Index: dialin/common/msg_ids.py
===================================================================
diff -u -r6ff50b4ae97f1d8071f1d8fdafae60f6fd704b9d -ra1d640c70267e6e5e2ad81fc23bc5ca91847b61d
--- dialin/common/msg_ids.py	(.../msg_ids.py)	(revision 6ff50b4ae97f1d8071f1d8fdafae60f6fd704b9d)
+++ dialin/common/msg_ids.py	(.../msg_ids.py)	(revision a1d640c70267e6e5e2ad81fc23bc5ca91847b61d)
@@ -481,6 +481,9 @@
     MSG_ID_DG_SEND_TEST_CONFIGURATION = 0xA068
     MSG_ID_DG_RESET_ALL_TEST_CONFIGURATIONS = 0xA069
     MSG_ID_DG_DIALIN_CHECK_IN = 0xA06A
+    MSG_ID_DG_GET_LOAD_CELLS_TARE_VALUES = 0xA06B
+    MSG_ID_DG_SET_LOAD_CELLS_TARE_VALUES = 0xA06C
+    MSG_ID_DG_SEND_LOAD_CELLS_TARE_VALUES_TO_DIALIN = 0xA06D
 
     MSG_ID_HD_DEBUG_EVENT = 0xFFF1
     MSG_ID_DG_DEBUG_EVENT = 0xFFF2
Index: dialin/dg/load_cells.py
===================================================================
diff -u -r9bc00e997e91dab8b404aa877b02ae3d4100d417 -ra1d640c70267e6e5e2ad81fc23bc5ca91847b61d
--- dialin/dg/load_cells.py	(.../load_cells.py)	(revision 9bc00e997e91dab8b404aa877b02ae3d4100d417)
+++ dialin/dg/load_cells.py	(.../load_cells.py)	(revision a1d640c70267e6e5e2ad81fc23bc5ca91847b61d)
@@ -15,15 +15,27 @@
 ############################################################################
 import struct
 from logging import Logger
+from enum import unique
 
+
 from .constants import RESET, NO_RESET
 from ..common.msg_defs import MsgIds, MsgFieldPositions
 from ..protocols.CAN import DenaliMessage, DenaliChannels
-from ..utils.base import AbstractSubSystem, publish
+from ..utils.base import AbstractSubSystem, publish, DialinEnum
 from ..utils.checks import check_broadcast_interval_override_ms
 from ..utils.conversions import integer_to_bytearray, float_to_bytearray, bytearray_to_float
 
 
+@unique
+class DGLoadCellNames(DialinEnum):
+
+    LOAD_CELL_RESERVOIR_1_PRIMARY = 0                  # Primary load cell for reservoir 1
+    LOAD_CELL_RESERVOIR_1_BACKUP = 1                   # Backup load cell for reservoir 1
+    LOAD_CELL_RESERVOIR_2_PRIMARY = 2                  # Primary load cell for reservoir 2
+    LOAD_CELL_RESERVOIR_2_BACKUP = 3                   # Backup load cell for reservoir 2
+    NUM_OF_LOAD_CELLS = 4                              # Number of load cell sensors
+
+
 class DGLoadCells(AbstractSubSystem):
     """
     DGLoadCells
@@ -54,11 +66,21 @@
             msg_id = MsgIds.MSG_ID_LOAD_CELL_READINGS.value
             self.can_interface.register_receiving_publication_function(channel_id, msg_id,
                                                                        self._handler_load_cells_sync)
+            msg_id = MsgIds.MSG_ID_DG_SEND_LOAD_CELLS_TARE_VALUES_TO_DIALIN.value
+            self.can_interface.register_receiving_publication_function(channel_id, msg_id,
+                                                                       self._handler_load_cells_tare_values_sync)
+
         self.load_cell_A1 = 0.0
         self.load_cell_A2 = 0.0
         self.load_cell_B1 = 0.0
         self.load_cell_B2 = 0.0
+        self.load_cells_tare_values = dict()
+        self.dg_load_cells_tare_values_timestamp = 0.0
 
+        for cell in DGLoadCellNames.__members__:
+            if 'NUM_OF_LOAD_CELLS' not in cell:
+                self.load_cells_tare_values[cell] = 0.0
+
     def get_load_cells(self):
         """
         Gets the current load cell weights
@@ -67,6 +89,24 @@
         """
         return [self.load_cell_A1, self.load_cell_A2, self.load_cell_B1, self.load_cell_B2]
 
+    @publish(["load_cells_tare_values"])
+    def _handler_load_cells_tare_values_sync(self, message, timestamp=0.0):
+        """
+        Handles sent load cells tare value messages.
+
+        @param message:  published load cell data message
+        @return: None
+        """
+        payload = message['message']
+        index = MsgFieldPositions.START_POS_FIELD_1
+
+        for cell in DGLoadCellNames.__members__:
+            if 'NUM_OF_LOAD_CELLS' not in cell:
+                tare_value, index = bytearray_to_float(payload, index, False)
+                self.load_cells_tare_values[cell] = tare_value
+
+        self.dg_load_cells_tare_values_timestamp = timestamp
+
     @publish(["dg_load_cell_timestamp","load_cell_A1", "load_cell_A2", "load_cell_B1", "load_cell_B2"])
     def _handler_load_cells_sync(self, message, timestamp=0.0):
         """
@@ -171,3 +211,34 @@
         else:
             self.logger.debug("Timeout!!!!")
             return False
+
+    def cmd_set_load_cells_tare_values(self):
+        """
+        Constructs and sends the load cells tare values command
+        Constraints:
+            Must be logged into DG.
+
+        @return: 1 if successful, zero otherwise
+        """
+        payload = 0.0
+
+        for cell in DGLoadCellNames.__members__:
+            tare = self.load_cells_tare_values[cell]
+            payload += float_to_bytearray(tare)
+
+        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dg_ch_id,
+                                              message_id=MsgIds.MSG_ID_DG_SET_LOAD_CELLS_TARE_VALUES.value,
+                                              payload=payload)
+        # Send message
+        received_message = self.can_interface.send(message)
+
+        self.logger.debug("Setting load cells tare values")
+
+        # If there is content...
+        if received_message is not None:
+            # response payload is OK or not OK
+            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
+        else:
+            self.logger.debug("Timeout!!!!")
+            return False
+