diff --git a/config/definitions.py b/config/definitions.py
index a7e91ce..f9fa985 100644
--- a/config/definitions.py
+++ b/config/definitions.py
@@ -51,7 +51,7 @@ class CustomServiceList(str, enum.Enum):
     STR_IMG_HELPER = "str_img_helper"
     SYRLINKS = "syrlinks"
     ACS_CTRL = "acs_ctrl"
-    ACS_SS = "acs_subsysten"
+    ACS_SS = "acs_subsystem"
     ACS_BRD_ASS = "acs_brd_ass"
     SUS_BRD_ASS = "sus_brd_ass"
     TCS = "tcs"
diff --git a/config/object_ids.py b/config/object_ids.py
index 180dbd8..cb47a47 100644
--- a/config/object_ids.py
+++ b/config/object_ids.py
@@ -122,6 +122,7 @@ SUS_5_N_LOC_XFYMZB_PT_ZB = bytes([0x44, 0x12, 0x00, 0x37])
 SUS_11_R_LOC_XBYMZB_PT_ZB = bytes([0x44, 0x12, 0x00, 0x43])
 
 # System and Assembly Objects
+ACS_SUBSYSTEM_ID = bytes([0x73, 0x01, 0x00, 0x01])
 ACS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x01])
 SUS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x02])
 TCS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x03])
diff --git a/pus_tc/procedure_packer.py b/pus_tc/procedure_packer.py
index 0981288..db270da 100644
--- a/pus_tc/procedure_packer.py
+++ b/pus_tc/procedure_packer.py
@@ -192,12 +192,8 @@ def handle_default_procedure(
         )
     if service == CustomServiceList.PROCEDURE.value:
         return pack_proc_commands(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.SUS_ASS.value:
-        return pack_sus_cmds(q=queue_helper, op_code=op_code)
     if service == CustomServiceList.PL_PCDU.value:
         return pack_pl_pcdu_commands(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.ACS_ASS.value:
-        return pack_acs_command(q=queue_helper, op_code=op_code)
     if service == CustomServiceList.TCS_ASS.value:
         return pack_tcs_sys_commands(q=queue_helper, op_code=op_code)
     if service == CustomServiceList.RW_ASSEMBLY.value:
diff --git a/pus_tc/system/controllers.py b/pus_tc/system/controllers.py
index f02a907..33252d2 100644
--- a/pus_tc/system/controllers.py
+++ b/pus_tc/system/controllers.py
@@ -4,7 +4,7 @@ from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.tc.pus_200_fsfw_modes import Modes
 from tmtccmd.util import ObjectIdU32, ObjectIdBase
 
-from .common import command_mode
+from tmtc.common import pack_mode_cmd_with_info
 import config.object_ids as obj_ids
 
 from pus_tc.prompt_parameters import prompt_parameters_cli, prompt_parameters_gui
@@ -36,7 +36,7 @@ def pack_cmd_ctrl_to_prompted_mode(
         print("Invalid Mode, defaulting to OFF")
         mode = 0
     submode = int(parameters["Submode"])
-    command_mode(
+    pack_mode_cmd_with_info(
         object_id=object_id.as_bytes,
         mode=mode,
         submode=submode,
@@ -48,7 +48,7 @@ def pack_cmd_ctrl_to_prompted_mode(
 def pack_cmd_ctrl_to_off(
     q: DefaultPusQueueHelper, object_id: Union[ObjectIdBase, ObjectIdU32]
 ):
-    command_mode(
+    pack_mode_cmd_with_info(
         object_id=object_id.as_bytes,
         mode=Modes.OFF,
         submode=0,
@@ -58,7 +58,7 @@ def pack_cmd_ctrl_to_off(
 
 
 def pack_cmd_ctrl_to_on(q: DefaultPusQueueHelper, object_id: ObjectIdU32):
-    command_mode(
+    pack_mode_cmd_with_info(
         object_id=object_id.as_bytes,
         mode=Modes.ON,
         submode=0,
@@ -70,7 +70,7 @@ def pack_cmd_ctrl_to_on(q: DefaultPusQueueHelper, object_id: ObjectIdU32):
 def pack_cmd_ctrl_to_nml(
     q: DefaultPusQueueHelper, object_id: Union[ObjectIdBase, ObjectIdU32]
 ):
-    command_mode(
+    pack_mode_cmd_with_info(
         object_id=object_id.as_bytes,
         mode=Modes.NORMAL,
         submode=0,
diff --git a/pus_tc/system/tcs.py b/pus_tc/system/tcs.py
index 5335d15..05220be 100644
--- a/pus_tc/system/tcs.py
+++ b/pus_tc/system/tcs.py
@@ -7,11 +7,10 @@ from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.tc.pus_200_fsfw_modes import Modes
 from tmtccmd.tc.pus_3_fsfw_hk import (
     make_sid,
-    generate_one_diag_command,
     generate_one_hk_command,
 )
 
-from .common import command_mode
+from tmtc.common import pack_mode_cmd_with_info
 from config.object_ids import TCS_BOARD_ASS_ID, TCS_CONTROLLER
 
 
@@ -62,7 +61,7 @@ def pack_tcs_sys_commands(q: DefaultPusQueueHelper, op_code: str):
 
 def pack_tcs_ass_cmds(q: DefaultPusQueueHelper, op_code: str):
     if op_code in OpCodes.TCS_BOARD_ASS_NORMAL:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=TCS_BOARD_ASS_ID,
             mode=Modes.NORMAL,
             submode=0,
@@ -70,7 +69,7 @@ def pack_tcs_ass_cmds(q: DefaultPusQueueHelper, op_code: str):
             info=Info.TCS_BOARD_ASS_NORMAL,
         )
     if op_code in OpCodes.TCS_BOARD_ASS_OFF:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=TCS_BOARD_ASS_ID,
             mode=Modes.OFF,
             submode=0,
diff --git a/tmtc/acs_board.py b/tmtc/acs_board.py
index d62ac22..a07b152 100644
--- a/tmtc/acs_board.py
+++ b/tmtc/acs_board.py
@@ -6,11 +6,12 @@ from tmtccmd.config.tmtc import (
     TmtcDefinitionWrapper,
     OpCodeEntry,
 )
-from tmtccmd.tc import DefaultPusQueueHelper
+from tmtccmd.tc import DefaultPusQueueHelper, service_provider
+from tmtccmd.tc.decorator import ServiceProviderParams
 from tmtccmd.tc.pus_200_fsfw_modes import Modes
 from config.object_ids import ACS_BOARD_ASS_ID
 
-from pus_tc.system.common import command_mode
+from tmtc.common import pack_mode_cmd_with_info
 
 
 class AcsOpCodes:
@@ -29,9 +30,12 @@ class DualSideSubmodes(enum.IntEnum):
     DUAL_SIDE = 2
 
 
-def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
+@service_provider(CustomServiceList.ACS_BRD_ASS)
+def pack_acs_command(p: ServiceProviderParams):
+    op_code = p.op_code
+    q = p.queue_helper
     if op_code in AcsOpCodes.ACS_ASS_A_SIDE:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Modes.NORMAL,
             submode=DualSideSubmodes.A_SIDE,
@@ -39,7 +43,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             info="Switching to ACS board assembly A side",
         )
     if op_code in AcsOpCodes.ACS_ASS_B_SIDE:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Modes.NORMAL,
             submode=DualSideSubmodes.B_SIDE,
@@ -47,7 +51,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             info="Switching to ACS board assembly B side",
         )
     if op_code in AcsOpCodes.ACS_ASS_DUAL_MODE:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Modes.NORMAL,
             submode=DualSideSubmodes.DUAL_SIDE,
@@ -55,7 +59,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             info="Switching to ACS board assembly dual mode",
         )
     if op_code in AcsOpCodes.ACS_ASS_A_ON:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Modes.ON,
             submode=DualSideSubmodes.A_SIDE,
@@ -63,7 +67,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             info="Switching ACS board assembly A side on",
         )
     if op_code in AcsOpCodes.ACS_ASS_B_ON:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Modes.ON,
             submode=DualSideSubmodes.B_SIDE,
@@ -71,7 +75,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             info="Switching ACS board assembly B side on",
         )
     if op_code in AcsOpCodes.ACS_ASS_DUAL_ON:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Modes.ON,
             submode=DualSideSubmodes.B_SIDE,
@@ -79,7 +83,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             info="Switching ACS board assembly dual side on",
         )
     if op_code in AcsOpCodes.ACS_ASS_OFF:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Modes.OFF,
             submode=0,
diff --git a/tmtc/acs_subsystem.py b/tmtc/acs_subsystem.py
index 277d01c..8f1e201 100644
--- a/tmtc/acs_subsystem.py
+++ b/tmtc/acs_subsystem.py
@@ -1,5 +1,8 @@
 import enum
+from typing import Tuple, Dict
 
+from .common import pack_mode_cmd_with_info
+from config.object_ids import ACS_SUBSYSTEM_ID
 from config.definitions import CustomServiceList
 from tmtccmd.config.tmtc import (
     tmtc_definitions_provider,
@@ -13,24 +16,50 @@ from tmtccmd.tc.decorator import ServiceProviderParams
 class OpCodes(str, enum.Enum):
     OFF = "off"
     SAFE = "safe"
+    DETUMBLE = "detumble"
     IDLE = "idle"
+    TARGET_PT = "target"
+
+
+class AcsModes(enum.IntEnum):
+    OFF = 0
+    SAFE = 1
+    DETUMBLE = 2
+    IDLE = 3
+    TARGET_PT = 4
 
 
 class Info(str, enum.Enum):
     OFF = "Off Command"
     SAFE = "Safe Mode Command"
+    DETUMBLE = "Detumble Mode Command"
     IDLE = "Idle Mode Command"
+    TARGET_PT = "Target Pointing Mode Command"
+
+
+HANDLER_LIST: Dict[str, Tuple[int, str]] = {
+    OpCodes.OFF: (AcsModes.OFF, Info.OFF),
+    OpCodes.IDLE: (AcsModes.IDLE, Info.IDLE),
+    OpCodes.SAFE: (AcsModes.SAFE, Info.SAFE),
+    OpCodes.DETUMBLE: (AcsModes.DETUMBLE, Info.DETUMBLE),
+}
 
 
 @service_provider(CustomServiceList.ACS_SS.value)
 def build_acs_subsystem_cmd(p: ServiceProviderParams):
     op_code = p.op_code
-    if op_code == OpCodes.OFF:
-        pass
-    if op_code == OpCodes.SAFE:
-        pass
-    if op_code == OpCodes.IDLE:
-        pass
+    q = p.queue_helper
+    info_prefix = "ACS Subsystem"
+    mode_info_tup = HANDLER_LIST[op_code]
+    if mode_info_tup is None:
+        return
+    pack_mode_cmd_with_info(
+        object_id=ACS_SUBSYSTEM_ID,
+        info=f"{info_prefix}: {mode_info_tup[1]}",
+        submode=0,
+        mode=mode_info_tup[0],
+        q=q,
+    )
 
 
 @tmtc_definitions_provider
diff --git a/pus_tc/system/common.py b/tmtc/common.py
similarity index 59%
rename from pus_tc/system/common.py
rename to tmtc/common.py
index c1bd1a4..e078ce5 100644
--- a/pus_tc/system/common.py
+++ b/tmtc/common.py
@@ -3,18 +3,25 @@ from typing import Union
 from spacepackets.ecss.tc import PusTelecommand
 from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes, Subservices
+from tmtccmd.util import ObjectIdU32
 
 
-def command_mode(
-    object_id: bytes,
+def pack_mode_cmd_with_info(
+    object_id: Union[ObjectIdU32, bytes],
     mode: Union[int, Modes],
     submode: int,
     q: DefaultPusQueueHelper,
     info: str,
 ):
+    if isinstance(object_id, ObjectIdU32):
+        object_id_bytes = object_id.as_bytes
+    elif isinstance(object_id, bytes):
+        object_id_bytes = object_id
+    else:
+        raise ValueError("Invalid Object ID type")
     q.add_log_cmd(info)
     mode_data = pack_mode_data(
-        object_id=object_id,
+        object_id=object_id_bytes,
         mode=mode,
         submode=submode,
     )
diff --git a/tmtc/sus_board.py b/tmtc/sus_board.py
index 2411695..6fb0687 100644
--- a/tmtc/sus_board.py
+++ b/tmtc/sus_board.py
@@ -1,26 +1,30 @@
 from config.definitions import CustomServiceList
 from config.object_ids import SUS_BOARD_ASS_ID
 from tmtc.acs_board import DualSideSubmodes
-from pus_tc.system.common import command_mode
+from tmtc.common import pack_mode_cmd_with_info
 from tmtccmd.config.tmtc import (
     tmtc_definitions_provider,
     TmtcDefinitionWrapper,
     OpCodeEntry,
 )
-from tmtccmd.tc import DefaultPusQueueHelper
+from tmtccmd.tc import service_provider
+from tmtccmd.tc.decorator import ServiceProviderParams
 from tmtccmd.tc.pus_200_fsfw_modes import Modes
 
 
 class SusOpCodes:
-    SUS_ASS_NOM_SIDE = ["0", "sus-nom"]
-    SUS_ASS_RED_SIDE = ["1", "sus-red"]
-    SUS_ASS_DUAL_MODE = ["2", "sus-d"]
-    SUS_ASS_OFF = ["3", "sus-off"]
+    SUS_ASS_NOM_SIDE = ["0", "nom"]
+    SUS_ASS_RED_SIDE = ["1", "red"]
+    SUS_ASS_DUAL_MODE = ["2", "dual"]
+    SUS_ASS_OFF = ["3", "off"]
 
 
-def pack_sus_cmds(q: DefaultPusQueueHelper, op_code: str):
+@service_provider(CustomServiceList.SUS_BRD_ASS)
+def pack_sus_cmds(p: ServiceProviderParams):
+    op_code = p.op_code
+    q = p.queue_helper
     if op_code in SusOpCodes.SUS_ASS_NOM_SIDE:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=SUS_BOARD_ASS_ID,
             mode=Modes.NORMAL,
             submode=DualSideSubmodes.A_SIDE,
@@ -28,7 +32,7 @@ def pack_sus_cmds(q: DefaultPusQueueHelper, op_code: str):
             info="Switching to SUS board to nominal side",
         )
     if op_code in SusOpCodes.SUS_ASS_RED_SIDE:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=SUS_BOARD_ASS_ID,
             mode=Modes.NORMAL,
             submode=DualSideSubmodes.B_SIDE,
@@ -36,7 +40,7 @@ def pack_sus_cmds(q: DefaultPusQueueHelper, op_code: str):
             info="Switching to SUS board to redundant side",
         )
     if op_code in SusOpCodes.SUS_ASS_OFF:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=SUS_BOARD_ASS_ID,
             mode=Modes.OFF,
             submode=0,
@@ -44,7 +48,7 @@ def pack_sus_cmds(q: DefaultPusQueueHelper, op_code: str):
             info="Switching SUS board off",
         )
     if op_code in SusOpCodes.SUS_ASS_DUAL_MODE:
-        command_mode(
+        pack_mode_cmd_with_info(
             object_id=SUS_BOARD_ASS_ID,
             mode=Modes.NORMAL,
             submode=DualSideSubmodes.DUAL_SIDE,