diff --git a/ddcontroller/motor.py b/ddcontroller/motor.py
index cce6a55..eefa449 100644
--- a/ddcontroller/motor.py
+++ b/ddcontroller/motor.py
@@ -18,6 +18,8 @@
 along with this program.  If not, see <https://www.gnu.org/licenses/>.
 '''
 
+from ina219 import INA219
+from ina219 import DeviceRangeError
 
 import RPi.GPIO as GPIO
 GPIO.setwarnings(False)
@@ -27,7 +29,7 @@ class Motor:
         Motor
     """
 
-    def __init__(self, pins, pwm_frequency, initial_duty=0, decay_mode='FAST', invert=False, rpm=200):
+    def __init__(self, pins, pwm_frequency, initial_duty=0, decay_mode='FAST', invert=False, rpm=200, max_voltage=12):
 
         """_summary_
 
@@ -64,6 +66,9 @@ def __init__(self, pins, pwm_frequency, initial_duty=0, decay_mode='FAST', inver
         # Max motor Duty
         self.max_duty = 1
 
+        # Motor rated voltage
+        self.max_voltage = max_voltage
+
         if GPIO.getmode() is None:
             GPIO.setmode(GPIO.BOARD)
         else:
@@ -76,6 +81,9 @@ def __init__(self, pins, pwm_frequency, initial_duty=0, decay_mode='FAST', inver
         for pin in self._pins:
             pin.start(self.duty)
 
+        self.ina = INA219(0.1, address=0x44)
+        self.ina.configure()
+
     def set_pwm_frequency(self, frequency):
         """_summary_
 
@@ -96,7 +104,10 @@ def set_duty(self, duty):
             sorted((-1, float(duty), 1))[1], 2
         )
 
-        duty = self.duty * 100
+        max_duty = (1/self.ina.voltage())*self.max_voltage
+
+        duty = self.duty * max_duty
+        duty = duty * 100
 
         if self.decay_mode == 'SLOW':
 
diff --git a/examples/ina_test.py b/examples/ina_test.py
new file mode 100644
index 0000000..849d2a3
--- /dev/null
+++ b/examples/ina_test.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+from ina219 import INA219
+from ina219 import DeviceRangeError
+
+SHUNT_OHMS = 0.1
+
+ina = INA219(SHUNT_OHMS, address=0x44)
+ina.configure()
+
+def read():
+
+    print("Bus Voltage: %.3f V" % ina.voltage())
+    try:
+        print("Bus Current: %.3f mA" % ina.current())
+        print("Power: %.3f mW" % ina.power())
+        print("Shunt voltage: %.3f mV" % ina.shunt_voltage())
+    except DeviceRangeError as e:
+        # Current out of device range with specified shunt resistor
+        print(e)
+
+
+if __name__ == "__main__":
+    while True:
+        read()
\ No newline at end of file
diff --git a/examples/test_motors.py b/examples/test_motors.py
new file mode 100644
index 0000000..74eea8a
--- /dev/null
+++ b/examples/test_motors.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+
+"""
+This file is part of the ddcontroller library (https://github.com/ansarid/ddcontroller).
+Copyright (C) 2022  Daniyal Ansari
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>.
+"""
+
+import time
+from ddcontroller.motor import Motor
+
+# Create motor object ((pins), pwm_frequency)
+motor = Motor((15, 16), 220, decay_mode='SLOW')
+
+try:
+
+    # Create infinite loop
+    while True:
+
+        time.sleep(5)
+
+        # For loop iterating through values from 100 to -100 with an increment of -1
+        for duty in range(100, -100, -1):
+
+            # Divide duty by 100 because duty cycle input needs to be between -1 and 1
+            duty /= 100
+
+            # Print the current duty cycle
+            print(f"Duty: {duty}")
+
+            # Set the duty cycle to the motor
+            motor.set_duty(duty)
+
+            # Run loop at 50Hz
+            time.sleep(1/25)
+
+except KeyboardInterrupt:
+    print('Stopping...')
+
+finally:
+    # Clean up.
+    motor.stop()
+    print('Stopped.')
diff --git a/setup.py b/setup.py
index 08fa0b6..195ab91 100644
--- a/setup.py
+++ b/setup.py
@@ -31,6 +31,7 @@
                     'smbus2',
                     'ruamel.yaml',
                     'simple-pid',
+                    'pi-ina219',
                     # 'as5048b'
                    ]