diff --git a/.gitignore b/.gitignore
index 17efeb9..eab1ee1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
 install/
 log/
-build/
\ No newline at end of file
+build/
+.vscode/
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..bcd4232
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "src/serial"]
+	path = src/serial
+	url = https://github.com/joshnewans/serial.git
diff --git a/src/dcaiti_control b/src/dcaiti_control
new file mode 160000
index 0000000..d978233
--- /dev/null
+++ b/src/dcaiti_control
@@ -0,0 +1 @@
+Subproject commit d97823342390b8de78b2710dff6c557596e718bf
diff --git a/src/diffdrive_arduino b/src/diffdrive_arduino
new file mode 160000
index 0000000..25f4fbd
--- /dev/null
+++ b/src/diffdrive_arduino
@@ -0,0 +1 @@
+Subproject commit 25f4fbd0db29319fc610debace6861ec48b75f81
diff --git a/src/serial b/src/serial
new file mode 160000
index 0000000..2121a37
--- /dev/null
+++ b/src/serial
@@ -0,0 +1 @@
+Subproject commit 2121a37eaa1aff8ca62badc0ac8f43b87169d706