diff --git a/benches/bench.rs b/benches/bench.rs
new file mode 100644
index 0000000000..7318c8ac0c
--- /dev/null
+++ b/benches/bench.rs
@@ -0,0 +1,45 @@
+use criterion::{criterion_group, criterion_main, Criterion};
+use navigator_rs::{AdcChannel, Navigator, PwmChannel, UserLed};
+
+fn navigator_benchmark(c: &mut Criterion) {
+    #[macro_export]
+    macro_rules! bench {
+    ($bench_fn:ident($($arg:tt)*)) => {
+        let mut nav = Navigator::new();
+        nav.init();
+        c.bench_function(stringify!($bench_fn), |b| b.iter(|| nav.$bench_fn($($arg)*)));
+    }}
+
+    // Navigator creation benchmark
+    c.bench_function("new", |b| b.iter(|| Navigator::new()));
+
+    // Benchmark Inputs
+    bench!(init());
+
+    bench!(read_adc(AdcChannel::Ch0));
+    bench!(read_adc_all());
+
+    bench!(read_accel());
+    bench!(read_gyro());
+    bench!(read_mag());
+
+    bench!(read_pressure());
+    bench!(read_temperature());
+
+    bench!(read_all());
+
+    // Benchmark Outputs
+    bench!(pwm_enable(false));
+    bench!(set_pwm_channel_value(PwmChannel::Ch1, 100));
+    bench!(set_pwm_freq_hz(60.0));
+    bench!(set_pwm_freq_prescale(100));
+
+    bench!(set_neopixel(&[[0, 0, 0]]));
+
+    bench!(set_led(UserLed::Led1, false));
+    bench!(set_led_toggle(UserLed::Led1));
+    bench!(get_led(UserLed::Led1));
+}
+
+criterion_group!(benches, navigator_benchmark);
+criterion_main!(benches);