diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
index 3bd520a..2714a3d 100644
--- a/.github/workflows/gradle.yml
+++ b/.github/workflows/gradle.yml
@@ -38,6 +38,10 @@ jobs:
       - name: Run unit tests
         run: ./gradlew :TeamCode:testReleaseUnitTest --no-daemon --stacktrace
 
+      - name: Run JaCoCo
+        run:
+          ./gradlew :TeamCode:jacocoTestReport
+
       - name: Build Release APK
         run: ./gradlew assembleRelease --no-daemon --stacktrace
 
@@ -48,6 +52,12 @@ jobs:
           name: test-report-debug
           path: TeamCode/build/reports/tests/testDebugUnitTest
 
+      - name: Upload JaCoCo Report
+        uses: actions/upload-artifact@v4
+        with:
+          name: Upload JaCoCo Report
+          path: TeamCode/build/reports/jacoco/jacocoTestReport/**/*
+
       - name: Upload Release APK
         uses: actions/upload-artifact@v4
         with:
diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index d4dbfd4..4a768e4 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -3,6 +3,7 @@ apply from: '../build.dependencies.gradle'
 apply plugin: 'de.mannodermaus.android-junit5'
 apply plugin: 'jacoco'
 
+
 android {
     namespace = 'org.firstinspires.ftc.teamcode'
 
@@ -19,6 +20,73 @@ jacoco {
     toolVersion = "0.8.10"
 }
 
+tasks.register("testWithCoverage") {
+    dependsOn("testDebugUnitTest", "jacocoTestReport")
+}
+
+tasks.withType(Test).configureEach {
+    jacoco.includeNoLocationClasses = true
+    jacoco.excludes = [
+        'jdk.internal.*'
+    ]
+}
+
+tasks.register("jacocoTestReport", JacocoReport) {
+    // You are running debug unit tests
+    def variant = "debug"
+    def testVariant = "debugUnitTest"
+
+    dependsOn "test${testVariant.capitalize()}"
+
+    reports {
+        xml.required = true
+        html.required = true
+    }
+
+    def allowedClasses = files(
+        "$buildDir/intermediates/javac/release/compileReleaseJavaWithJavac/classes/org/firstinspires/ftc/teamcode/TeleOpMain.class",
+        "$buildDir/intermediates/javac/release/compileReleaseJavaWithJavac/classes/org/firstinspires/ftc/teamcode/TeleOpMain\$*.class",
+
+        "$buildDir/intermediates/javac/release/compileReleaseJavaWithJavac/classes/org/firstinspires/ftc/teamcode/AutoMain.class",
+        "$buildDir/intermediates/javac/release/compileReleaseJavaWithJavac/classes/org/firstinspires/ftc/teamcode/AutoMain\$*.class",
+
+        "$buildDir/intermediates/javac/release/compileReleaseJavaWithJavac/classes/org/firstinspires/ftc/teamcode/Utils_13233"
+    )
+
+
+    def fileFilter = [
+        '**/R.class', '**/R$*.class', '**/BuildConfig.*',
+        '**/Manifest*.*', 'android/**/*.*',
+        '**/org/firstinspires/ftc/teamcode/tuning/**',
+        '**/org/firstinspires/ftc/teamcode/**',
+    ]
+
+
+    // Main (non-test) code classes
+    def mainClasses = fileTree(
+        dir: "$buildDir/intermediates/javac/${variant}/compile${variant.capitalize()}JavaWithJavac/classes",
+        excludes: fileFilter
+    )
+
+    classDirectories.setFrom(
+        files([
+            mainClasses,   // everything minus excluded dirs
+            allowedClasses // add back specific classes
+        ])
+    )
+
+
+    sourceDirectories.setFrom(files([
+        "src/main/java"
+    ]))
+
+    executionData.setFrom(fileTree(
+        dir: buildDir,
+        includes: ["jacoco/test${testVariant.capitalize()}.exec"]
+    ))
+}
+
+
 repositories {
     maven {
         url = 'https://maven.brott.dev/'