diff --git a/firmware/Cargo.lock b/firmware/Cargo.lock
index 48bdb0b..c930f41 100644
--- a/firmware/Cargo.lock
+++ b/firmware/Cargo.lock
@@ -31,6 +31,11 @@ dependencies = [
  "stable_deref_trait 1.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "autocfg"
+version = "0.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
 [[package]]
 name = "bare-metal"
 version = "0.2.5"
@@ -49,6 +54,14 @@ name = "bitflags"
 version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
+[[package]]
+name = "btoi"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "num-traits 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "build_const"
 version = "0.2.1"
@@ -148,6 +161,7 @@ dependencies = [
  "alloc-cortex-m 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)",
  "bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
  "bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "btoi 0.4.1 (registry+https://github.com/rust-lang/crates.io-index)",
  "byteorder 1.3.2 (registry+https://github.com/rust-lang/crates.io-index)",
  "cortex-m 0.5.10 (registry+https://github.com/rust-lang/crates.io-index)",
  "cortex-m-rt 0.6.10 (registry+https://github.com/rust-lang/crates.io-index)",
@@ -211,6 +225,14 @@ name = "nb"
 version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
+[[package]]
+name = "num-traits"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "autocfg 0.1.6 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "proc-macro2"
 version = "0.4.30"
@@ -387,9 +409,11 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 "checksum aligned 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "d3a316c7ea8e1e9ece54862c992def5a7ac14de9f5832b69d71760680efeeefa"
 "checksum alloc-cortex-m 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)" = "6d5f7d01bc93ce089de636f946f7f1fdc5e5d751732367e019c9755440e7aef4"
 "checksum as-slice 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "293dac66b274fab06f95e7efb05ec439a6b70136081ea522d270bc351ae5bb27"
+"checksum autocfg 0.1.6 (registry+https://github.com/rust-lang/crates.io-index)" = "b671c8fb71b457dd4ae18c4ba1e59aa81793daacc361d82fcd410cef0d491875"
 "checksum bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)" = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
 "checksum bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)" = "a165d606cf084741d4ac3a28fb6e9b1eb0bd31f6cd999098cfddb0b2ab381dc0"
 "checksum bitflags 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "3d155346769a6855b86399e9bc3814ab343cd3d62c7e985113d46a0ec3c281fd"
+"checksum btoi 0.4.1 (registry+https://github.com/rust-lang/crates.io-index)" = "e4ced8205e70d9e553d008d53ded735808fa6133597318d48f74fc2bf9861471"
 "checksum build_const 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "39092a32794787acd8525ee150305ff051b0aa6cc2abaf193924f5ab05425f39"
 "checksum byteorder 1.3.2 (registry+https://github.com/rust-lang/crates.io-index)" = "a7c3dd8985a7111efc5c80b44e23ecdd8c007de8ade3b96595387e812b957cf5"
 "checksum cortex-m 0.1.8 (registry+https://github.com/rust-lang/crates.io-index)" = "3df5de9a9829f2ccb7defa8945fa020c6614cd2f6ba9b5f33db9241dcc01985e"
@@ -408,6 +432,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 "checksum logos-derive 0.9.7 (registry+https://github.com/rust-lang/crates.io-index)" = "13ff1b1068db09ee21d12baf55eccc0900a781a735273e0a606f6f4fbb32a322"
 "checksum managed 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)" = "43e2737ecabe4ae36a68061398bf27d2bfd0763f4c3c837a398478459494c4b7"
 "checksum nb 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)" = "b1411551beb3c11dedfb0a90a0fa256b47d28b9ec2cdff34c25a2fa59e45dbdc"
+"checksum num-traits 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)" = "6ba9a427cfca2be13aa6f6403b0b7e7368fe982bfa16fccc450ce74c46cd9b32"
 "checksum proc-macro2 0.4.30 (registry+https://github.com/rust-lang/crates.io-index)" = "cf3d2011ab5c909338f7887f4fc896d35932e29146c12c8d01da6b22a80ba759"
 "checksum quote 0.6.13 (registry+https://github.com/rust-lang/crates.io-index)" = "6ce23b6b870e8f94f81fb0a363d65d86675884b34a09043c81e5562f11c1f8e1"
 "checksum r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
diff --git a/firmware/Cargo.toml b/firmware/Cargo.toml
index bf4702b..2efb71a 100644
--- a/firmware/Cargo.toml
+++ b/firmware/Cargo.toml
@@ -21,6 +21,7 @@ bit_field = "0.10"
 bare-metal = "0.2"
 logos = { version = "~0.9", default-features = false, features = ["export_derive"] }
 alloc-cortex-m = "0.3"
+btoi = { version = "~0.4", default-features = false }
 
 [dependencies.smoltcp]
 git = "https://github.com/m-labs/smoltcp"
diff --git a/firmware/src/board/mod.rs b/firmware/src/board/mod.rs
index ac11193..303ae3c 100644
--- a/firmware/src/board/mod.rs
+++ b/firmware/src/board/mod.rs
@@ -174,6 +174,22 @@ pub fn init() {
     });
 }
 
+pub fn set_timer_pwm(matchr: u32, ilr: u32) {
+    macro_rules! set_timer_pwm {
+        ($T: tt) => (
+            let timer = unsafe { &*tm4c129x::$T::ptr() };
+            timer.tamatchr.write(|w| unsafe { w.bits(matchr) });
+            timer.tbmatchr.write(|w| unsafe { w.bits(matchr) });
+            timer.tailr.write(|w| unsafe { w.bits(ilr) });
+            timer.tbilr.write(|w| unsafe { w.bits(ilr) });
+        )
+    }
+    set_timer_pwm!(TIMER2);
+    set_timer_pwm!(TIMER3);
+    set_timer_pwm!(TIMER4);
+    set_timer_pwm!(TIMER5);
+}
+
 pub fn get_mac_address() -> [u8; 6] {
     let (userreg0, userreg1) = cortex_m::interrupt::free(|_cs| {
         let flashctl = unsafe { &*tm4c129x::FLASH_CTRL::ptr() };
diff --git a/firmware/src/command_parser.rs b/firmware/src/command_parser.rs
index 6d84bfa..8f464d8 100644
--- a/firmware/src/command_parser.rs
+++ b/firmware/src/command_parser.rs
@@ -1,4 +1,5 @@
 use logos::Logos;
+use btoi::{btoi, ParseIntegerError};
 use super::session::ReportMode;
 
 #[derive(Logos, Debug, PartialEq)]
@@ -20,6 +21,8 @@ enum Token {
     Once,
     #[token = "continuous"]
     Continuous,
+    #[token = "pwm"]
+    Pwm,
 
     #[regex = "[0-9]+"]
     Number,
@@ -30,6 +33,13 @@ pub enum Error {
     Parser,
     UnexpectedEnd,
     UnexpectedToken(Token),
+    ParseInteger(ParseIntegerError)
+}
+
+impl From<ParseIntegerError> for Error {
+    fn from(e: ParseIntegerError) -> Self {
+        Error::ParseInteger(e)
+    }
 }
 
 #[derive(Debug)]
@@ -42,6 +52,10 @@ pub enum Command {
     Quit,
     Show(ShowCommand),
     Report(ReportMode),
+    Pwm {
+        pwm_match: u32,
+        pwm_reload: u32,
+    },
 }
 
 impl Command {
@@ -85,6 +99,27 @@ impl Command {
                 ],
                 End => Ok(Command::Report(ReportMode::Once)),
             ],
+            Pwm => {
+                if lexer.token != Token::Number {
+                    return Err(Error::UnexpectedToken(lexer.token));
+                }
+                let pwm_match = btoi(lexer.slice().as_bytes())?;
+                lexer.advance();
+
+                if lexer.token != Token::Number {
+                    return Err(Error::UnexpectedToken(lexer.token));
+                }
+                let pwm_reload = btoi(lexer.slice().as_bytes())?;
+                lexer.advance();
+
+                if lexer.token != Token::End {
+                    return Err(Error::UnexpectedToken(lexer.token));
+                }
+
+                end!(Command::Pwm {
+                    pwm_match, pwm_reload,
+                })
+            },
         ]
     }
 }
diff --git a/firmware/src/main.rs b/firmware/src/main.rs
index b4ad0b1..20ad9c2 100644
--- a/firmware/src/main.rs
+++ b/firmware/src/main.rs
@@ -263,9 +263,9 @@ fn main() -> ! {
                         Command::Show(ShowCommand::ReportMode) => {
                             let _ = writeln!(socket, "Report mode: {:?}", session.report_mode());
                         }
-                        command => {
-                            // TODO: remove for exhaustion check
-                            let _ = writeln!(socket, "Not implemented: {:?}", command);
+                        Command::Pwm { pwm_match, pwm_reload } => {
+                            board::set_timer_pwm(pwm_match, pwm_reload);
+                            let _ = writeln!(socket, "PWM duty cycle: {}/{}", pwm_match, pwm_reload);
                         }
                     }
                     Ok(SessionOutput::Error(e)) => {