diff --git a/lib/interfaces/include/IRTSSensor.h b/lib/interfaces/include/IRTSSensor.h
new file mode 100644
index 0000000..1f616fe
--- /dev/null
+++ b/lib/interfaces/include/IRTSSensor.h
@@ -0,0 +1,48 @@
+#ifndef IRTSSENSORINTERFACE_H
+#define IRTSSENSORINTERFACE_H
+
+#include "FlexCAN_T4.h"
+#include "SharedFirmwareTypes.h"
+
+#define UNPACK_AND_POPULATE_TEMP(WHEEL, MSGNUM, CH1, CH2, CH3, CH4) \
+    WHEEL##_IRTS_##MSGNUM##_t unpacked_sensor_data; \
+    Unpack_##WHEEL##_IRTS_##MSGNUM##_hytech(&unpacked_sensor_data, msg.buf, msg.len); \
+    latest_sensor_data.infrared_temp[CH1 - 1]     = unpacked_sensor_data.WHEEL##IRTS_T##CH1##_ro; \
+    latest_sensor_data.infrared_temp[CH1]         = unpacked_sensor_data.WHEEL##IRTS_T##CH2##_ro; \
+    latest_sensor_data.infrared_temp[CH1 + 1]     = unpacked_sensor_data.WHEEL##IRTS_T##CH3##_ro; \
+    latest_sensor_data.infrared_temp[CH1 + 2]     = unpacked_sensor_data.WHEEL##IRTS_T##CH4##_ro; \
+
+class IRTSSensorInterface
+{
+    public:
+        // LF wheel
+        void receive_IRTS_sensor_temp_lf_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_lf_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_lf_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_lf_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis);
+
+        // RF wheel
+        void receive_IRTS_sensor_temp_rf_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_rf_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_rf_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_rf_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis);
+
+        // LR wheel
+        void receive_IRTS_sensor_temp_lr_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_lr_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_lr_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_lr_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis);
+
+        // RR wheel
+        void receive_IRTS_sensor_temp_rr_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_rr_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_rr_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis);
+        void receive_IRTS_sensor_temp_rr_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis);
+
+        IRTSSensorData_s get_latest_sensor_data() const;
+
+    private:
+        IRTSSensorData_s latest_sensor_data;
+};
+
+#endif
\ No newline at end of file
diff --git a/lib/interfaces/src/IRTSSensor.cpp b/lib/interfaces/src/IRTSSensor.cpp
new file mode 100644
index 0000000..70b8bd4
--- /dev/null
+++ b/lib/interfaces/src/IRTSSensor.cpp
@@ -0,0 +1,81 @@
+#include "IRTSSensorInterface.h"
+#include "FlexCAN_T4.h"
+#include "hytech.h"
+
+// LF wheel
+void IRTSSensorInterface::receive_IRTS_sensor_temp_lf_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(FL, 1, 1, 2, 3, 4);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_lf_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(FL, 2, 5, 6, 7, 8);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_lf_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(FL, 3, 9, 10, 11, 12);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_lf_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(FL, 4, 13, 14, 15, 16);
+}
+
+// RF wheel
+void IRTSSensorInterface::receive_IRTS_sensor_temp_rf_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(RF, 1, 1, 2, 3, 4);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_rf_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(RF, 2, 5, 6, 7, 8);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_rf_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(RF, 3, 9, 10, 11, 12);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_rf_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(RF, 4, 13, 14, 15, 16);
+}
+
+
+// LFR wheel
+void IRTSSensorInterface::receive_IRTS_sensor_temp_lr_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(LR, 1, 1, 2, 3, 4);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_lr_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(LR, 2, 5, 6, 7, 8);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_lr_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(LR, 3, 9, 10, 11, 12);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_lr_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(LR, 4, 13, 14, 15, 16);
+}
+
+// RR wheel
+void IRTSSensorInterface::receive_IRTS_sensor_temp_rr_ch1_ch4(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(RR, 1, 1, 2, 3, 4);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_rr_ch5_ch8(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(RR, 2, 5, 6, 7, 8);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_rr_ch9_ch12(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(RR, 3, 9, 10, 11, 12);
+}
+void IRTSSensorInterface::receive_IRTS_sensor_temp_rr_ch13_ch16(const CAN_message_t &msg, unsigned long curr_millis)
+{
+    UNPACK_AND_POPULATE_TEMP(RR, 4, 13, 14, 15, 16);
+}
+
+IRTSSensorData_s IRTSSensorInterface::get_latest_sensor_data() const
+{
+    return latest_sensor_data;
+}
\ No newline at end of file