diff --git a/wpilibcIntegrationTests/src/CANTalonTest.cpp b/wpilibcIntegrationTests/src/CANTalonTest.cpp
new file mode 100644
index 0000000..2584f3f
--- /dev/null
+++ b/wpilibcIntegrationTests/src/CANTalonTest.cpp
@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include <CANTalon.h>
+#include <Timer.h>
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+const int deviceId = 0;
+
+TEST(CANTalonTest, QuickTest) {
+  double throttle = 0.1;
+  CANTalon talon(deviceId);
+  talon.SetControlMode(CANSpeedController::kPercentVbus);
+  talon.EnableControl();
+  talon.Set(throttle);
+  Wait(0.25);
+  EXPECT_NEAR(talon.Get(), throttle, 5e-3);
+  talon.Set(-throttle);
+  Wait(0.25);
+  EXPECT_NEAR(talon.Get(), -throttle, 5e-3);
+
+  talon.Disable();
+  Wait(0.1);
+  EXPECT_FLOAT_EQ(talon.Get(), 0.0);
+}
+
+TEST(CANTalonTest, SetGetPID) {
+  // Tests that we can actually set and get PID values as intended.
+  CANTalon talon(deviceId);
+  double p = 0.05, i = 0.098, d = 1.23;
+  talon.SetPID(p, i, d);
+  // Wait(0.03);
+  EXPECT_NEAR(p, talon.GetP(), 1e-5);
+  EXPECT_NEAR(i, talon.GetI(), 1e-5);
+  EXPECT_NEAR(d, talon.GetD(), 1e-5);
+  // Test with new values in case the talon was already set to the previous
+  // ones.
+  p = 0.15;
+  i = 0.198;
+  d = 1.03;
+  talon.SetPID(p, i, d);
+  // Wait(0.03);
+  EXPECT_NEAR(p, talon.GetP(), 1e-5);
+  EXPECT_NEAR(i, talon.GetI(), 1e-5);
+  EXPECT_NEAR(d, talon.GetD(), 1e-5);
+}
+
+TEST(CANTalonTest, DISABLED_PositionModeWorks) {
+  CANTalon talon(deviceId);
+  talon.SetFeedbackDevice(CANTalon::AnalogPot);
+  talon.SetControlMode(CANSpeedController::kPosition);
+  Wait(0.1);
+  double p = 2;
+  double i = 0.00;
+  double d = 0.00;
+  Wait(0.2);
+  talon.SetControlMode(CANSpeedController::kPosition);
+  talon.SetFeedbackDevice(CANTalon::AnalogPot);
+  talon.SetPID(p, i, d);
+  Wait(0.2);
+  talon.Set(100);
+  Wait(100);
+  talon.Disable();
+  EXPECT_NEAR(talon.Get(), 500, 1000);
+}