diff --git a/src/types/command.rs b/src/types/command.rs
index 3269b31..235ee6e 100644
--- a/src/types/command.rs
+++ b/src/types/command.rs
@@ -1,8 +1,9 @@
-use crate::types::util::primitive::read_u8_bits;
+use crate::types::util::primitive::{read_u8_bits, write_u8_bits};
 use crate::types::{ProfilePointDetection, StepDirection};
+use binrw::__private::Required;
 use binrw::meta::{EndianKind, ReadEndian, WriteEndian};
-use binrw::{BinRead, BinResult, Endian};
-use std::io::{Read, Seek};
+use binrw::{BinRead, BinResult, BinWrite, Endian};
+use std::io::{Read, Seek, Write};
 
 const MASK_STEP_DIRECTION: u8 = 0b0100_0000;
 const SHIFT_STEP_DIRECTION: usize = 6;
@@ -50,3 +51,30 @@ impl BinRead for Command {
         Self::read(reader)
     }
 }
+
+impl BinWrite for Command {
+    type Args<'a> = ();
+
+    fn write<W: Write + Seek>(&self, writer: &mut W) -> BinResult<()>
+    where
+        Self: WriteEndian,
+    {
+        let mut raw: u8 = 0;
+        let pos = writer.stream_position()?;
+
+        raw |= write_u8_bits(self.profile_point_detection, MASK_PROFILE_POINT_DETECTION, 0, pos)?;
+        raw |= write_u8_bits(self.step_direction, MASK_STEP_DIRECTION, SHIFT_STEP_DIRECTION, pos)?;
+
+        raw.write(writer)
+    }
+
+    #[inline]
+    fn write_options<W: Write + Seek>(
+        &self,
+        writer: &mut W,
+        _: Endian,
+        _: Self::Args<'_>,
+    ) -> BinResult<()> {
+        self.write(writer)
+    }
+}