diff --git a/robot-server/tests/robot/control/__init__.py b/robot-server/tests/robot/control/__init__.py
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/robot-server/tests/robot/control/test_estop_handler.py b/robot-server/tests/robot/control/test_estop_handler.py
new file mode 100644
index 00000000000..8547458df1b
--- /dev/null
+++ b/robot-server/tests/robot/control/test_estop_handler.py
@@ -0,0 +1,108 @@
+"""Test estop handler wrapper class."""
+
+from decoy import Decoy
+import pytest
+from typing import List, Tuple
+
+from opentrons.hardware_control.ot3api import OT3API
+
+from robot_server.robot.control.estop_handler import EstopHandler
+from robot_server.robot.control.models import (
+    EstopState,
+    EstopPhysicalStatus,
+)
+from opentrons.hardware_control.types import (
+    EstopState as HwEstopState,
+    EstopPhysicalStatus as HwEstopPhysicalStatus,
+    EstopOverallStatus,
+)
+
+
+@pytest.fixture
+def mock_hardware(decoy: Decoy) -> OT3API:
+    """Create a mocked hardware api."""
+    return decoy.mock(cls=OT3API)
+
+
+@pytest.fixture
+def subject(mock_hardware: OT3API) -> EstopHandler:
+    """Create an EstopHandler to test."""
+    return EstopHandler(hw_handle=mock_hardware)
+
+
+def test_estop_state_transform(
+    subject: EstopHandler, mock_hardware: OT3API, decoy: Decoy
+) -> None:
+    """Check that the state is transformed correctly."""
+    steps: List[Tuple[HwEstopState, EstopState]] = [
+        (HwEstopState.NOT_PRESENT, EstopState.NOT_PRESENT),
+        (HwEstopState.PHYSICALLY_ENGAGED, EstopState.PHYSICALLY_ENGAGED),
+        (HwEstopState.LOGICALLY_ENGAGED, EstopState.LOGICALLY_ENGAGED),
+        (HwEstopState.DISENGAGED, EstopState.DISENGAGED),
+    ]
+    for (input, output) in steps:
+        decoy.when(mock_hardware.estop_status).then_return(
+            EstopOverallStatus(
+                state=input,
+                left_physical_state=EstopPhysicalStatus.NOT_PRESENT,
+                right_physical_state=EstopPhysicalStatus.NOT_PRESENT,
+            )
+        )
+        assert subject.get_state() == output
+
+
+def test_estop_physical_state_transform(
+    subject: EstopHandler, mock_hardware: OT3API, decoy: Decoy
+) -> None:
+    """Check that physical state gets transformed correctly."""
+    steps: List[Tuple[EstopOverallStatus, EstopPhysicalStatus, EstopPhysicalStatus]] = [
+        (
+            EstopOverallStatus(
+                state=HwEstopState.DISENGAGED,
+                left_physical_state=HwEstopPhysicalStatus.DISENGAGED,
+                right_physical_state=HwEstopPhysicalStatus.NOT_PRESENT,
+            ),
+            EstopPhysicalStatus.DISENGAGED,
+            EstopPhysicalStatus.NOT_PRESENT,
+        ),
+        (
+            EstopOverallStatus(
+                state=HwEstopState.DISENGAGED,
+                left_physical_state=HwEstopPhysicalStatus.DISENGAGED,
+                right_physical_state=HwEstopPhysicalStatus.DISENGAGED,
+            ),
+            EstopPhysicalStatus.DISENGAGED,
+            EstopPhysicalStatus.DISENGAGED,
+        ),
+        (
+            EstopOverallStatus(
+                state=HwEstopState.DISENGAGED,
+                left_physical_state=HwEstopPhysicalStatus.NOT_PRESENT,
+                right_physical_state=HwEstopPhysicalStatus.DISENGAGED,
+            ),
+            EstopPhysicalStatus.NOT_PRESENT,
+            EstopPhysicalStatus.DISENGAGED,
+        ),
+        (
+            EstopOverallStatus(
+                state=HwEstopState.PHYSICALLY_ENGAGED,
+                left_physical_state=HwEstopPhysicalStatus.ENGAGED,
+                right_physical_state=HwEstopPhysicalStatus.NOT_PRESENT,
+            ),
+            EstopPhysicalStatus.ENGAGED,
+            EstopPhysicalStatus.NOT_PRESENT,
+        ),
+    ]
+
+    for (input, left, right) in steps:
+        decoy.when(mock_hardware.estop_status).then_return(input)
+        assert subject.get_left_physical_status() == left
+        assert subject.get_right_physical_status() == right
+
+
+def test_estop_acknowledge_and_clear(
+    subject: EstopHandler, mock_hardware: OT3API, decoy: Decoy
+) -> None:
+    """Test that the hardware controller is called correctly."""
+    subject.acknowledge_and_clear()
+    decoy.verify(mock_hardware.estop_acknowledge_and_clear())