diff --git a/wpilibcIntegrationTests/src/MotorEncoderTest.cpp b/wpilibcIntegrationTests/src/MotorEncoderTest.cpp
new file mode 100644
index 0000000..47f0ab9
--- /dev/null
+++ b/wpilibcIntegrationTests/src/MotorEncoderTest.cpp
@@ -0,0 +1,185 @@
+/*----------------------------------------------------------------------------*/
+/* 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <Encoder.h>
+#include <Jaguar.h>
+#include <PIDController.h>
+#include <Talon.h>
+#include <Timer.h>
+#include <Victor.h>
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+enum MotorEncoderTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
+
+std::ostream &operator<<(std::ostream &os, MotorEncoderTestType const &type) {
+  switch (type) {
+    case TEST_VICTOR:
+      os << "Victor";
+      break;
+    case TEST_JAGUAR:
+      os << "Jaguar";
+      break;
+    case TEST_TALON:
+      os << "Talon";
+      break;
+  }
+
+  return os;
+}
+
+static constexpr double kMotorTime = 0.5;
+
+/**
+ * A fixture that includes a PWM speed controller and an encoder connected to
+ * the same motor.
+ * @author Thomas Clark
+ */
+class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
+ protected:
+  SpeedController *m_speedController;
+  Encoder *m_encoder;
+
+  virtual void SetUp() override {
+    switch (GetParam()) {
+      case TEST_VICTOR:
+        m_speedController = new Victor(TestBench::kVictorChannel);
+        m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
+                                TestBench::kVictorEncoderChannelB);
+        break;
+
+      case TEST_JAGUAR:
+        m_speedController = new Jaguar(TestBench::kJaguarChannel);
+        m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
+                                TestBench::kJaguarEncoderChannelB);
+        break;
+
+      case TEST_TALON:
+        m_speedController = new Talon(TestBench::kTalonChannel);
+        m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
+                                TestBench::kTalonEncoderChannelB);
+        break;
+    }
+  }
+
+  virtual void TearDown() override {
+    delete m_speedController;
+    delete m_encoder;
+  }
+
+  void Reset() {
+    m_speedController->Set(0.0f);
+    m_encoder->Reset();
+  }
+};
+
+/**
+ * Test if the encoder value increments after the motor drives forward
+ */
+TEST_P(MotorEncoderTest, Increment) {
+  Reset();
+
+  /* Drive the speed controller briefly to move the encoder */
+  m_speedController->Set(1.0);
+  Wait(kMotorTime);
+  m_speedController->Set(0.0);
+
+  /* The encoder should be positive now */
+  EXPECT_GT(m_encoder->Get(), 0)
+      << "Encoder should have incremented after the motor moved";
+}
+
+/**
+ * Test if the encoder value decrements after the motor drives backwards
+ */
+TEST_P(MotorEncoderTest, Decrement) {
+  Reset();
+
+  /* Drive the speed controller briefly to move the encoder */
+  m_speedController->Set(-1.0f);
+  Wait(kMotorTime);
+  m_speedController->Set(0.0f);
+
+  /* The encoder should be positive now */
+  EXPECT_LT(m_encoder->Get(), 0.0f)
+      << "Encoder should have decremented after the motor moved";
+}
+
+/**
+ * Test if motor speeds are clamped to [-1,1]
+ */
+TEST_P(MotorEncoderTest, ClampSpeed) {
+  Reset();
+
+  m_speedController->Set(2.0f);
+  Wait(kMotorTime);
+
+  EXPECT_FLOAT_EQ(1.0f, m_speedController->Get());
+
+  m_speedController->Set(-2.0f);
+  Wait(kMotorTime);
+
+  EXPECT_FLOAT_EQ(-1.0f, m_speedController->Get());
+}
+
+/**
+ * Test if position PID loop works
+ */
+TEST_P(MotorEncoderTest, PositionPIDController) {
+  Reset();
+
+  m_encoder->SetPIDSourceType(PIDSourceType::kDisplacement);
+  PIDController pid(0.001f, 0.0005f, 0.0f, m_encoder, m_speedController);
+  pid.SetAbsoluteTolerance(20.0f);
+  pid.SetOutputRange(-0.3f, 0.3f);
+  pid.SetSetpoint(2500);
+
+  /* 10 seconds should be plenty time to get to the setpoint */
+  pid.Enable();
+  Wait(10.0);
+  pid.Disable();
+
+  RecordProperty("PIDError", pid.GetError());
+
+  EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds.";
+}
+
+/**
+ * Test if velocity PID loop works
+ */
+TEST_P(MotorEncoderTest, VelocityPIDController) {
+  Reset();
+
+  m_encoder->SetPIDSourceType(PIDSourceType::kRate);
+  PIDController pid(1e-5, 0.0f, 3e-5, 8e-5, m_encoder, m_speedController);
+  pid.SetAbsoluteTolerance(50.0f);
+  pid.SetToleranceBuffer(10);
+  pid.SetOutputRange(-0.3f, 0.3f);
+  pid.SetSetpoint(2000);
+
+  /* 10 seconds should be plenty time to get to the setpoint */
+  pid.Enable();
+  Wait(10.0);
+
+  RecordProperty("PIDError", pid.GetAvgError());
+
+  EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds. Goal was: " << 2000 << " Error was: " << pid.GetError();
+
+  pid.Disable();
+}
+
+/**
+ * Test resetting encoders
+ */
+TEST_P(MotorEncoderTest, Reset) {
+  Reset();
+
+  EXPECT_EQ(0, m_encoder->Get()) << "Encoder did not reset to 0";
+}
+
+INSTANTIATE_TEST_CASE_P(Test, MotorEncoderTest,
+                        testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));