diff --git a/motors/math_test.cc b/motors/math_test.cc
index 06f168f..91100e8 100644
--- a/motors/math_test.cc
+++ b/motors/math_test.cc
@@ -13,16 +13,20 @@
     MathInit();
   }
 
-  template <class Rotation>
+  template <class Rotation, int kTableSize>
   void CheckSinCos() {
     static constexpr float kTolerance = 0.004;
+    SCOPED_TRACE("num=" + ::std::to_string(Rotation::num) + " den=" +
+                 ::std::to_string(Rotation::den) + " table_size=" +
+                 ::std::to_string(kTableSize));
     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));
+      const float theta_float = ThetaToFloat<Rotation>(theta);
+      SCOPED_TRACE("theta=" + ::std::to_string(theta) + " theta_float=" +
+                   ::std::to_string(theta_float));
+      EXPECT_THAT((FastSinInt<Rotation, kTableSize>(theta)),
+                  ::testing::FloatNear(sin(theta_float), kTolerance));
+      EXPECT_THAT((FastCosInt<Rotation, kTableSize>(theta)),
+                  ::testing::FloatNear(cos(theta_float), kTolerance));
     }
   }
 
@@ -35,20 +39,40 @@
   }
 };
 
-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>>();
-  CheckSinCos<::std::ratio<1, 4096>>();
+TEST_F(SinCosIntTest, Numerator1DefaultTable) {
+  CheckSinCos<::std::ratio<1, 2>, 2>();
+  CheckSinCos<::std::ratio<1, 4>, 4>();
+  CheckSinCos<::std::ratio<1, 8>, 8>();
+  CheckSinCos<::std::ratio<1, 128>, 128>();
+  CheckSinCos<::std::ratio<1, 1024>, 1024>();
+  CheckSinCos<::std::ratio<1, 4096>, 4096>();
 }
 
-TEST_F(SinCosIntTest, Numerator5) {
-  CheckSinCos<::std::ratio<5, 8>>();
-  CheckSinCos<::std::ratio<5, 128>>();
-  CheckSinCos<::std::ratio<5, 1024>>();
-  CheckSinCos<::std::ratio<5, 4096>>();
+TEST_F(SinCosIntTest, Numerator1LargerTable) {
+  // Don't include silly things like a denominator of 2 and table size of 4
+  // here. It will fail because the slope varies so much that linearly
+  // interpolating between 0.5pi/1.5pi vs 0.25pi/0.75pi/1.25pi/1.75pi gives very
+  // different results.
+  CheckSinCos<::std::ratio<1, 2>, 4096>();
+  CheckSinCos<::std::ratio<1, 2>, 1024>();
+  CheckSinCos<::std::ratio<1, 8>, 4096>();
+  CheckSinCos<::std::ratio<1, 128>, 4096>();
+  CheckSinCos<::std::ratio<1, 1024>, 2048>();
+}
+
+TEST_F(SinCosIntTest, Numerator5DefaultTable) {
+  CheckSinCos<::std::ratio<5, 8>, 8>();
+  CheckSinCos<::std::ratio<5, 128>, 128>();
+  CheckSinCos<::std::ratio<5, 1024>, 1024>();
+  CheckSinCos<::std::ratio<5, 4096>, 4096>();
+}
+
+TEST_F(SinCosIntTest, Numerator5LargerTable) {
+  CheckSinCos<::std::ratio<5, 2>, 4096>();
+  CheckSinCos<::std::ratio<5, 2>, 1024>();
+  CheckSinCos<::std::ratio<5, 8>, 4096>();
+  CheckSinCos<::std::ratio<5, 128>, 4096>();
+  CheckSinCos<::std::ratio<5, 1024>, 2048>();
 }
 
 class SinCosFloatTest : public ::testing::Test {