diff --git a/wpilibcIntegrationTests/src/CircularBufferTest.cpp b/wpilibcIntegrationTests/src/CircularBufferTest.cpp
new file mode 100644
index 0000000..24b00a9
--- /dev/null
+++ b/wpilibcIntegrationTests/src/CircularBufferTest.cpp
@@ -0,0 +1,211 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2017. 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 "CircularBuffer.h"  // NOLINT(build/include_order)
+
+#include <array>
+
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static const std::array<double, 10> values = {
+    751.848, 766.366, 342.657, 234.252, 716.126,
+    132.344, 445.697, 22.727,  421.125, 799.913};
+
+static const std::array<double, 8> pushFrontOut = {
+    799.913, 421.125, 22.727, 445.697, 132.344, 716.126, 234.252, 342.657};
+
+static const std::array<double, 8> pushBackOut = {
+    342.657, 234.252, 716.126, 132.344, 445.697, 22.727, 421.125, 799.913};
+
+TEST(CircularBufferTest, PushFrontTest) {
+  CircularBuffer<double> queue(8);
+
+  for (auto& value : values) {
+    queue.PushFront(value);
+  }
+
+  for (size_t i = 0; i < pushFrontOut.size(); i++) {
+    EXPECT_EQ(pushFrontOut[i], queue[i]);
+  }
+}
+
+TEST(CircularBufferTest, PushBackTest) {
+  CircularBuffer<double> queue(8);
+
+  for (auto& value : values) {
+    queue.PushBack(value);
+  }
+
+  for (size_t i = 0; i < pushBackOut.size(); i++) {
+    EXPECT_EQ(pushBackOut[i], queue[i]);
+  }
+}
+
+TEST(CircularBufferTest, PushPopTest) {
+  CircularBuffer<double> queue(3);
+
+  // Insert three elements into the buffer
+  queue.PushBack(1.0);
+  queue.PushBack(2.0);
+  queue.PushBack(3.0);
+
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+  EXPECT_EQ(3.0, queue[2]);
+
+  /*
+   * The buffer is full now, so pushing subsequent elements will overwrite the
+   * front-most elements.
+   */
+
+  queue.PushBack(4.0);  // Overwrite 1 with 4
+
+  // The buffer now contains 2, 3 and 4
+  EXPECT_EQ(2.0, queue[0]);
+  EXPECT_EQ(3.0, queue[1]);
+  EXPECT_EQ(4.0, queue[2]);
+
+  queue.PushBack(5.0);  // Overwrite 2 with 5
+
+  // The buffer now contains 3, 4 and 5
+  EXPECT_EQ(3.0, queue[0]);
+  EXPECT_EQ(4.0, queue[1]);
+  EXPECT_EQ(5.0, queue[2]);
+
+  EXPECT_EQ(5.0, queue.PopBack());  // 5 is removed
+
+  // The buffer now contains 3 and 4
+  EXPECT_EQ(3.0, queue[0]);
+  EXPECT_EQ(4.0, queue[1]);
+
+  EXPECT_EQ(3.0, queue.PopFront());  // 3 is removed
+
+  // Leaving only one element with value == 4
+  EXPECT_EQ(4.0, queue[0]);
+}
+
+TEST(CircularBufferTest, ResetTest) {
+  CircularBuffer<double> queue(5);
+
+  for (size_t i = 1; i < 6; i++) {
+    queue.PushBack(i);
+  }
+
+  queue.Reset();
+
+  for (size_t i = 0; i < 5; i++) {
+    EXPECT_EQ(0.0, queue[i]);
+  }
+}
+
+TEST(CircularBufferTest, ResizeTest) {
+  CircularBuffer<double> queue(5);
+
+  /* Buffer contains {1, 2, 3, _, _}
+   *                  ^ front
+   */
+  queue.PushBack(1.0);
+  queue.PushBack(2.0);
+  queue.PushBack(3.0);
+
+  queue.Resize(2);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.Resize(5);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.Reset();
+
+  /* Buffer contains {_, 1, 2, 3, _}
+   *                     ^ front
+   */
+  queue.PushBack(0.0);
+  queue.PushBack(1.0);
+  queue.PushBack(2.0);
+  queue.PushBack(3.0);
+  queue.PopFront();
+
+  queue.Resize(2);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.Resize(5);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.Reset();
+
+  /* Buffer contains {_, _, 1, 2, 3}
+   *                        ^ front
+   */
+  queue.PushBack(0.0);
+  queue.PushBack(0.0);
+  queue.PushBack(1.0);
+  queue.PushBack(2.0);
+  queue.PushBack(3.0);
+  queue.PopFront();
+  queue.PopFront();
+
+  queue.Resize(2);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.Resize(5);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.Reset();
+
+  /* Buffer contains {3, _, _, 1, 2}
+   *                           ^ front
+   */
+  queue.PushBack(3.0);
+  queue.PushFront(2.0);
+  queue.PushFront(1.0);
+
+  queue.Resize(2);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.Resize(5);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.Reset();
+
+  /* Buffer contains {2, 3, _, _, 1}
+   *                              ^ front
+   */
+  queue.PushBack(2.0);
+  queue.PushBack(3.0);
+  queue.PushFront(1.0);
+
+  queue.Resize(2);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  queue.Resize(5);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+
+  // Test PushBack() after resize
+  queue.PushBack(3.0);
+  EXPECT_EQ(1.0, queue[0]);
+  EXPECT_EQ(2.0, queue[1]);
+  EXPECT_EQ(3.0, queue[2]);
+
+  // Test PushFront() after resize
+  queue.PushFront(4.0);
+  EXPECT_EQ(4.0, queue[0]);
+  EXPECT_EQ(1.0, queue[1]);
+  EXPECT_EQ(2.0, queue[2]);
+  EXPECT_EQ(3.0, queue[3]);
+}