diff --git a/frc971/zeroing/wrap_test.cc b/frc971/zeroing/wrap_test.cc
new file mode 100644
index 0000000..e195385
--- /dev/null
+++ b/frc971/zeroing/wrap_test.cc
@@ -0,0 +1,44 @@
+#include <random>
+
+#include "frc971/zeroing/wrap.h"
+#include "gtest/gtest.h"
+
+namespace frc971 {
+namespace zeroing {
+namespace testing {
+
+// Tests some various positive and negative values for wrap.
+TEST(WrapTest, TestWrap) {
+  EXPECT_NEAR(1.0, Wrap(0.0, 1.0, 10.0), 1e-6);
+  EXPECT_NEAR(-1.0, Wrap(0.0, -1.0, 10.0), 1e-6);
+
+  EXPECT_NEAR(1.0, Wrap(5.0, 1.0, 10.0), 1e-6);
+  EXPECT_NEAR(9.0, Wrap(5.0, -1.0, 10.0), 1e-6);
+
+  EXPECT_NEAR(10.0, Wrap(5.0, 10.0, 10.0), 1e-6);
+  EXPECT_NEAR(1.0, Wrap(5.0, -9.0, 10.0), 1e-6);
+}
+
+// Try a bunch of combinations and verify that the result has the right
+// properties.  We can be really inefficient here since it is a test.
+TEST(WrapTest, ExhaustiveWrap) {
+  for (double i = -20; i < 20; ++i) {
+    for (double j = -20; j < 20; ++j) {
+      EXPECT_NEAR(i, Wrap(i, j, 10.0), 5.0);
+      const double wrapped_val = Wrap(i, j, 10.0);
+      bool found_interval = false;
+      for (int k = -5; k < 5; ++k) {
+        if (::std::abs(k * 10 + wrapped_val - j) < 1e-6) {
+          found_interval = true;
+          break;
+        }
+      }
+      EXPECT_TRUE(found_interval) << ": Wrap(" << i << ", " << j
+                                  << ") = " << wrapped_val;
+    }
+  }
+}
+
+}  // namespace testing
+}  // namespace zeroing
+}  // namespace frc971