diff --git a/tests/motion-encode.test.js b/tests/motion-encode.test.js
new file mode 100644
index 0000000..5faaaed
--- /dev/null
+++ b/tests/motion-encode.test.js
@@ -0,0 +1,135 @@
+const { deepEqual, throws } = require('assert');
+const { describe, it } = require('node:test');
+const { Encoders } = require('../');
+
+const goodTests = [
+  {
+    description: 'Centroid Position',
+    expected: new Uint8Array([
+      0x02, 0x00, 0x1d, 0x00, 0x10, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00,
+      0x00, 0x00, 0x40, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    ]),
+    bytes: () => {
+      return Encoders.CentroidPosition(16, 1, 2, 3);
+    },
+  },
+  {
+    description: 'Tracked Point Position',
+    expected: new Uint8Array([
+      0x06, 0x00, 0x1e, 0x00, 0x10, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00,
+      0x00, 0x00, 0x40, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+    ]),
+    bytes: () => {
+      return Encoders.TrackedPointPosition(16, 1, 2, 3, 1);
+    },
+  },
+  {
+    description: 'Orientation (Quaternion)',
+    expected: new Uint8Array([
+      0x03, 0x00, 37, 0x00, 0x10, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00,
+      0x00, 0x00, 0x40, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    ]),
+    bytes: () => {
+      return Encoders.OrientationQuaternion(16, 1, 2, 3, 4);
+    },
+  },
+  {
+    description: 'Orientation (Euler)',
+    expected: new Uint8Array([
+      0x04, 0x00, 31, 0x00, 0x10, 0x01, 0x23, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
+      0x00, 0x00, 0x00, 0x00, 0x40, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    ]),
+    bytes: () => {
+      return Encoders.OrientationEuler(16, 0x0123, 1, 2, 3);
+    },
+  },
+  {
+    description: 'Centroid Acceleration and Velocity',
+    expected: new Uint8Array([
+      0x20, 0x00, 51, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+      0x40, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x80, 0x00, 0x00, 0x40, 0xa0, 0x00, 0x00, 0x40, 0xc0, 0x00,
+      0x00, 0x40, 0xe0, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x41, 0x10, 0x00, 0x00,
+    ]),
+    bytes: () => {
+      return Encoders.CentroidAccelVelocity(1, 2, 3, 4, 5, 6, 7, 8, 9);
+    },
+  },
+  {
+    description: 'Tracked Point Acceleration and Velocity',
+    expected: new Uint8Array([
+      0x21, 0x00, 52, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+      0x40, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x80, 0x00, 0x00, 0x40, 0xa0, 0x00, 0x00, 0x40, 0xc0, 0x00,
+      0x00, 0x40, 0xe0, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x41, 0x10, 0x00, 0x00, 0x01,
+    ]),
+    bytes: () => {
+      return Encoders.TrackedPointAccelVelocity(1, 2, 3, 4, 5, 6, 7, 8, 9, 1);
+    },
+  },
+  {
+    description: 'Zone Collision Detection',
+    expected: new Uint8Array([
+      0x22, 0x00, 0x14, 0x02, 0x08, 0x06, 0x7a, 0x6f, 0x6e, 0x65, 0x20, 0x31, 0x08, 0x06, 0x7a, 0x6f, 0x6e, 0x65, 0x20,
+      0x32,
+    ]),
+    bytes: () => {
+      return Encoders.ZoneCollisionDetection([Encoders.ZoneObject('zone 1'), Encoders.ZoneObject('zone 2')]);
+    },
+  },
+  {
+    description: 'Zone Object',
+    expected: new Uint8Array([0x08, 0x06, 0x7a, 0x6f, 0x6e, 0x65, 0x20, 0x31]),
+    bytes: () => {
+      return Encoders.ZoneObject('zone 1');
+    },
+  },
+  {
+    description: 'Trackable (with Timestamp) + Centroid Position Module',
+    expected: new Uint8Array([
+      81, 0, 42, 4, 84, 101, 115, 116, 103, 213, 152, 27, 1, 2, 0, 29, 0, 100, 63, 240, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0,
+      0, 0, 0, 0, 64, 8, 0, 0, 0, 0, 0, 0,
+    ]),
+    bytes: () => {
+      return Encoders.Trackable('Test', [Encoders.CentroidPosition(100, 1, 2, 3)], 1742051355);
+    },
+  },
+  {
+    description: 'Trackable (with Timestamp) + Tracked Point Position Module',
+    expected: new Uint8Array([
+      81, 0, 43, 4, 84, 101, 115, 116, 103, 213, 152, 27, 1, 6, 0, 30, 0, 100, 63, 240, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0,
+      0, 0, 0, 0, 64, 8, 0, 0, 0, 0, 0, 0, 1,
+    ]),
+    bytes: () => {
+      return Encoders.Trackable('Test', [Encoders.TrackedPointPosition(100, 1, 2, 3, 1)], 1742051355);
+    },
+  },
+  {
+    description: 'RTTrPM + Empty Trackable',
+    expected: new Uint8Array([
+      65, 84, 67, 52, 0, 2, 0, 0, 0, 1, 0, 0, 27, 18, 52, 86, 120, 1, 1, 0, 9, 4, 84, 101, 115, 116, 0,
+    ]),
+    bytes: () => {
+      return Encoders.RTTrPM(1, 0x12345678, [Encoders.Trackable('Test', [])]);
+    },
+  },
+];
+
+describe('RTTrPM Message Encoding', () => {
+  goodTests.forEach((messageTest) => {
+    it(messageTest.description, () => {
+      const actual = messageTest.bytes();
+      deepEqual(actual, messageTest.expected);
+    });
+  });
+});
+
+//TODO(jwetzell): add tests that handle errors
+const badTests = [];
+
+describe('RTTrPM Message Encoding Throws', () => {
+  badTests.forEach((messageTest) => {
+    it(messageTest.description, () => {
+      messageTest.bytes();
+      throws(() => {}, messageTest.throwsMessage);
+    });
+  });
+});