diff --git a/.idea/misc.xml b/.idea/misc.xml
index 79b3c94..e479d63 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,4 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
+  <component name="CMakePythonSetting">
+    <option name="pythonIntegrationState" value="YES" />
+  </component>
   <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+  <component name="WestSettings"><![CDATA[{}]]></component>
 </project>
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ee96eaf..85b42f6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,7 @@
 #THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE!
 set(CMAKE_SYSTEM_NAME Generic)
 set(CMAKE_SYSTEM_VERSION 1)
-cmake_minimum_required(VERSION 3.30)
+cmake_minimum_required(VERSION 3.25.2)
 
 # specify cross-compilers and tools
 set(CMAKE_C_COMPILER arm-none-eabi-gcc)
diff --git a/Inc/LightsDriver.h b/Inc/LightsDriver.h
index 4ac7448..96d7f22 100644
--- a/Inc/LightsDriver.h
+++ b/Inc/LightsDriver.h
@@ -15,6 +15,8 @@ flag_status_t getRightTurnStatus();
 flag_status_t getHazardsStatus();
 flag_status_t getHeadlightsStatus();
 flag_status_t getBrakeLightsStatus();
+flag_status_t getHighBeamsStatus();
+flag_status_t getLowBeamsStatus();
 
 //Setters
 void setLightsStatus(uint32_t lights);
@@ -25,6 +27,8 @@ void setLeftTurn(flag_status_t enabled);
 void setRightTurn(flag_status_t enabled);
 void setHazards(flag_status_t enabled);
 void setHeadlights(flag_status_t enabled);
+void setHighBeams(flag_status_t enabled);
+void setLowBeams(flag_status_t enabled);
 
 //Functions for brake lights
 void setRunningLights();
diff --git a/Src/CANCallbacks.c b/Src/CANCallbacks.c
index 1fcc03c..1acedbe 100644
--- a/Src/CANCallbacks.c
+++ b/Src/CANCallbacks.c
@@ -5,6 +5,7 @@
 #include "LightsDriver.h"
 
 void LightsDataCallback(iCommsMessage_t *msg){
+    DebugPrint("Lights CAN Message Received\n");
     uint32_t message = 0;
     message |= (uint32_t) msg->data[0] << 24;
     message |= (uint32_t) msg->data[1] << 16;
@@ -23,9 +24,23 @@ void LightsDataCallback(iCommsMessage_t *msg){
     if (getHazardsStatus()) {
         DebugPrint("Hazards CAN\n");
     }
+
+    if (getBrakeLightsStatus()) {
+        DebugPrint("Brake Lights CAN \n");
+    }
+
+    if (getHighBeamsStatus()) {
+        DebugPrint("High Beams CAN \n");
+    }
+
+    if (getLowBeamsStatus()) {
+        DebugPrint("Low Beams CAN \n");
+    }
+
 }
 
 void EventDataCallback(iCommsMessage_t *msg) {
+    DebugPrint("Event CAN Message Received\n");
     // if (msg->dataLength == CANMessageLookUpTable[EVENT_DATA_ID].numberOfBytes) {
     //     EventCode code = msg->data[1];
     //     flag_status_t status = msg->data[0];
diff --git a/Src/LightDriver.c b/Src/LightDriver.c
index 20cc215..3f15456 100644
--- a/Src/LightDriver.c
+++ b/Src/LightDriver.c
@@ -37,9 +37,13 @@ flag_status_t getLeftTurnStatus(){
 flag_status_t getRightTurnStatus(){
     return lights_status.right_turn_enabled;
 }
-flag_status_t getHeadlightsStatus(){
+
+flag_status_t getHighBeamsStatus() {
     return lights_status.headlights_enabled;
 }
+flag_status_t getLowBeamsStatus() {
+    return lights_status.low_beams_enabled;
+}
 flag_status_t getHazardsStatus(){
     return lights_status.hazards_enabled;
 }
@@ -50,6 +54,9 @@ flag_status_t getBrakeLightsStatus(){
 
 //Abstract functions over HAL
 void setLeftTurn(flag_status_t enabled) {
+#ifdef REAR_LIGHTS
+    enabled = !enabled;
+    #endif
     HAL_GPIO_WritePin(LeftTurn_port, LeftTurn_pin, enabled ? GPIO_PIN_SET : GPIO_PIN_RESET);
 }
 
@@ -59,6 +66,9 @@ void setHazards(flag_status_t enabled) {
 }
 
 void setRightTurn(flag_status_t enabled) {
+#ifdef REAR_LIGHTS
+    enabled = !enabled;
+#endif
     HAL_GPIO_WritePin(RightTurn_port, RightTurn_pin, enabled ? GPIO_PIN_SET : GPIO_PIN_RESET);
 }
 
@@ -68,8 +78,18 @@ void setHeadlights(flag_status_t enabled) {
     HAL_GPIO_WritePin(Headlights2_port, Headlights2_pin, enabled ? GPIO_PIN_SET : GPIO_PIN_RESET);
 #endif
 }
+void setHighBeams(flag_status_t enabled) {
+#ifdef FRONT_LIGHTS
+    HAL_GPIO_WritePin(HeadlightsHigh_port, HeadlightsHigh_pin, enabled ? GPIO_PIN_SET : GPIO_PIN_RESET);
+#endif
+}
+void setLowBeams(flag_status_t enabled) {
+#ifdef FRONT_LIGHTS
+    HAL_GPIO_WritePin(HeadlightsLow_port, HeadlightsLow_pin, enabled ? GPIO_PIN_SET : GPIO_PIN_RESET);
+#endif
+}
 void RunningLightsEnabled(flag_status_t enabled){
-#ifdef BRUCE_REAR_LIGHTS
+#if defined(BRUCE_REAR_LIGHTS)
     HAL_GPIO_WritePin(RunningLights_port, RunningLights_pin, enabled ? GPIO_PIN_RESET : GPIO_PIN_SET);
 #endif
 }
diff --git a/Src/TaskManager.c b/Src/TaskManager.c
index eeeb312..a73f9bd 100644
--- a/Src/TaskManager.c
+++ b/Src/TaskManager.c
@@ -37,12 +37,8 @@ _Noreturn void RunTaskManager(void) {
             setRightTurn(getRightTurnStatus() == Set && blink == Set);
         }
 
-#ifdef BRUCE_FRONT_LIGHTS
-        setHeadlights(getHeadlightsStatus() == Set);
-#endif
-#ifdef BRUCE_REAR_LIGHTS
-        setBrakesStatus(getBrakeLightsStatus() == Set);
-#endif
+        setHighBeams(getHighBeamsStatus() == Set);
+        setLowBeams(getLowBeamsStatus() == Set);
 
         setRunningLights();
         setBrakeLights();