Visca::debugOutput.print(" ");
+                            }
+                            Visca::debugOutput.println("0xFF");
+                    }
+                }
+            }
+            ndx = 0;
+        }
+    }
+}
diff --git a/visca_controller/src/Visca.h b/visca_controller/src/Visca.h
new file mode 100644
index 0000000..f6db202
--- /dev/null
+++ b/visca_controller/src/Visca.h
@@ -0,0 +1,80 @@
+#ifndef VISCA_CONTROLLER_VISCA_H
+#define VISCA_CONTROLLER_VISCA_H
+
+#include <Stream.h>
+
+class Visca
+{
+private:
+    Stream& viscaControl;
+    Stream& debugOutput;
+    bool debug = false;
+
+    // Pan/Tilt
+    unsigned char panTilt[9] =       { 0x81, 0x01, 0x06, 0x01, 0x00, 0x00, 0x03, 0x03, 0xFF };
+    unsigned char panUp[9] =         { 0x81, 0x01, 0x06, 0x01, 0x00, 0x00, 0x03, 0x01, 0xFF }; // 8x 01 06 01 0p 0t 03 01 ff
+    unsigned char panDown[9] =       { 0x81, 0x01, 0x06, 0x01, 0x00, 0x00, 0x03, 0x02, 0xFF }; // 8x 01 06 01 0p 0t 03 02 ff
+    unsigned char panLeft[9] =       { 0x81, 0x01, 0x06, 0x01, 0x00, 0x00, 0x01, 0x03, 0xFF }; // 8x 01 06 01 0p 0t 01 03 ff
+    unsigned char panRight[9] =      { 0x81, 0x01, 0x06, 0x01, 0x00, 0x00, 0x02, 0x03, 0xFF }; // 8x 01 06 01 0p 0t 02 03 ff
+    unsigned char panUpLeft[9] =     { 0x81, 0x01, 0x06, 0x01, 0x00, 0x00, 0x01, 0x01, 0xFF }; // 8x 01 06 01 0p 0t 01 01 ff
+    unsigned char panUpRight[9] =    { 0x81, 0x01, 0x06, 0x01, 0x00, 0x00, 0x02, 0x01, 0xFF }; // 8x 01 06 01 0p 0t 02 01 ff
+    unsigned char panDownLeft[9] =   { 0x81, 0x01, 0x06, 0x01, 0x00, 0x00, 0x01, 0x02, 0xFF }; // 8x 01 06 01 0p 0t 01 02 ff
+    unsigned char panDownRight[9] =  { 0x81, 0x01, 0x06, 0x01, 0x00, 0x00, 0x02, 0x02, 0xFF }; // 8x 01 06 01 0p 0t 02 02 ff
+
+    unsigned char panStop[9] =       { 0x81, 0x01, 0x06, 0x01, 0x09, 0x09, 0x03, 0x03, 0xFF }; // Camera Stop
+    unsigned char panTiltPosReq[5] = { 0x81, 0x09, 0x06, 0x12, 0xff }; // Resp: y0 50 0p 0q 0r 0s 0t 0u 0v 0w ff ; pqrs: pan position ; tuvw: tilt position
+
+    // Zoom
+    // Tele: 8x 01 04 07 2p ff
+    // Wide: 8x 01 04 07 2p ff
+    unsigned char zoomCommand[6] = { 0x81, 0x01, 0x04, 0x07, 0x2F, 0xff }; // 8x 01 04 07 2p ff
+    unsigned char zoomTele[6] =    { 0x81, 0x01, 0x04, 0x07, 0x2F, 0xff }; // 8x 01 04 07 2p ff
+    unsigned char zoomWide[6] =    { 0x81, 0x01, 0x04, 0x07, 0x3F, 0xff }; // 8x 01 04 07 3p ff
+    unsigned char zoomStop[6] =    { 0x81, 0x01, 0x04, 0x07, 0x00, 0xff };
+    unsigned char zoomDirect[9] =  { 0x81, 0x01, 0x04, 0x47, 0x00, 0x00, 0x00, 0x00, 0xff }; // 8x 01 04 47 0p 0q 0r 0s ff pqrs: zoomCommand position
+    unsigned char zoomPosReq[5] =  { 0x81, 0x09, 0x04, 0x47, 0xff }; // Resp: y0 50 0p 0q 0r 0s ff
+
+
+    // Focus
+    unsigned char focusAuto[6] =     { 0x81, 0x01, 0x04, 0x38, 0x02, 0xff };
+    unsigned char focusManual[6] =   { 0x81, 0x01, 0x04, 0x38, 0x03, 0xff };
+    unsigned char focusDirect[9] =   { 0x81, 0x01, 0x04, 0x48, 0x00, 0x00, 0x00, 0x00, 0xff }; // 8x 01 04 48 0p 0q 0r 0s ff pqrs: focus position
+    unsigned char focusFar[6] =      { 0x81, 0x01, 0x04, 0x08, 0x20, 0xff };
+    unsigned char focusNear[6] =     { 0x81, 0x01, 0x04, 0x08, 0x30, 0xff };
+    unsigned char focusStop[6] =     { 0x81, 0x01, 0x04, 0x08, 0x00, 0xff };
+    unsigned char focusModeInq[5] =  { 0x81, 0x09, 0x04, 0x38, 0xff }; // Resp: y0 50 0p ff ; p=2: Auto, p=3: Manual
+
+    // Iris / Gain
+    unsigned char aeAuto[6] =      { 0x81, 0x01, 0x04, 0x39, 0x00, 0xff };
+    unsigned char aeManual[6] =    { 0x81, 0x01, 0x04, 0x39, 0x03, 0xff };
+    unsigned char irisDirect[9] =  { 0x81, 0x01, 0x04, 0x4B, 0x00, 0x00, 0x00, 0x00, 0xff }; // 8x 01 04 4B 0p 0q 0r 0s ff pqrs: Iris position, range 0..50
+    unsigned char gainDirect[9] =  { 0x81, 0x01, 0x04, 0x4C, 0x00, 0x00, 0x00, 0x00, 0xff }; // 8x 01 04 4c 0p 0q 0r 0s ff pqrs: Gain position, values: 12-21dB.
+    unsigned char aeModeInq[5] =   { 0x81, 0x09, 0x04, 0x39, 0xff }; // Resp: y0 50 0p ff ; p=0: Auto, p=3: Manual
+
+    // White Balance
+    unsigned char wbAuto[6] =        { 0x81, 0x01, 0x04, 0x35, 0x00, 0xff };
+    unsigned char wbTableManual[6] = { 0x81, 0x01, 0x04, 0x35, 0x06, 0xff };
+    unsigned char wbTableDirect[9] = { 0x81, 0x01, 0x04, 0x75, 0x00, 0x00, 0x0, 0x00, 0xff }; // 8x 01 04 75 0p 0q 0r 0s ff pqrs = wb table.
+
+    // Config
+    unsigned char address_command[4] = { 0x88, 0x30, 0x01, 0xFF }; // Sets camera address (Needed for Daisy Chaining)
+    unsigned char if_clear[5] =        { 0x88, 0x01, 0x00, 0x01, 0xFF }; // Checks to see if communication line is clear
+    unsigned char ir_off[6] =          { 0x81, 0x01, 0x06, 0x09, 0x03, 0xff }; // Turn off IR control (required for speed control of Pan/Tilt on TelePresence cameras)
+    unsigned char callLedOn[6] =     { 0x81, 0x01, 0x33, 0x01, 0x01, 0xff};
+    unsigned char callLedOff[6] =    { 0x81, 0x01, 0x33, 0x01, 0x00, 0xff};
+    unsigned char callLedBlink[6] =  { 0x81, 0x01, 0x33, 0x01, 0x02, 0xff};
+
+    const unsigned char maxViscaMessageSize = 16;
+    unsigned char viscaMessage[16];
+private:
+//    void sendPacket(unsigned char *packet, int byteSize);
+
+public:
+    Visca(bool debug = false);
+    void begin(Stream &viscaControl, Stream &debugOutput);
+    void receiveViscaData();
+    void sendPacket(unsigned char *packet, int byteSize);
+};
+
+
+#endif //VISCA_CONTROLLER_VISCA_H