diff --git a/andino_firmware/platformio.ini b/andino_firmware/platformio.ini
index b6cbfd70..5b596555 100644
--- a/andino_firmware/platformio.ini
+++ b/andino_firmware/platformio.ini
@@ -8,23 +8,36 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
 
+[platformio]
+default_envs = uno, nanoatmega328
+
+; Base configuration for build tools.
+[base_build]
+build_flags =
+  -Wall -Wextra
+
 ; Base configuration for Atmel AVR based Arduino boards.
 [base_atmelavr]
 platform = atmelavr
 framework = arduino
 monitor_speed = 57600
+test_ignore = test_desktop
 
-; Base configuration for build tools.
-[base_build]
-build_flags =
-  -Wall -Wextra
+; Base configuration for desktop platforms (for unit testing).
+[base_desktop]
+platform = native
+test_framework = googletest
 
 ; Environment for Arduino Uno.
 [env:uno]
-extends = base_atmelavr, base_build
+extends = base_build, base_atmelavr
 board = uno
 
 ; Environment for Arduino Nano.
 [env:nanoatmega328]
-extends = base_atmelavr, base_build
+extends = base_build, base_atmelavr
 board = nanoatmega328
+
+; Environment for desktop platforms (Windows, macOS, Linux, etc).
+[env:desktop]
+extends = base_build, base_desktop
diff --git a/andino_firmware/src/app.cpp b/andino_firmware/src/app.cpp
index faf41ef7..aa606aae 100644
--- a/andino_firmware/src/app.cpp
+++ b/andino_firmware/src/app.cpp
@@ -64,7 +64,8 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "app.h"
 
-#include "Arduino.h"
+#include <Arduino.h>
+
 #include "commands.h"
 #include "constants.h"
 #include "encoder.h"
diff --git a/andino_firmware/src/encoder.cpp b/andino_firmware/src/encoder.cpp
index 313548c3..bdf17ab0 100644
--- a/andino_firmware/src/encoder.cpp
+++ b/andino_firmware/src/encoder.cpp
@@ -66,7 +66,8 @@
 
 #include <stdint.h>
 
-#include "Arduino.h"
+#include <Arduino.h>
+
 #include "pcint.h"
 
 namespace andino {
diff --git a/andino_firmware/src/motor.cpp b/andino_firmware/src/motor.cpp
index 899756c6..1720bdab 100644
--- a/andino_firmware/src/motor.cpp
+++ b/andino_firmware/src/motor.cpp
@@ -64,7 +64,7 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "motor.h"
 
-#include "Arduino.h"
+#include <Arduino.h>
 
 namespace andino {
 
diff --git a/andino_firmware/src/pcint.cpp b/andino_firmware/src/pcint.cpp
index ebc17b03..5853c74b 100644
--- a/andino_firmware/src/pcint.cpp
+++ b/andino_firmware/src/pcint.cpp
@@ -29,7 +29,7 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "pcint.h"
 
-#include "Arduino.h"
+#include <Arduino.h>
 
 static andino::PCInt::InterruptCallback g_callbacks[3] = {nullptr};
 
diff --git a/andino_firmware/src/pcint.h b/andino_firmware/src/pcint.h
index 27e4f891..bf9ef43a 100644
--- a/andino_firmware/src/pcint.h
+++ b/andino_firmware/src/pcint.h
@@ -31,7 +31,7 @@
 
 #include <stdint.h>
 
-#include "Arduino.h"
+#include <Arduino.h>
 
 namespace andino {
 
diff --git a/andino_firmware/test/test_desktop/pid_test.cpp b/andino_firmware/test/test_desktop/pid_test.cpp
new file mode 100644
index 00000000..72f9e57a
--- /dev/null
+++ b/andino_firmware/test/test_desktop/pid_test.cpp
@@ -0,0 +1,47 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2023, Ekumen Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// 1. Redistributions of source code must retain the above copyright notice, this
+//    list of conditions and the following disclaimer.
+//
+// 2. Redistributions in binary form must reproduce the above copyright notice,
+//    this list of conditions and the following disclaimer in the documentation
+//    and/or other materials provided with the distribution.
+//
+// 3. Neither the name of the copyright holder nor the names of its
+//    contributors may be used to endorse or promote products derived from
+//    this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#include "pid.h"
+
+#include <gtest/gtest.h>
+
+// TODO(jballoffet): Add unit tests.
+TEST(PidTest, ConstructOk) {
+  andino::PID pid_controller(0, 0, 0, 0, 0, 0);
+  EXPECT_EQ(1, 1);
+}
+
+int main(int argc, char** argv) {
+  ::testing::InitGoogleTest(&argc, argv);
+  if (RUN_ALL_TESTS()) {
+  }
+
+  // Always return zero-code and allow PlatformIO to parse results.
+  return 0;
+}