diff --git a/server/src/machines/buffer1/puller_speed_controller.rs b/server/src/machines/buffer1/puller_speed_controller.rs
new file mode 100644
index 00000000..273d0fe4
--- /dev/null
+++ b/server/src/machines/buffer1/puller_speed_controller.rs
@@ -0,0 +1,119 @@
+use std::time::Instant;
+
+use control_core::{
+    controllers::second_degree_motion::linear_jerk_speed_controller::LinearJerkSpeedController,
+    converters::linear_step_converter::LinearStepConverter,
+    uom_extensions::{
+        acceleration::meter_per_minute_per_second, jerk::meter_per_minute_per_second_squared,
+        velocity::meter_per_minute,
+    },
+};
+use serde::{Deserialize, Serialize};
+use uom::{
+    ConstZero,
+    si::f64::{Acceleration, AngularVelocity, Jerk, Length, Velocity},
+};
+
+#[derive(Debug)]
+pub struct PullerSpeedController {
+    enabled: bool,
+    pub target_speed: Velocity,
+    pub target_diameter: Length,
+    pub regulation_mode: PullerRegulationMode,
+    /// Forward rotation direction. If false, applies negative sign to speed
+    pub forward: bool,
+    /// Linear acceleration controller to dampen speed change
+    acceleration_controller: LinearJerkSpeedController,
+    /// Converter for linear to angular transformations
+    pub converter: LinearStepConverter,
+    pub last_speed: Velocity,
+}
+
+impl PullerSpeedController {
+    pub fn new(
+        target_speed: Velocity,
+        target_diameter: Length,
+        converter: LinearStepConverter,
+    ) -> Self {
+        let acceleration = Acceleration::new::<meter_per_minute_per_second>(5.0);
+        let jerk = Jerk::new::<meter_per_minute_per_second_squared>(10.0);
+        let speed = Velocity::new::<meter_per_minute>(50.0);
+
+        Self {
+            enabled: false,
+            target_speed,
+            target_diameter,
+            regulation_mode: PullerRegulationMode::Speed,
+            forward: true,
+            acceleration_controller: LinearJerkSpeedController::new_simple(
+                Some(speed),
+                acceleration,
+                jerk,
+            ),
+            converter,
+            last_speed: Velocity::ZERO,
+        }
+    }
+
+    pub fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+
+    pub fn set_target_speed(&mut self, target: Velocity) {
+        self.target_speed = target;
+    }
+
+    pub fn set_target_diameter(&mut self, target: Length) {
+        self.target_diameter = target;
+    }
+
+    pub fn set_regulation_mode(&mut self, regulation: PullerRegulationMode) {
+        self.regulation_mode = regulation;
+    }
+
+    pub fn set_forward(&mut self, forward: bool) {
+        self.forward = forward;
+    }
+
+    fn update_speed(&mut self, t: Instant) -> Velocity {
+        let speed = match self.enabled {
+            true => match self.regulation_mode {
+                PullerRegulationMode::Speed => self.target_speed,
+                PullerRegulationMode::Diameter => unimplemented!(),
+            },
+            false => Velocity::ZERO,
+        };
+
+        let speed = if self.forward { speed } else { -speed };
+
+        let speed = self.acceleration_controller.update(speed, t);
+
+        self.last_speed = speed;
+        speed
+    }
+
+    pub fn speed_to_angular_velocity(&self, speed: Velocity) -> AngularVelocity {
+        // Use the converter to transform from linear velocity to angular velocity
+        self.converter.velocity_to_angular_velocity(speed)
+    }
+
+    pub fn angular_velocity_to_speed(&self, angular_speed: AngularVelocity) -> Velocity {
+        // Use the converter to transform from angular velocity to linear velocity
+        self.converter.angular_velocity_to_velocity(angular_speed)
+    }
+
+    pub fn calc_angular_velocity(&mut self, t: Instant) -> AngularVelocity {
+        let speed = self.update_speed(t);
+        self.speed_to_angular_velocity(speed)
+    }
+
+    pub fn get_target_speed(&self) -> Velocity {
+        self.target_speed
+    }
+}
+
+#[derive(Serialize, Deserialize, Debug, Clone)]
+pub enum PullerRegulationMode {
+    Speed,
+    Diameter,
+}