diff --git a/Unity/src/.gitignore b/Unity/src/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..2416a678e7d3f25ea206b6982136c2f49dcbb1f1
--- /dev/null
+++ b/Unity/src/.gitignore
@@ -0,0 +1 @@
+obj/
diff --git a/Unity/src/Makefile b/Unity/src/Makefile
index 94b62309d4cc2768103dec82852aeb4d6c9fa67e..9bb394140d25d2d49c443487debe6710624f94d0 100644
--- a/Unity/src/Makefile
+++ b/Unity/src/Makefile
@@ -1,5 +1,6 @@
 TOP=../../quad
 
 NAME = unity
+DEFINES = $(UNITYDEFINES)
 
 include $(TOP)/library.mk
diff --git a/Unity/src/unity_config.h b/Unity/src/unity_config.h
index f9a7d1a424394cb6c21cdcab20ea7199df8399aa..a2f161a7a7220b13064aac865cc3856e5c2d788c 100755
--- a/Unity/src/unity_config.h
+++ b/Unity/src/unity_config.h
@@ -173,7 +173,7 @@
  * Example:
  */
 /* #define UNITY_FLOAT_PRECISION 0.001f  */
-/* #define UNITY_DOUBLE_PRECISION 0.001f
+/* #define UNITY_DOUBLE_PRECISION 0.001f */
 
 
 /* *************************** TOOLSET CUSTOMIZATION ***************************
diff --git a/quad/Makefile b/quad/Makefile
index 637111f59ecbdd2d28f81804d9f573dfe55508b1..46eecc4cfaf0e087cee2e3a1d82c89909b877078 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -11,7 +11,6 @@ BOOT = $(OUTDIR)/BOOT.bin
 all: libs bins
 
 libs:
-	$(MAKE) -C src/test
 	$(MAKE) -C ../Unity/src
 	$(MAKE) -C src/queue
 	$(MAKE) -C src/computation_graph
@@ -44,7 +43,7 @@ test: all
 
 clean:
 	rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)
-	$(MAKE) -C src/test clean
+	$(MAKE) -C ../Unity/src clean
 	$(MAKE) -C src/queue clean
 	$(MAKE) -C src/computation_graph clean
 	$(MAKE) -C src/graph_blocks clean
diff --git a/quad/library.mk b/quad/library.mk
index b02b460a3d01d3e874b718cd65ef5fae3578fc66..1a4aa5dd4490cbc4196eaaf22de2fc6efb633e6f 100644
--- a/quad/library.mk
+++ b/quad/library.mk
@@ -14,6 +14,7 @@ TESTOBJECTS = $(patsubst $.c, %.o, $(TESTSOURCES))
 
 TARGET = $(LIBDIR)/lib$(NAME).a
 TESTBIN = run_tests
+UNITYDEFINES = -DUNITY_INCLUDE_CONFIG_H
 
 .PHONY: default test clean
 
@@ -37,7 +38,7 @@ $(TARGET): $(OBJECTS) | $(LIBDIR)
 	$(AR) rcs $@ $^
 
 $(OBJDIR)/%.o : %.c | $(OBJDIR) $(INCDIR)
-	$(GCC) -c -g -o $@ $< -I$(INCDIR) -Wall
+	$(GCC) -c -g -o $@ $< -I$(INCDIR) -Wall $(DEFINES)
 
 $(INCDIR)/%.h : %.h | $(INCDIR)
 	cp $^ $(INCDIR)
@@ -52,4 +53,4 @@ $(LIBDIR):
 	mkdir $(LIBDIR)
 
 $(TESTBIN): $(TESTOBJECTS) $(OBJECTS) | default
-	$(GCC) -g -o $(TESTBIN) $^ -I$(INCDIR) -L$(LIBDIR) $(REQLIBS)
+	$(GCC) -g -o $(TESTBIN) $^ -I$(INCDIR) -L$(LIBDIR) $(REQLIBS) $(UNITYDEFINES)
diff --git a/quad/src/computation_graph/test/test_computation_graph.c b/quad/src/computation_graph/test/test_computation_graph.c
index fdd187756cdbe6a49b5649bea2d55b3cc30b6ae2..d5b64e669c5a553842b14eb5b9d9adc5a62c9892 100644
--- a/quad/src/computation_graph/test/test_computation_graph.c
+++ b/quad/src/computation_graph/test/test_computation_graph.c
@@ -1,6 +1,5 @@
 #include "unity.h"
 
-
 #include "computation_graph.h"
 #include "graph_blocks.h"
 
diff --git a/quad/src/quad_app/Makefile b/quad/src/quad_app/Makefile
index 02cc8d007386acd8b03e61623248cd1e75059829..c9e3ace9eab34682fe9a386a23e30ab1fbb8b237 100644
--- a/quad/src/quad_app/Makefile
+++ b/quad/src/quad_app/Makefile
@@ -1,6 +1,6 @@
 TOP=../..
 
 NAME = quad_app
-REQLIBS = -ltest -lcomputation_graph -lm -lqueue -lgraph_blocks -lcommands
+REQLIBS = -lunity -lcomputation_graph -lm -lqueue -lgraph_blocks -lcommands
 
 include $(TOP)/library.mk
diff --git a/quad/src/quad_app/test/test_quad_app.c b/quad/src/quad_app/test/test_quad_app.c
index d464d5594a204c1494ec7ebe1b98016b1e033993..12c869c9d12cddc7ee1bbdcaf62591db0666db4a 100644
--- a/quad/src/quad_app/test/test_quad_app.c
+++ b/quad/src/quad_app/test/test_quad_app.c
@@ -3,6 +3,7 @@
 #include "queue.h"
 #include "unity.h"
 
+
 struct Queue *queue;
 struct UARTDriver *uart;
 
@@ -117,8 +118,8 @@ void test_try_receive_packet_fails_when_BE_and_run_out() {
 
   TEST_ASSERT_EQUAL(-1, try_receive_packet(uart));
   TEST_ASSERT_EQUAL(4, bytes_recv);
-
-  TEST_ASSERT_EQUAL_INT_ARRAY({0xBE, 1, 2, 3}, packet, 4);
+  u8 expected[] = {0xBE, 1, 2, 3};
+  TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, packet, 4);
 
   // Try again to verify that we actually ran out
   TEST_ASSERT_EQUAL(-1, try_receive_packet(uart));
@@ -162,7 +163,8 @@ void test_try_receive_packet_fails_when_BE_length_and_run_out() {
 
   TEST_ASSERT_EQUAL(-1, try_receive_packet(uart));
   TEST_ASSERT_EQUAL(9, bytes_recv);
-  TEST_ASSERT_EQUAL_INT_ARRAY({0xBE, 0, 0, 0, 0, 4, 0, 1, 2}, packet, 9);
+  u8 expected[] = {0xBE, 0, 0, 0, 0, 4, 0, 1, 2};
+  TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, packet, 9);
 
   // Try again to verify that we actually ran out
   TEST_ASSERT_EQUAL(-1, try_receive_packet(uart));
@@ -185,7 +187,8 @@ void test_try_receive_packet_fails_when_BE_length_data_and_run_out() {
 
   TEST_ASSERT_EQUAL(-1, try_receive_packet(uart));
   TEST_ASSERT_EQUAL(11, bytes_recv);
-  TEST_ASSERT_EQUAL_INT_ARRAY({0xBE, 0, 0, 0, 0, 4, 0, 1, 2, 3, 4}, packet, 11);
+  u8 expected[] = {0xBE, 0, 0, 0, 0, 4, 0, 1, 2, 3, 4};
+  TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, packet, 11);
 
   // Try again to verify that we actually ran out
   TEST_ASSERT_EQUAL(-1, try_receive_packet(uart));
@@ -229,7 +232,8 @@ void test_try_receive_packet_succeeds() {
 
   TEST_ASSERT_EQUAL(0, try_receive_packet(uart));
   TEST_ASSERT_EQUAL(12, bytes_recv);
-  TEST_ASSERT_EQUAL_INT_ARRAY({0xBE, 0, 0, 0, 0, 4, 0, 1, 2, 3, 4, checksum}, packet, 12);
+  u8 expected[] = {0xBE, 0, 0, 0, 0, 4, 0, 1, 2, 3, 4, checksum};
+  TEST_ASSERT_EQUAL_UINT8_ARRAY(expected, packet, 12);
 
   // Try again to verify that we don't lose the ready packet
   TEST_ASSERT_EQUAL(0, try_receive_packet(uart));
diff --git a/quad/src/queue/test/test_queue.c b/quad/src/queue/test/test_queue.c
index 81e43562e9014b5a30dc39f7543e14a8ef8cabba..9230e39faed165cd2a4c1723ce0bc889c51dda11 100644
--- a/quad/src/queue/test/test_queue.c
+++ b/quad/src/queue/test/test_queue.c
@@ -1,4 +1,3 @@
-#include "test.h"
 #include "queue.h"
 #include "unity.h"
 
diff --git a/quad/src/test/.gitignore b/quad/src/test/.gitignore
deleted file mode 100644
index da2dc67a4f0e61a89b67664a64a475efc2adca6d..0000000000000000000000000000000000000000
--- a/quad/src/test/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-run_tests
-obj/
-obj-zybo/
diff --git a/quad/src/test/Makefile b/quad/src/test/Makefile
deleted file mode 100644
index 2156f7994add62a9f65f41b3b33ffc852097de5d..0000000000000000000000000000000000000000
--- a/quad/src/test/Makefile
+++ /dev/null
@@ -1,6 +0,0 @@
-TOP=../..
-
-NAME = test
-REQLIBS = -ltest
-
-include $(TOP)/library.mk
diff --git a/quad/src/test/README.md b/quad/src/test/README.md
deleted file mode 100644
index a484745cc317fe93bb0acf11953eb5f4043409fd..0000000000000000000000000000000000000000
--- a/quad/src/test/README.md
+++ /dev/null
@@ -1,42 +0,0 @@
-Basic Testing Suite in C
-----
-THIS IS NOT A DIRECTORY OF TESTS. Rather, it is a library of test utility
-functions that you can use to write unit tests.
-
-The functions in this library help handles the result of every test
-whether it be a success, failure, or segfault, and keeps running until
-all tests have been executed. It then gives a summary of the test results.
-
-To use, just write your tests using functions that return `int`s to indicate
-failure. 1 means failure. 0 means success.
-
-Then in your main function for your tests, pass these functions to the `test()`
-function along with a name you want included in the test report.
-
-```c
-int main() {
-    TEST(test_func);
-    TEST(another_func);
-    ...
-```
-
-When writing your `test_func`, you can use the `test_assert` method to perform
-basic assertions. If any assertion fails, then `test_func` will fail right
-away. If you have multiple assertions in a single `test_func`, the output will
-tell you specifically which assertion failed.
-
-Then at the end of your main function, call the `test_summary()` function, and
-return its return value from your main function.
-
-```c
-int main() {
-    ...
-    return test_summary();
-}
-```
-
-An example of creating a `test/` directory in your project is done in this 
-folder. To run the unit tests in your project, run
-```
-make test
-```
\ No newline at end of file
diff --git a/quad/src/test/test.c b/quad/src/test/test.c
deleted file mode 100644
index a5573bf45b29ef67c3850e560e7c5932c13b1bb8..0000000000000000000000000000000000000000
--- a/quad/src/test/test.c
+++ /dev/null
@@ -1,73 +0,0 @@
-#include "test.h"
-#include <unistd.h>
-
-static int num_tests = 0;
-static struct Test tests[255];
-static int longest_test_name = 0;
-static int num_assertions = 0;
-
-void test(int (*function)(), char *test_name) {
-  int test_name_length = strlen(test_name);
-  if (test_name_length > longest_test_name) {
-    longest_test_name = test_name_length;
-  }
-
-  pid_t pid = fork();
-  if (pid == 0) {
-    // test process
-    puts("----------------------------------------");
-    printf("#%3d: %s\n", num_tests + 1, test_name);
-    int exit_status = function();
-    exit(exit_status);
-  } else {
-    int status;
-    waitpid(pid, &status, 0);
-
-    struct Test test;
-    strcpy(test.name, test_name);
-
-    if (WIFEXITED(status)) {
-      int exit_status = WEXITSTATUS(status);
-      if (exit_status == 0) {
-	test.failed = 0;
-	strcpy(test.result_msg, "passed");
-      } else {
-	test.failed = 1;
-	strcpy(test.result_msg,  "FAILED");
-      }
-    } else if (WIFSIGNALED(status)) {
-      test.failed = 1;
-      strcpy(test.result_msg, "ERROR!");
-    }
-
-    tests[num_tests++] = test;
-  }
-}
-
-void test_assert(int success) {
-  num_assertions += 1;
-  if (!success) {
-    printf("FAILED assertion #%d\n", num_assertions);
-    exit(1);
-  }
-}
-
-int test_summary() {
-  unsigned char at_least_one_test_failed = 0;
-  int num_failed = 0;
-  puts("--------------------------------------------------------------------------------");
-  puts("Test results:");
-  puts("");
-  int i = 0;
-  for (i = 0; i < num_tests; i += 1) {
-    printf("#%3d: %-*s (%s)\n", i + 1, longest_test_name, tests[i].name, tests[i].result_msg);
-    num_failed += tests[i].failed;
-    at_least_one_test_failed |= tests[i].failed;
-  }
-  puts("");
-  printf("Total: %3d of %-3d tests passed\n", num_tests - num_failed, num_tests);
-  puts("--------------------------------------------------------------------------------");
-  num_tests = 0;
-  longest_test_name = 0;
-  return at_least_one_test_failed;
-}
diff --git a/quad/src/test/test.h b/quad/src/test/test.h
deleted file mode 100644
index ac50248ece65f20b0060e5ae7f5509a38a8fb821..0000000000000000000000000000000000000000
--- a/quad/src/test/test.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef TEST_H
-#define TEST_H
-
-#include <string.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <sys/types.h>
-#include <sys/wait.h>
-
-#define TEST(name) test(name, #name)
-
-struct Test {
-  char name[255];
-  char result_msg[255];
-  unsigned char failed;
-};
-
-void test(int (*)(), char *);
-void test_assert(int success);
-int test_summary();
-
-#endif
diff --git a/quad/src/test/test/example.c b/quad/src/test/test/example.c
deleted file mode 100644
index 7a114d81d3154cababc6eb7c621c11c5dc5e0c33..0000000000000000000000000000000000000000
--- a/quad/src/test/test/example.c
+++ /dev/null
@@ -1,32 +0,0 @@
-#include <stdio.h>
-#include "test.h"
-
-int test_always_passes() {
-  puts("hi world.");
-  return 0;
-}
-
-int test_always_fails() {
-  return 1;
-}
-
-int test_assertions() {
-  test_assert(1 == 1);
-  test_assert(2 == 3);
-  test_assert(3 == 3);
-  return 0;
-}
-
-int test_always_segfaults() {
-  int *bad = NULL;
-  int x = *bad;
-  return 0;
-}
-
-int main() {
-  TEST(test_always_passes);
-  TEST(test_always_fails);
-  TEST(test_assertions);
-  TEST(test_always_segfaults);
-  return test_summary();
-}