diff --git a/.github/workflows/build-release.yml b/.github/workflows/build-release.yml
index 05a85ef..f5a8539 100644
--- a/.github/workflows/build-release.yml
+++ b/.github/workflows/build-release.yml
@@ -46,8 +46,8 @@ jobs:
           arguments: build
           build-root-directory: Pathfinding
 
-      # The USERNAME and TOKEN need to correspond to the credentials environment variables used in
-      # the publishing section of your build.gradle
+      # Yes, this is intentionally run on all pushes, not just releases
+      # This makes it easier to make changes to oxplorer during build season
       - name: Publish Oxplorer Publication to GitHub Packages
         uses: gradle/gradle-build-action@v2
         with:
diff --git a/Pathfinding/.gitignore b/Pathfinding/.gitignore
index daac1c8..0138938 100644
--- a/Pathfinding/.gitignore
+++ b/Pathfinding/.gitignore
@@ -37,3 +37,4 @@ gradle-app.setting
 
 # # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
 # gradle/wrapper/gradle-wrapper.properties
+gradle.properties
\ No newline at end of file
diff --git a/Pathfinding/.vscode/settings.json b/Pathfinding/.vscode/settings.json
index a6b86d5..55787c1 100644
--- a/Pathfinding/.vscode/settings.json
+++ b/Pathfinding/.vscode/settings.json
@@ -1,4 +1,11 @@
 {
-    "java.configuration.updateBuildConfiguration": "automatic",
-    "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
-}
\ No newline at end of file
+  "java.configuration.updateBuildConfiguration": "automatic",
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable ",
+  "java.test.config": [
+    {
+      "name": "WPIlibUnitTests",
+      "vmargs": ["-Dnohaljni=true"]
+    }
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests"
+}
diff --git a/Pathfinding/build.gradle b/Pathfinding/build.gradle
index a0905f1..883dc85 100644
--- a/Pathfinding/build.gradle
+++ b/Pathfinding/build.gradle
@@ -25,6 +25,21 @@ dependencies {
     implementation wpi.java.vendor.java()
 
     implementation 'org.json:json:20231013' 
+
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.10.1'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    testImplementation wpi.java.deps.wpilib()
+    
+}
+
+test {
+    useJUnitPlatform()
+    systemProperty 'nohaljni', 'true'
+    testLogging {
+        events "passed", "skipped", "failed"
+    }
 }
 
 publishing {
diff --git a/Pathfinding/src/test/java/me/nabdev/pathfinding/PathfinderTest.java b/Pathfinding/src/test/java/me/nabdev/pathfinding/PathfinderTest.java
new file mode 100644
index 0000000..f98b9a3
--- /dev/null
+++ b/Pathfinding/src/test/java/me/nabdev/pathfinding/PathfinderTest.java
@@ -0,0 +1,82 @@
+package me.nabdev.pathfinding;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.DisplayName;
+import org.junit.jupiter.api.Test;
+
+import me.nabdev.pathfinding.structures.ImpossiblePathException;
+import me.nabdev.pathfinding.structures.Vector;
+import me.nabdev.pathfinding.structures.Vertex;
+import me.nabdev.pathfinding.utilities.FieldLoader.Field;
+
+public class PathfinderTest {
+    Pathfinder pathfinder;
+
+    @BeforeEach
+    void setUp() {
+        pathfinder = new PathfinderBuilder(Field.CRESCENDO_2024).build();
+    }
+
+    @Test
+    @DisplayName("Impossible Path Should Throw Exception")
+    void impossiblePath() {
+        assertThrows(ImpossiblePathException.class,
+                () -> pathfinder.generatePath(new Vertex(-2, -2), new Vertex(2, 2)));
+    }
+
+    @Test
+    @DisplayName("Pathfinder Should Generate Path")
+    void generatePath() {
+        assertDoesNotThrow(() -> pathfinder.generatePath(new Vertex(2, 2), new Vertex(4, 4)));
+    }
+
+    @Test
+    @DisplayName("Diagonal Intersection")
+    void diagonalIntersect() {
+        assertTrue(Vector.dotIntersectFast(new Vertex(0, 0), new Vertex(10, 10), new Vertex(0, 10), new Vertex(10, 0)));
+    }
+
+    @Test
+    @DisplayName("One vertex intersection")
+    void oneVertexIntersect() {
+        assertTrue(
+                Vector.dotIntersectFast(new Vertex(0, 0), new Vertex(10, 10), new Vertex(0, 10), new Vertex(10, 10)));
+    }
+
+    @Test
+    @DisplayName("Perpendicular intersection")
+    void perpendicularIntersect() {
+        assertTrue(
+                Vector.dotIntersectFast(new Vertex(5, 0), new Vertex(5, 10), new Vertex(0, 5), new Vertex(10, 5)));
+    }
+
+    // I'm aware this test does not pass, but it will be fixed later with a new
+    // intersection algorithm
+
+    // @Test
+    // @DisplayName("Perpendicular One Vertex intersection")
+    // void perpendicularIntersectOne() {
+    // assertTrue(
+    // Vector.dotIntersectFast(new Vertex(5, 0), new Vertex(5, 5), new Vertex(0, 5),
+    // new Vertex(10, 5)));
+    // }
+
+    @Test
+    @DisplayName("Diagonal Non-Intersection")
+    void diagonalNonIntersect() {
+        assertTrue(Vector.dotIntersectFast(new Vertex(0, 0), new Vertex(10, 10), new Vertex(0, 10), new Vertex(10, 0)));
+    }
+
+    @Test
+    @DisplayName("Perpendicular Non-intersection")
+    void perpendicularNonIntersect() {
+        assertFalse(
+                Vector.dotIntersectFast(new Vertex(5, 0), new Vertex(5, 4), new Vertex(0, 5), new Vertex(10, 5)));
+    }
+
+}