diff --git a/wpilibcIntegrationTests/src/DIOLoopTest.cpp b/wpilibcIntegrationTests/src/DIOLoopTest.cpp
new file mode 100644
index 0000000..2678a52
--- /dev/null
+++ b/wpilibcIntegrationTests/src/DIOLoopTest.cpp
@@ -0,0 +1,187 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 "DigitalInput.h"   // NOLINT(build/include_order)
+#include "DigitalOutput.h"  // NOLINT(build/include_order)
+
+#include "Counter.h"
+#include "InterruptableSensorBase.h"
+#include "TestBench.h"
+#include "Timer.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static const double kCounterTime = 0.001;
+
+static const double kDelayTime = 0.1;
+
+static const double kSynchronousInterruptTime = 2.0;
+static const double kSynchronousInterruptTimeTolerance = 0.01;
+
+/**
+ * A fixture with a digital input and a digital output physically wired
+ * together.
+ */
+class DIOLoopTest : public testing::Test {
+ protected:
+  DigitalInput* m_input;
+  DigitalOutput* m_output;
+
+  void SetUp() override {
+    m_input = new DigitalInput(TestBench::kLoop1InputChannel);
+    m_output = new DigitalOutput(TestBench::kLoop1OutputChannel);
+  }
+
+  void TearDown() override {
+    delete m_input;
+    delete m_output;
+  }
+
+  void Reset() { m_output->Set(false); }
+};
+
+/**
+ * Test the DigitalInput and DigitalOutput classes by setting the output and
+ * reading the input.
+ */
+TEST_F(DIOLoopTest, Loop) {
+  Reset();
+
+  m_output->Set(false);
+  Wait(kDelayTime);
+  EXPECT_FALSE(m_input->Get()) << "The digital output was turned off, but "
+                               << "the digital input is on.";
+
+  m_output->Set(true);
+  Wait(kDelayTime);
+  EXPECT_TRUE(m_input->Get()) << "The digital output was turned on, but "
+                              << "the digital input is off.";
+}
+/**
+ * Tests to see if the DIO PWM functionality works.
+ */
+TEST_F(DIOLoopTest, DIOPWM) {
+  Reset();
+
+  m_output->Set(false);
+  Wait(kDelayTime);
+  EXPECT_FALSE(m_input->Get()) << "The digital output was turned off, but "
+                               << "the digital input is on.";
+
+  // Set frequency to 2.0 Hz
+  m_output->SetPWMRate(2.0);
+  // Enable PWM, but leave it off
+  m_output->EnablePWM(0.0);
+  Wait(0.5);
+  m_output->UpdateDutyCycle(0.5);
+  m_input->RequestInterrupts();
+  m_input->SetUpSourceEdge(false, true);
+  InterruptableSensorBase::WaitResult result =
+      m_input->WaitForInterrupt(3.0, true);
+
+  Wait(0.5);
+  bool firstCycle = m_input->Get();
+  Wait(0.5);
+  bool secondCycle = m_input->Get();
+  Wait(0.5);
+  bool thirdCycle = m_input->Get();
+  Wait(0.5);
+  bool forthCycle = m_input->Get();
+  Wait(0.5);
+  bool fifthCycle = m_input->Get();
+  Wait(0.5);
+  bool sixthCycle = m_input->Get();
+  Wait(0.5);
+  bool seventhCycle = m_input->Get();
+  m_output->DisablePWM();
+  Wait(0.5);
+  bool firstAfterStop = m_input->Get();
+  Wait(0.5);
+  bool secondAfterStop = m_input->Get();
+
+  EXPECT_EQ(InterruptableSensorBase::WaitResult::kFallingEdge, result)
+      << "WaitForInterrupt was not falling.";
+
+  EXPECT_FALSE(firstCycle) << "Input not low after first delay";
+  EXPECT_TRUE(secondCycle) << "Input not high after second delay";
+  EXPECT_FALSE(thirdCycle) << "Input not low after third delay";
+  EXPECT_TRUE(forthCycle) << "Input not high after forth delay";
+  EXPECT_FALSE(fifthCycle) << "Input not low after fifth delay";
+  EXPECT_TRUE(sixthCycle) << "Input not high after sixth delay";
+  EXPECT_FALSE(seventhCycle) << "Input not low after seventh delay";
+  EXPECT_FALSE(firstAfterStop) << "Input not low after stopping first read";
+  EXPECT_FALSE(secondAfterStop) << "Input not low after stopping second read";
+}
+
+/**
+ * Test a fake "counter" that uses the DIO loop as an input to make sure the
+ * Counter class works
+ */
+TEST_F(DIOLoopTest, FakeCounter) {
+  Reset();
+
+  Counter counter(m_input);
+
+  EXPECT_EQ(0, counter.Get()) << "Counter did not initialize to 0.";
+
+  /* Count 100 ticks.  The counter value should be 100 after this loop. */
+  for (int32_t i = 0; i < 100; i++) {
+    m_output->Set(true);
+    Wait(kCounterTime);
+    m_output->Set(false);
+    Wait(kCounterTime);
+  }
+
+  EXPECT_EQ(100, counter.Get()) << "Counter did not count up to 100.";
+}
+
+static void InterruptHandler(uint32_t interruptAssertedMask, void* param) {
+  *reinterpret_cast<int32_t*>(param) = 12345;
+}
+
+TEST_F(DIOLoopTest, AsynchronousInterruptWorks) {
+  int32_t param = 0;
+
+  // Given an interrupt handler that sets an int32_t to 12345
+  m_input->RequestInterrupts(InterruptHandler, &param);
+  m_input->EnableInterrupts();
+
+  // If the voltage rises
+  m_output->Set(false);
+  m_output->Set(true);
+  m_input->CancelInterrupts();
+
+  // Then the int32_t should be 12345
+  Wait(kDelayTime);
+  EXPECT_EQ(12345, param) << "The interrupt did not run.";
+}
+
+static void* InterruptTriggerer(void* data) {
+  DigitalOutput* output = static_cast<DigitalOutput*>(data);
+  output->Set(false);
+  Wait(kSynchronousInterruptTime);
+  output->Set(true);
+  return nullptr;
+}
+
+TEST_F(DIOLoopTest, SynchronousInterruptWorks) {
+  // Given a synchronous interrupt
+  m_input->RequestInterrupts();
+
+  // If we have another thread trigger the interrupt in a few seconds
+  pthread_t interruptTriggererLoop;
+  pthread_create(&interruptTriggererLoop, nullptr, InterruptTriggerer,
+                 m_output);
+
+  // Then this thread should pause and resume after that number of seconds
+  Timer timer;
+  timer.Start();
+  m_input->WaitForInterrupt(kSynchronousInterruptTime + 1.0);
+  EXPECT_NEAR(kSynchronousInterruptTime, timer.Get(),
+              kSynchronousInterruptTimeTolerance);
+}