diff --git a/include/VCF_Constants.h b/include/VCF_Constants.h
index bc3fed7..a25ab7a 100644
--- a/include/VCF_Constants.h
+++ b/include/VCF_Constants.h
@@ -12,7 +12,7 @@ namespace VCFInterfaceConstants {
     // constexpr int BTN_PRESET_READ = 31;
     // constexpr int BTN_MODE_READ = 27; // USED TO BE 26.
     */
-
+    /* Dashboard Buttons */
     constexpr int BTN_MC_CYCLE_READ = 31; // DB/MC_RESET on schematic
     constexpr int BTN_START_READ = 29; // RTD on schematic
     constexpr int BTN_DATA_READ = 30; // DATA_MARK on schematic
@@ -20,6 +20,9 @@ namespace VCFInterfaceConstants {
     constexpr int BRIGHTNESS_CONTROL_PIN = 26; //BUTTON_1 on schematic
     constexpr int BUTTON_2 = 27; // BUTTON_2 on schematic
     constexpr int BTN_PRESET_READ = 28; // Pedals recal button (brightness control on schematic)
+
+    /* Dashboard IOExpander Setup */
+    constexpr uint8_t IO_EXPANDER_ADDR = 0x20;
     
     constexpr int NEOPIXEL_CONTROL_PIN = 33;
     constexpr int NEOPIXEL_COUNT = 16; // 16 neopixeles on dashboard
diff --git a/include/VCF_Globals.h b/include/VCF_Globals.h
deleted file mode 100644
index cd64e53..0000000
--- a/include/VCF_Globals.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#ifndef VCF_GLOBALS
-#define VCF_GLOBALS
-
-/* C++ library includes */
-#include <array>
-
-/* From shared-firmware-interfaces */
-#include "MCP_ADC.h"
-
-/* From shared-firmware-interfaces */
-#include "EthernetAddressDefs.h"
-#include "Orbis_BR.h"
-
-/* From shared-firmware-types */
-#include "PedalsSystem.h"
-#include "SharedFirmwareTypes.h"
-
-/* Local includes */
-#include "VCF_Constants.h"
-
-/* From Embedded Template Library */
-#include <etl/singleton.h>
-
-/* Ethernet includes */
-#include "QNEthernet.h"
-
-/* From MCP23017 Library */
-#include "MCP23017.h"
-
-/* IOExpander setup */
-using IOExpanderInstance = etl::singleton<MCP23017>;
-
-#endif /* VCF_GLOBALS */
\ No newline at end of file
diff --git a/include/VCF_Tasks.h b/include/VCF_Tasks.h
index 54837ad..6228bad 100644
--- a/include/VCF_Tasks.h
+++ b/include/VCF_Tasks.h
@@ -95,9 +95,6 @@ HT_TASK::TaskResponse handle_CAN_receive(const unsigned long& sysMicros, const H
 HT_TASK::TaskResponse run_dash_GPIOs_task(const unsigned long& sys_micros, const HT_TASK::TaskInfo& task_info); // NOLINT (capitalization of GPIOs)
 HT_TASK::TaskResponse send_dash_data(const unsigned long &sysMicros, const HT_TASK::TaskInfo &taskInfo);
 
-HT_TASK::TaskResponse create_ioexpander(const unsigned long& sys_micros, const HT_TASK::TaskInfo& task_info);
-HT_TASK::TaskResponse read_ioexpander(const unsigned long& sys_micros, const HT_TASK::TaskInfo& task_info);
-
 HT_TASK::TaskResponse init_neopixels_task(const unsigned long& sys_micros, const HT_TASK::TaskInfo& task_info);
 HT_TASK::TaskResponse run_update_neopixels_task(const unsigned long& sys_micros, const HT_TASK::TaskInfo& task_info);
 
diff --git a/lib/interfaces/include/DashboardInterface.h b/lib/interfaces/include/DashboardInterface.h
index cd25ff7..0d64616 100644
--- a/lib/interfaces/include/DashboardInterface.h
+++ b/lib/interfaces/include/DashboardInterface.h
@@ -1,15 +1,18 @@
 #ifndef DASHBOARD_INTERFACE_H
 #define DASHBOARD_INTERFACE_H
 
-#include "hytech_msgs.pb.h"
-#include "SharedFirmwareTypes.h"
 #include "Arduino.h"
 #include "etl/singleton.h"
-#include "hytech.h"
+#include "MCP23017.h"
 #include <Wire.h>
-#include "SystemTimeInterface.h"
 #include "FlexCAN_T4.h"
 
+#include "hytech_msgs.pb.h"
+#include "SharedFirmwareTypes.h"
+#include "hytech.h"
+
+#include "SystemTimeInterface.h"
+
 
 // Struct representing dashboard gpios
 struct DashboardGPIOs_s {
@@ -28,7 +31,9 @@ class DashboardInterface
     public: 
         DashboardInterface() = delete; 
 
-        DashboardInterface(DashboardGPIOs_s gpios) : _dashboard_gpios(gpios) 
+        DashboardInterface(DashboardGPIOs_s gpios, 
+                uint8_t io_expander_addr, TwoWire &i2c_bus)
+            : _dashboard_gpios(gpios), _io_expander(MCP23017(io_expander_addr, i2c_bus))
         {
             pinMode(_dashboard_gpios.START_BUTTON, INPUT_PULLUP);
             pinMode(_dashboard_gpios.PRESET_BUTTON, INPUT_PULLUP); 
@@ -38,6 +43,9 @@ class DashboardInterface
             pinMode(_dashboard_gpios.BUTTON_2, INPUT_PULLUP);
 
             _dash_created_millis = sys_time::hal_millis();
+
+            i2c_bus.begin();
+            _initIOExpander();
         }
 
         // Reading gpios 
@@ -60,6 +68,8 @@ class DashboardInterface
         bool imd_ok = true;
 
         void set_dial_state(ControllerMode_e mode);
+
+        void read_ioexpander();
     
     private: 
 
@@ -67,10 +77,20 @@ class DashboardInterface
         DashInputState_s _dashboard_outputs;
         DashInputState_s _dashboard_stored_state;
 
+        MCP23017 _io_expander;
+
         unsigned long _dash_created_millis;
-};
 
+        inline void _initIOExpander() {
+            _io_expander.init();
+
+            _io_expander.portMode(MCP23017Port::A, 0b00000000); // 0b0000 0000 = 0
+            _io_expander.portMode(MCP23017Port::B, 0b01111111); // 0b0111 1111 = 127
 
+            _io_expander.writeRegister(MCP23017Register::GPPU_B, 0xFF); // Internal pull-ups
+            _io_expander.writeRegister(MCP23017Register::IPOL_B, 0xFF); // Polarity (inverted)
+        }
+};
 
 using DashboardInterfaceInstance = etl::singleton<DashboardInterface>;
 
diff --git a/lib/interfaces/src/DashboardInterface.cpp b/lib/interfaces/src/DashboardInterface.cpp
index 9a9042c..e7ac81a 100644
--- a/lib/interfaces/src/DashboardInterface.cpp
+++ b/lib/interfaces/src/DashboardInterface.cpp
@@ -1,8 +1,11 @@
-#include "DashboardInterface.h"
 #include "SharedFirmwareTypes.h"
+
+#include "DashboardInterface.h"
 #include "CANInterface.h"
 #include "VCFCANInterfaceImpl.h"
 
+#include "IOExpanderUtils.h"
+
 /* Button reads */
 DashInputState_s DashboardInterface::get_dashboard_outputs() 
 {
@@ -39,4 +42,65 @@ DashInputState_s DashboardInterface::get_dashboard_stored_state()
 void DashboardInterface::sync_dashboard_stored_state()
 {
     _dashboard_stored_state = _dashboard_outputs;
+}
+
+void DashboardInterface::read_ioexpander() {
+    uint16_t data = _io_expander.read(); // read data from IOExpander
+    ControllerMode_e new_mode = ControllerMode_e::MODE_0; // default to mode 0
+
+    // check for value of dial
+    if (IOExpanderUtils::getBit(data, (bool) MCP23017Port::B, 0)) { // NOLINT 0 is pos of bit
+        new_mode = ControllerMode_e::MODE_0;
+    } else if (IOExpanderUtils::getBit(data, (bool) MCP23017Port::B, 1)) { // NOLINT 1 is pos of bit
+        new_mode = ControllerMode_e::MODE_1;
+    } else if (IOExpanderUtils::getBit(data, (bool) MCP23017Port::B, 2)) { // NOLINT 2 is pos of bit
+        new_mode = ControllerMode_e::MODE_2;
+    } else if (IOExpanderUtils::getBit(data, (bool) MCP23017Port::B, 3)) { // NOLINT 3 is pos of bit
+        new_mode = ControllerMode_e::MODE_3;
+    } else if (IOExpanderUtils::getBit(data, (bool) MCP23017Port::B, 4)) { // NOLINT 4 is pos of bit
+        new_mode = ControllerMode_e::MODE_4;
+    } else if (IOExpanderUtils::getBit(data, (bool) MCP23017Port::B, 5)) { // NOLINT 5 is pos of bit
+        new_mode = ControllerMode_e::MODE_5;
+    }
+
+    _dashboard_outputs.dial_state = new_mode; // set new mode
+
+    // write to 8-seg display based on current mode
+    switch (_dashboard_outputs.dial_state) {
+        case ControllerMode_e::MODE_0:
+        {
+            _io_expander.writePort(MCP23017Port::A, 0b00000010); // NOLINT 0b0000 0010 = 2
+            break;
+        }
+        case ControllerMode_e::MODE_1:
+        {
+            _io_expander.writePort(MCP23017Port::A, 0b01010111); // NOLINT 0b0101 0111 = 87
+            break;
+        }
+        case ControllerMode_e::MODE_2:
+        {
+            _io_expander.writePort(MCP23017Port::A, 0b00011000); // NOLINT 0b0001 1000 = 24
+            break;
+        }
+        case ControllerMode_e::MODE_3:
+        {
+            _io_expander.writePort(MCP23017Port::A, 0b00010100); // NOLINT 0b0001 0100 = 20
+            break;
+        }
+        case ControllerMode_e::MODE_4:
+        {
+            _io_expander.writePort(MCP23017Port::A, 0b01000101); // NOLINT 0b0100 0101 = 69
+            break;
+        }
+        case ControllerMode_e::MODE_5:
+        {
+            _io_expander.writePort(MCP23017Port::A, 0b00100100); // NOLINT 0b0010 0100 = 36
+            break;
+        }
+        default:
+        {
+            _io_expander.writePort(MCP23017Port::A, 0b11110000); // NOLINT 0b1111 0000 = 240
+            break;
+        }
+    }
 }
\ No newline at end of file
diff --git a/lib/interfaces/src/VCFCANInterfaceImpl.cpp b/lib/interfaces/src/VCFCANInterfaceImpl.cpp
index 842736a..202ee80 100644
--- a/lib/interfaces/src/VCFCANInterfaceImpl.cpp
+++ b/lib/interfaces/src/VCFCANInterfaceImpl.cpp
@@ -15,17 +15,6 @@ namespace VCFCANInterfaceImpl {
         uint8_t buf[sizeof(CAN_message_t)];
         memmove(buf, &msg, sizeof(msg)); // NOLINT (memory operations are fine)
         VCFCANInterfaceInstance::instance().front_aux_can_rx_buffer.push_back(buf, sizeof(CAN_message_t));
-
-        // Serial.println("msg recvd");
-        // Serial.print("MB: "); Serial.print(msg.mb);
-        // Serial.print("  ID: 0x"); Serial.print(msg.id, HEX);
-        // Serial.print("  EXT: "); Serial.print(msg.flags.extended);
-        // Serial.print("  LEN: "); Serial.print(msg.len);
-        // Serial.print(" DATA: ");
-        // for ( uint8_t i = 0; i < 8; i++ ) {
-        // Serial.print(msg.buf[i]); Serial.print(" ");
-        // }
-        // Serial.print("  TS: "); Serial.println(msg.timestamp);
     }
 
     void vcf_recv_switch(CANInterfaces &interfaces, const CAN_message_t &msg, unsigned long millis, CANInterfaceType_e interface_type)
diff --git a/lib/systems/include/IOExpanderUtils.h b/lib/systems/include/IOExpanderUtils.h
index ebd5a51..5f8ddb4 100644
--- a/lib/systems/include/IOExpanderUtils.h
+++ b/lib/systems/include/IOExpanderUtils.h
@@ -7,12 +7,14 @@
 
 namespace IOExpanderUtils
 {
-    /*
+    /**
     IOExpander's read() only reads.
     getBit() only get specified bit from previously read dataframe and does not read()
-    @param port 0=A; 1=B
+    @param data data from which to get the specified bit
+    @param port port from which to get the bit from (A=0, B=1)
+    @param bit  bit number of port to get bit from
     */
-    bool getBit(uint16_t data, bool port, int bit);
+    bool getBit(uint16_t data, bool port, uint8_t bit);
 }
 
 #endif
\ No newline at end of file
diff --git a/lib/systems/src/IOExpanderUtils.cpp b/lib/systems/src/IOExpanderUtils.cpp
index 71d8aeb..a522a45 100644
--- a/lib/systems/src/IOExpanderUtils.cpp
+++ b/lib/systems/src/IOExpanderUtils.cpp
@@ -1,9 +1,10 @@
 #include "IOExpanderUtils.h"
 
-bool IOExpanderUtils::getBit(uint16_t data, bool port, int bit)
+/*
+ * Retrieves the bit from the data frame.
+ * Port A = 0, and is the lower byte of data. Port B = 1, and is the higher byte of data.
+ */
+bool IOExpanderUtils::getBit(uint16_t data, bool port, uint8_t bit)
 {
-    if(!port){ //0=A
-        return (data>>bit)&1;
-    }
-    return (data>>(8+bit))&1; // NOLINT (B port is in upper 8 bits, while A port is in lower 8 bits)
+    return (data >> ((uint16_t) port * 8 + bit)) & 1; // NOLINT 8 is num of bits in byte
 }
\ No newline at end of file
diff --git a/src/VCF_Tasks.cpp b/src/VCF_Tasks.cpp
index d15616e..ef6c2d5 100644
--- a/src/VCF_Tasks.cpp
+++ b/src/VCF_Tasks.cpp
@@ -1,6 +1,6 @@
 #include "VCF_Tasks.h"
 #include "SharedFirmwareTypes.h"
-#include "VCF_Globals.h"
+#include "EthernetAddressDefs.h"
 #include "VCF_Constants.h"
 #include <QNEthernet.h>
 #include "ProtobufMsgInterface.h"
@@ -36,7 +36,7 @@ HT_TASK::TaskResponse run_read_adc0_task(const unsigned long& sysMicros, const H
     });
 
     // sample digital steering too TODO: move this to its own task maybe?
-    // OrbisBRInstance::instance().sample();
+    OrbisBRInstance::instance().sample();
     return HT_TASK::TaskResponse::YIELD;
 }
 
@@ -267,92 +267,9 @@ HT_TASK::TaskResponse run_dash_GPIOs_task(const unsigned long& sys_micros, const
         NeopixelControllerInstance::instance().dim_neopixels();
     }
 
-    DashboardInterfaceInstance::instance().sync_dashboard_stored_state();
-
-    return HT_TASK::TaskResponse::YIELD;
-}
-
-HT_TASK::TaskResponse create_ioexpander(const unsigned long& sys_micros, const HT_TASK::TaskInfo& task_info)
-{
-    Wire2.begin();
-    IOExpanderInstance::create(0x20, Wire2);
-    IOExpanderInstance::instance().init();
-
-    IOExpanderInstance::instance().portMode(MCP23017Port::A, 0b00000000);
-    IOExpanderInstance::instance().portMode(MCP23017Port::B, 0b01111111);
-
-    // IOExpanderInstance::instance().writeRegister(MCP23017Register::GPIO_A, 0x00);  //Reset port A
-    // IOExpanderInstance::instance().writeRegister(MCP23017Register::GPIO_B, 0x00);  //Reset port B
-
-    IOExpanderInstance::instance().writeRegister(MCP23017Register::GPPU_B, 0xFF);  //Internal pull-ups
-
-    IOExpanderInstance::instance().writeRegister(MCP23017Register::IPOL_B, 0xFF);  //Polarity (inverted)
+    DashboardInterfaceInstance::instance().read_ioexpander();
 
-    return HT_TASK::TaskResponse::YIELD;
-}
-
-HT_TASK::TaskResponse read_ioexpander(const unsigned long& sys_micros, const HT_TASK::TaskInfo& task_info)
-{
-    uint16_t in = IOExpanderInstance::instance().read(); // NOLINT (linter thinks variable uninitialized)
-    // for (int i = 0; i < 8; ++i) {
-    //     Serial.printf("%d ", in & 0x01);
-    //     in = in >> 1;
-    // }
-    // Serial.println("");
-
-    //TODO: Double check the harnessing is not wrong this time
-    if (IOExpanderUtils::getBit(in, 1, 0)) {
-        DashboardInterfaceInstance::instance().set_dial_state(ControllerMode_e::MODE_0);
-    } else if (IOExpanderUtils::getBit(in, 1, 1)) {
-        DashboardInterfaceInstance::instance().set_dial_state(ControllerMode_e::MODE_1);
-    } else if (IOExpanderUtils::getBit(in, 1, 2)) {
-        DashboardInterfaceInstance::instance().set_dial_state(ControllerMode_e::MODE_2);
-    } else if (IOExpanderUtils::getBit(in, 1, 3)) { // NOLINT (pin is magic number)
-        DashboardInterfaceInstance::instance().set_dial_state(ControllerMode_e::MODE_3);
-    } else if (IOExpanderUtils::getBit(in, 1, 4)) { // NOLINT (pin is magic number)
-        DashboardInterfaceInstance::instance().set_dial_state(ControllerMode_e::MODE_4);
-    } else if (IOExpanderUtils::getBit(in, 1, 5)) { // NOLINT (pin is magic number)
-        DashboardInterfaceInstance::instance().set_dial_state(ControllerMode_e::MODE_5);
-    }
-
-    ControllerMode_e state = DashboardInterfaceInstance::instance().get_dashboard_outputs().dial_state; // NOLINT (linter thinks state uninitialized)
-    switch (state) {
-        case ControllerMode_e::MODE_0:
-        {
-            IOExpanderInstance::instance().writePort(MCP23017Port::A, 0b00000010);
-            break;
-        }
-        case ControllerMode_e::MODE_1:
-        {
-            IOExpanderInstance::instance().writePort(MCP23017Port::A, 0b01010111);
-            break;
-        }
-        case ControllerMode_e::MODE_2:
-        {
-            IOExpanderInstance::instance().writePort(MCP23017Port::A, 0b00011000);
-            break;
-        }
-        case ControllerMode_e::MODE_3:
-        {
-            IOExpanderInstance::instance().writePort(MCP23017Port::A, 0b00010100);
-            break;
-        }
-        case ControllerMode_e::MODE_4:
-        {
-            IOExpanderInstance::instance().writePort(MCP23017Port::A, 0b01000101);
-            break;
-        }
-        case ControllerMode_e::MODE_5:
-        {
-            IOExpanderInstance::instance().writePort(MCP23017Port::A, 0b00100100);
-            break;
-        }
-        default:
-        {
-            IOExpanderInstance::instance().writePort(MCP23017Port::A, 0b11110000);
-            break;
-        }
-    }
+    DashboardInterfaceInstance::instance().sync_dashboard_stored_state();
 
     return HT_TASK::TaskResponse::YIELD;
 }
@@ -478,6 +395,9 @@ HT_TASK::TaskResponse debug_print(const unsigned long& sysMicros, const HT_TASK:
     Serial.print(DashboardInterfaceInstance::instance().get_dashboard_outputs().data_btn_is_pressed); Serial.print("\t");
     Serial.println(BuzzerController::getInstance().buzzer_is_active(sys_time::hal_millis()));
 
+    Serial.println("Digital Steering:");
+    Serial.println(OrbisBRInstance::instance().getLastReading().rawValue);
+
     return HT_TASK::TaskResponse::YIELD;
 }
 
@@ -590,7 +510,7 @@ void setup_all_interfaces() {
         .DATA_BUTTON = VCFInterfaceConstants::BTN_DATA_READ,
         .BUTTON_2 = VCFInterfaceConstants::BUTTON_2
     };
-    DashboardInterfaceInstance::create(dashboard_gpios); //NOLINT
+    DashboardInterfaceInstance::create(dashboard_gpios, VCFInterfaceConstants::IO_EXPANDER_ADDR, Wire2); //NOLINT
     ACUInterfaceInstance::create();
     VCRInterfaceInstance::create();
 
diff --git a/src/main.cpp b/src/main.cpp
index 2fa31df..3148850 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -19,7 +19,7 @@
 #include "FlexCAN_T4.h"
 
 /* Local includes */
-#include "VCF_Globals.h"
+
 #include "VCF_Constants.h"
 #include "VCF_Tasks.h"
 #include "PedalsSystem.h"
@@ -50,7 +50,6 @@ HT_TASK::Task adc0_sample(HT_TASK::DUMMY_FUNCTION, &run_read_adc0_task, VCFTaskC
 HT_TASK::Task adc1_sample(HT_TASK::DUMMY_FUNCTION, &run_read_adc1_task, VCFTaskConstants::PEDALS_PRIORITY, VCFTaskConstants::PEDALS_SAMPLE_PERIOD);
 HT_TASK::Task buzzer_control_task(&init_buzzer_control_task, &run_buzzer_control_task, VCFTaskConstants::BUZZER_PRIORITY, VCFTaskConstants::BUZZER_WRITE_PERIOD);
 HT_TASK::Task read_dash_GPIOs_task(HT_TASK::DUMMY_FUNCTION, &run_dash_GPIOs_task, VCFTaskConstants::DASH_SAMPLE_PRIORITY, VCFTaskConstants::DASH_SAMPLE_PERIOD);
-HT_TASK::Task read_ioexpander_task(&create_ioexpander, &read_ioexpander, VCFTaskConstants::DASH_SAMPLE_PRIORITY, VCFTaskConstants::DASH_SAMPLE_PERIOD);
 HT_TASK::Task neopixels_task(&init_neopixels_task, &run_update_neopixels_task, VCFTaskConstants::NEOPIXEL_UPDATE_PRIORITY, VCFTaskConstants::NEOPIXEL_UPDATE_PERIOD);
 HT_TASK::Task ethernet_send_task(init_handle_send_vcf_ethernet_data, run_handle_send_vcf_ethernet_data, VCFTaskConstants::ETHERNET_SEND_PRIORITY, VCFTaskConstants::ETHERNET_SEND_PERIOD);
 HT_TASK::Task steering_message_enqueue(HT_TASK::DUMMY_FUNCTION, &enqueue_steering_data, VCFTaskConstants::STEERING_SEND_PRIORITY, VCFTaskConstants::STEERING_SEND_PERIOD);
@@ -77,7 +76,6 @@ void setup() {
     HT_SCHED::Scheduler::getInstance().schedule(adc0_sample);
     HT_SCHED::Scheduler::getInstance().schedule(adc1_sample);
     HT_SCHED::Scheduler::getInstance().schedule(read_dash_GPIOs_task);
-    HT_SCHED::Scheduler::getInstance().schedule(read_ioexpander_task);
     HT_SCHED::Scheduler::getInstance().schedule(neopixels_task);
     HT_SCHED::Scheduler::getInstance().schedule(steering_message_enqueue);
     HT_SCHED::Scheduler::getInstance().schedule(front_suspension_message_enqueue);
diff --git a/src/test_ethernet_main.cpp b/src/test_ethernet_main.cpp
index 6e38917..46ee94e 100644
--- a/src/test_ethernet_main.cpp
+++ b/src/test_ethernet_main.cpp
@@ -5,7 +5,7 @@
 #include "SharedFirmwareTypes.h"
 #include "EthernetAddressDefs.h"
 #include "hytech_msgs.pb.h"
-#include "VCF_Globals.h"
+
 
 
 #include <array>
diff --git a/src/test_pedals_main.cpp b/src/test_pedals_main.cpp
index 674f0cd..90b5c15 100644
--- a/src/test_pedals_main.cpp
+++ b/src/test_pedals_main.cpp
@@ -8,7 +8,7 @@
 #include "EEPROMUtilities.h"
 
 /* Local includes */
-#include "VCF_Globals.h"
+
 #include "VCF_Constants.h"
 #include "VCF_Tasks.h"
 #include "PedalsSystem.h"