diff --git a/wpilibcIntegrationTests/src/TiltPanCameraTest.cpp b/wpilibcIntegrationTests/src/TiltPanCameraTest.cpp
new file mode 100644
index 0000000..35b8d29
--- /dev/null
+++ b/wpilibcIntegrationTests/src/TiltPanCameraTest.cpp
@@ -0,0 +1,169 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <ADXL345_SPI.h>
+#include <AnalogGyro.h>
+#include <Servo.h>
+#include <Timer.h>
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+static constexpr double kServoResetTime = 2.0;
+
+static constexpr double kTestAngle = 90.0;
+
+static constexpr double kTiltSetpoint0 = 0.22;
+static constexpr double kTiltSetpoint45 = 0.45;
+static constexpr double kTiltSetpoint90 = 0.68;
+static constexpr double kTiltTime = 1.0;
+static constexpr double kAccelerometerTolerance = 0.2;
+static constexpr double kSensitivity = 0.013;
+
+/**
+ * A fixture for the camera with two servos and a gyro
+ * @author Thomas Clark
+ */
+class TiltPanCameraTest : public testing::Test {
+ protected:
+  static AnalogGyro *m_gyro;
+  Servo *m_tilt, *m_pan;
+  Accelerometer *m_spiAccel;
+
+  static void SetUpTestCase() {
+    // The gyro object blocks for 5 seconds in the constructor, so only
+    // construct it once for the whole test case
+    m_gyro = new AnalogGyro(TestBench::kCameraGyroChannel);
+    m_gyro->SetSensitivity(kSensitivity);
+  }
+
+  static void TearDownTestCase() { delete m_gyro; }
+
+  virtual void SetUp() override {
+    m_tilt = new Servo(TestBench::kCameraTiltChannel);
+    m_pan = new Servo(TestBench::kCameraPanChannel);
+    m_spiAccel = new ADXL345_SPI(SPI::kOnboardCS0);
+
+    m_tilt->Set(kTiltSetpoint45);
+    m_pan->SetAngle(0.0f);
+
+    Wait(kServoResetTime);
+
+    m_gyro->Reset();
+  }
+
+  void DefaultGyroAngle();
+  void GyroAngle();
+  void GyroCalibratedParameters();
+
+  virtual void TearDown() override {
+    delete m_tilt;
+    delete m_pan;
+    delete m_spiAccel;
+  }
+};
+
+AnalogGyro *TiltPanCameraTest::m_gyro = nullptr;
+
+/**
+ * Test if the gyro angle defaults to 0 immediately after being reset.
+ */
+void TiltPanCameraTest::DefaultGyroAngle() {
+  EXPECT_NEAR(0.0f, m_gyro->GetAngle(), 1.0f);
+}
+
+/**
+ * Test if the servo turns 90 degrees and the gyroscope measures this angle
+ * Note servo on TestBench is not the same type of servo that servo class
+ * was designed for so setAngle is significantly off. This has been calibrated
+ * for the servo on the rig.
+ */
+void TiltPanCameraTest::GyroAngle() {
+  // Make sure that the gyro doesn't get jerked when the servo goes to zero.
+  m_pan->SetAngle(0.0);
+  Wait(0.5);
+  m_gyro->Reset();
+
+  for (int i = 0; i < 600; i++) {
+    m_pan->Set(i / 1000.0);
+    Wait(0.001);
+  }
+
+  double gyroAngle = m_gyro->GetAngle();
+
+  EXPECT_NEAR(gyroAngle, kTestAngle, 10.0)
+      << "Gyro measured " << gyroAngle << " degrees, servo should have turned "
+      << kTestAngle << " degrees";
+}
+
+/**
+  * Gets calibrated parameters from previously calibrated gyro, allocates a new
+  * gyro with the given parameters for center and offset, and re-runs tests on
+  * the new gyro.
+  */
+void TiltPanCameraTest::GyroCalibratedParameters() {
+  uint32_t cCenter = m_gyro->GetCenter();
+  float cOffset = m_gyro->GetOffset();
+  delete m_gyro;
+  m_gyro = new AnalogGyro(TestBench::kCameraGyroChannel, cCenter, cOffset);
+  m_gyro->SetSensitivity(kSensitivity);
+
+  // Default gyro angle test
+  // Accumulator needs a small amount of time to reset before being tested
+  m_gyro->Reset();
+  Wait(.001);
+  EXPECT_NEAR(0.0f, m_gyro->GetAngle(), 1.0f);
+
+  // Gyro angle test
+  // Make sure that the gyro doesn't get jerked when the servo goes to zero.
+  m_pan->SetAngle(0.0);
+  Wait(0.5);
+  m_gyro->Reset();
+
+  for (int i = 0; i < 600; i++) {
+    m_pan->Set(i / 1000.0);
+    Wait(0.001);
+  }
+
+  double gyroAngle = m_gyro->GetAngle();
+
+  EXPECT_NEAR(gyroAngle, kTestAngle, 10.0)
+      << "Gyro measured " << gyroAngle << " degrees, servo should have turned "
+      << kTestAngle << " degrees";
+}
+
+/**
+ * Run all gyro tests in one function to make sure they are run in order.
+ */
+TEST_F(TiltPanCameraTest, TestAllGyroTests) {
+  DefaultGyroAngle();
+  GyroAngle();
+  GyroCalibratedParameters();
+}
+
+/**
+ * Test if the accelerometer measures gravity along the correct axes when the
+ * camera rotates
+ */
+TEST_F(TiltPanCameraTest, SPIAccelerometer) {
+  m_tilt->Set(kTiltSetpoint0);
+  Wait(kTiltTime);
+  EXPECT_NEAR(-1.0, m_spiAccel->GetX(), kAccelerometerTolerance);
+  EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
+  EXPECT_NEAR(0.0, m_spiAccel->GetZ(), kAccelerometerTolerance);
+
+  m_tilt->Set(kTiltSetpoint45);
+  Wait(kTiltTime);
+  EXPECT_NEAR(-std::sqrt(0.5), m_spiAccel->GetX(), kAccelerometerTolerance);
+  EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
+  EXPECT_NEAR(std::sqrt(0.5), m_spiAccel->GetZ(), kAccelerometerTolerance);
+
+  m_tilt->Set(kTiltSetpoint90);
+  Wait(kTiltTime);
+  EXPECT_NEAR(0.0, m_spiAccel->GetX(), kAccelerometerTolerance);
+  EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
+  EXPECT_NEAR(1.0, m_spiAccel->GetZ(), kAccelerometerTolerance);
+}