diff --git a/motors/math_test.cc b/motors/math_test.cc
new file mode 100644
index 0000000..672ee69
--- /dev/null
+++ b/motors/math_test.cc
@@ -0,0 +1,78 @@
+#include "motors/math.h"
+
+#include "gtest/gtest.h"
+#include "gmock/gmock.h"
+
+namespace frc971 {
+namespace salsa {
+namespace testing {
+
+class SinCosIntTest : public ::testing::Test {
+ public:
+  void SetUp() override {
+    MathInit();
+  }
+
+  template <class Rotation>
+  void CheckSinCos() {
+    static constexpr float kTolerance = 0.004;
+    for (uint32_t theta = 0; theta < Rotation::den; ++theta) {
+      EXPECT_THAT(
+          FastSinInt<Rotation>(theta),
+          ::testing::FloatNear(sin(ThetaToFloat<Rotation>(theta)), kTolerance));
+      EXPECT_THAT(
+          FastCosInt<Rotation>(theta),
+          ::testing::FloatNear(cos(ThetaToFloat<Rotation>(theta)), kTolerance));
+    }
+  }
+
+ private:
+  template <class Rotation>
+  double ThetaToFloat(uint32_t theta) {
+    const double rotation_double =
+        static_cast<double>(Rotation::num) / static_cast<double>(Rotation::den);
+    return (static_cast<double>(theta) + 0.5) * rotation_double * 2.0 * M_PI;
+  }
+};
+
+TEST_F(SinCosIntTest, Numerator1) {
+  CheckSinCos<::std::ratio<1, 2>>();
+  CheckSinCos<::std::ratio<1, 4>>();
+  CheckSinCos<::std::ratio<1, 8>>();
+  CheckSinCos<::std::ratio<1, 128>>();
+  CheckSinCos<::std::ratio<1, 1024>>();
+}
+
+TEST_F(SinCosIntTest, Numerator5) {
+  CheckSinCos<::std::ratio<5, 8>>();
+  CheckSinCos<::std::ratio<5, 128>>();
+  CheckSinCos<::std::ratio<5, 1024>>();
+}
+
+class SinCosFloatTest : public ::testing::Test {
+ public:
+  void SetUp() override {
+    MathInit();
+  }
+
+  void CheckSinCos(float theta) {
+    ASSERT_GE(theta, -0.2f);
+    ASSERT_LE(theta, 0.2f);
+
+    static constexpr float kTolerance = 0.002;
+    EXPECT_THAT(FastSinFloat(theta),
+                ::testing::FloatNear(sin(theta), kTolerance));
+    EXPECT_THAT(FastCosFloat(theta),
+                ::testing::FloatNear(cos(theta), kTolerance));
+  }
+};
+
+TEST_F(SinCosFloatTest, Endpoints) {
+  CheckSinCos(0);
+  CheckSinCos(-0.2);
+  CheckSinCos(0.2);
+}
+
+}  // namespace testing
+}  // namespace salsa
+}  // namespace frc971