diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..3413f23
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,22 @@
+name: ci
+
+on:
+  pull_request:
+  push:
+    branches: [main]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  test:
+    name: cargo test + clippy + fmt
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
+        with:
+          components: rustfmt, clippy
+      - run: cargo fmt --all -- --check
+      - run: cargo clippy --workspace --all-targets -- -D warnings
+      - run: cargo test --workspace
diff --git a/bno085/src/runtime.rs b/bno085/src/runtime.rs
index 7502718..76ac12b 100644
--- a/bno085/src/runtime.rs
+++ b/bno085/src/runtime.rs
@@ -1,16 +1,16 @@
 use std::time::Duration;
 
 use anyhow::{Result, bail};
-use phoxal_infra_bus::pubsub::Stamped;
-use phoxal_core_component::v1::CapabilityRef;
-use phoxal_core_component::v1::capability::Capability;
 use phoxal_api_component::v1::capability::accelerometer::Sample as AccelerometerSample;
 use phoxal_api_component::v1::capability::gyroscope::Sample as GyroscopeSample;
 use phoxal_api_component::v1::capability::imu;
 use phoxal_api_component::v1::capability::imu::Sample as ImuSample;
+use phoxal_core_component::v1::CapabilityRef;
+use phoxal_core_component::v1::capability::Capability;
 use phoxal_core_engine::clock::{Schedule, SchedulePolicy, Step};
 use phoxal_core_engine::step::{Io, Publisher, Runtime, RuntimeInputs};
 use phoxal_core_engine::{EmptyArgs, RobotRuntimeArgs};
+use phoxal_infra_bus::pubsub::Stamped;
 
 #[derive(Clone)]
 pub struct Config {
@@ -20,7 +20,10 @@ pub struct Config {
 }
 
 impl Config {
-    pub fn new(component_id: &str, component: &phoxal_core_component::v1::Component) -> Result<Self> {
+    pub fn new(
+        component_id: &str,
+        component: &phoxal_core_component::v1::Component,
+    ) -> Result<Self> {
         Ok(Self {
             imu: sensor(component_id, component, CapabilityKind::Imu)?,
             accelerometer: sensor(component_id, component, CapabilityKind::Accelerometer)?,
diff --git a/ddsm115/src/runtime.rs b/ddsm115/src/runtime.rs
index d430602..97fe8c9 100644
--- a/ddsm115/src/runtime.rs
+++ b/ddsm115/src/runtime.rs
@@ -1,15 +1,15 @@
 use std::time::Duration;
 
 use anyhow::{Result, bail};
-use phoxal_infra_bus::pubsub::Stamped;
-use phoxal_core_component::v1::CapabilityRef;
-use phoxal_core_component::v1::capability::{Capability, MotorCommand};
 use phoxal_api_component::v1::capability::encoder::Sample;
 use phoxal_api_component::v1::capability::motor::Command;
 use phoxal_api_component::v1::capability::{encoder, motor};
+use phoxal_core_component::v1::CapabilityRef;
+use phoxal_core_component::v1::capability::{Capability, MotorCommand};
 use phoxal_core_engine::clock::{Schedule, SchedulePolicy, Step};
 use phoxal_core_engine::step::{Io, Publisher, Runtime, RuntimeInputs};
 use phoxal_core_engine::{EmptyArgs, RobotRuntimeArgs};
+use phoxal_infra_bus::pubsub::Stamped;
 use tracing::info;
 
 #[derive(Clone)]
@@ -20,7 +20,10 @@ pub struct Config {
 }
 
 impl Config {
-    pub fn new(component_id: &str, component: &phoxal_core_component::v1::Component) -> Result<Self> {
+    pub fn new(
+        component_id: &str,
+        component: &phoxal_core_component::v1::Component,
+    ) -> Result<Self> {
         let mut actuator_id = None;
         let mut actuator_type = None;
         let mut encoder = None;
diff --git a/vl53l1x/src/runtime.rs b/vl53l1x/src/runtime.rs
index 1ea25e5..a1aa8d6 100644
--- a/vl53l1x/src/runtime.rs
+++ b/vl53l1x/src/runtime.rs
@@ -1,11 +1,11 @@
 use anyhow::{Result, bail};
-use phoxal_infra_bus::pubsub::Stamped;
+use phoxal_api_component::v1::capability::range::{self, Sample};
 use phoxal_core_component::v1::CapabilityRef;
 use phoxal_core_component::v1::capability::{Capability, Range as RangeConfig};
-use phoxal_api_component::v1::capability::range::{self, Sample};
 use phoxal_core_engine::clock::{Schedule, SchedulePolicy, Step};
 use phoxal_core_engine::step::{Io, Publisher, Runtime, RuntimeInputs};
 use phoxal_core_engine::{EmptyArgs, RobotRuntimeArgs};
+use phoxal_infra_bus::pubsub::Stamped;
 
 #[derive(Clone)]
 pub struct Config {
@@ -13,7 +13,10 @@ pub struct Config {
 }
 
 impl Config {
-    pub fn new(component_id: &str, component: &phoxal_core_component::v1::Component) -> Result<Self> {
+    pub fn new(
+        component_id: &str,
+        component: &phoxal_core_component::v1::Component,
+    ) -> Result<Self> {
         Ok(Self {
             range: Self::inspect(component_id, component)?,
         })