diff --git a/src/j1939/id.rs b/src/j1939/id.rs
index d5db945..f42fb51 100644
--- a/src/j1939/id.rs
+++ b/src/j1939/id.rs
@@ -5,6 +5,7 @@ use bitvec::view::BitView;
 // Copyright 2023 Raven Industries inc.
 use crate::j1939::priority::Priority;
 use crate::j1939::{Address, Pgn};
+use embedded_can::{ExtendedId, Id as EmbeddedId};
 
 pub enum ParseIdError {
     priority_parse_error,
@@ -29,12 +30,6 @@ impl Id {
         }
     }
 
-    pub fn try_from_raw(raw_id: u32) -> Result<Self, ParseIdError> {
-        let bit_data = raw_id.view_bits::<Msb0>().to_bitvec();
-        let priority_parse = Priority::try_from(bit_data.load::<u8>());
-        let pgn_parse = Pgn::try_from();
-    }
-
     /// Get the raw value of the CAN ID
     #[inline]
     pub fn raw(&self) -> u32 {
@@ -45,130 +40,33 @@ impl Id {
         raw_id.load::<u32>().unwrap()
     }
 
-    /// Get the type of the ID (standard or extended)
-    #[inline]
-    pub fn type_(&self) -> Type {
-        if self.0 & CAN_EFF_FLAG != 0 {
-            Type::Extended
-        } else {
-            Type::Standard
-        }
-    }
-
     /// Get the priority of the ID
     #[inline]
     pub fn priority(&self) -> Priority {
-        match self.type_() {
-            Type::Standard => Priority::Highest,
-            Type::Extended => {
-                let raw = ((self.raw() & 0x1C000000) >> 26) as u8;
-                raw.into()
-            }
-        }
+        self.priority
     }
 
     /// Get the source address of the ID
     #[inline]
     pub fn source_address(&self) -> Address {
-        match self.type_() {
-            Type::Standard => Address::GLOBAL,
-            Type::Extended => Address((self.raw() & 0xFF) as u8),
-        }
+        self.source_address
     }
 }
 
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_priority() {
-        let can_id = Id::new(0x18EF1CF5, Type::Extended);
-        assert_eq!(can_id.priority(), Priority::Default);
-    }
-
-    #[test]
-    fn test_source_address() {
-        let can_id = Id::new(0x0705, Type::Standard);
-        assert_eq!(can_id.type_(), Type::Standard);
-        // TODO: Is this right? Do 11-bit IDs always have a global address?
-        assert_eq!(can_id.source_address(), Address::GLOBAL);
-
-        let can_id = Id::new(0x18EF1CF5, Type::Extended);
-        assert_eq!(can_id.source_address(), Address(0xF5));
+impl From<Id> for EmbeddedId {
+    fn from(id: Id) -> Self {
+        EmbeddedId::Extended(ExtendedId(id.raw()))
     }
+}
 
-    #[test]
-    fn test_destination_address() {
-        let can_id = Id::new(0x0705, Type::Standard);
-        assert_eq!(can_id.destination_address(), Address::GLOBAL);
-
-        let can_id = Id::new(0x18EEFF1C, Type::Extended);
-        assert_eq!(can_id.destination_address(), Address::GLOBAL);
-
-        let can_id = Id::new(0x09F8031C, Type::Extended);
-        assert_eq!(can_id.destination_address(), Address::GLOBAL);
-
-        let can_id = Id::new(0x0CAC1C13, Type::Extended);
-        assert_eq!(can_id.destination_address(), Address(0x1C));
-    }
-
-    #[test]
-    fn test_pgn() {
-        let can_id = Id::new(0x07FF, Type::Standard);
-        assert_eq!(can_id.pgn(), Pgn::NULL);
-
-        let can_id = Id::new(0x0CAC1C13, Type::Extended);
-        assert_eq!(can_id.pgn(), Pgn::from_raw(0x0AC00));
-
-        let can_id = Id::new(0x18FF3F13, Type::Extended);
-        assert_eq!(can_id.pgn(), Pgn::from_raw(0x0FF3F));
-
-        let can_id = Id::new(0x18EF1CF5, Type::Extended);
-        assert_eq!(can_id.pgn(), Pgn::from_raw(0x0EF00));
-
-        let can_id = Id::new(0x18EEFF1C, Type::Extended);
-        assert_eq!(can_id.pgn(), Pgn::from_raw(0x0EE00));
-    }
-
-    #[test]
-    fn test_encode() {
-        let encode_result = Id::try_encode(
-            Pgn::from_raw(0x00EF00),
-            Address(0x81),
-            Address(0xF9),
-            Priority::Six,
-        );
-        let can_id = encode_result.expect("EF00 Message was not encodable");
-        assert_eq!(can_id.pgn(), Pgn::from_raw(0xEF00));
-        assert_eq!(can_id.destination_address(), Address(0xF9));
-        assert_eq!(can_id.source_address(), Address(0x81));
-        assert_eq!(can_id.priority(), Priority::Six);
-
-        let encode_result = Id::try_encode(
-            Pgn::from_raw(0x00FF40),
-            Address(0x81),
-            Address(0xFF),
-            Priority::Six,
-        );
-        let can_id = encode_result.expect("FF40 Message was not encodable");
-        assert_eq!(can_id.pgn(), Pgn::from_raw(0xFF40));
-        assert_eq!(can_id.destination_address(), Address(0xFF));
-        assert_eq!(can_id.source_address(), Address(0x81));
-        assert_eq!(can_id.priority(), Priority::Six);
-
-        let encode_result = Id::try_encode(
-            Pgn::from_raw(0x00FF40),
-            Address(0x81),
-            Address(0x0F),
-            Priority::Six,
-        );
-        assert!(encode_result.is_err());
+impl TryFrom<u32> for Id {
+    type Error = ParseIdError;
 
-        let error_contents: EncodingError = encode_result.unwrap_err();
-        assert_eq!(error_contents.priority, Priority::Six);
-        assert_eq!(error_contents.source_address, Address(0x81));
-        assert_eq!(error_contents.destination_address, Address(0x0F));
-        assert_eq!(error_contents.parameter_group_number, Pgn::from_raw(0xFF40));
+    fn try_from(raw_id: u32) -> Result<Self, Self::Error> {
+        let bit_data = raw_id.view_bits::<Msb0>().to_bitvec();
+        let priority_parse = Priority::try_from(bit_data.load::<u8>());
+        let pgn_parse = Pgn::try_from(bit_data.load::<u32>());
     }
 }
+
+//TODO: tests -> especially for 'bit_data.load::<u32>()'