diff --git a/wpilibcIntegrationTests/src/MotorInvertingTest.cpp b/wpilibcIntegrationTests/src/MotorInvertingTest.cpp
new file mode 100644
index 0000000..c7015c8
--- /dev/null
+++ b/wpilibcIntegrationTests/src/MotorInvertingTest.cpp
@@ -0,0 +1,126 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "Encoder.h"
+#include "Jaguar.h"
+#include "Talon.h"
+#include "TestBench.h"
+#include "Timer.h"
+#include "Victor.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
+static const double motorSpeed = 0.15;
+static const double delayTime = 0.5;
+std::ostream& operator<<(std::ostream& os, MotorInvertingTestType const& type) {
+  switch (type) {
+    case TEST_VICTOR:
+      os << "Victor";
+      break;
+    case TEST_JAGUAR:
+      os << "Jaguar";
+      break;
+    case TEST_TALON:
+      os << "Talon";
+      break;
+  }
+
+  return os;
+}
+class MotorInvertingTest
+    : public testing::TestWithParam<MotorInvertingTestType> {
+ protected:
+  SpeedController* m_speedController;
+  Encoder* m_encoder;
+  void SetUp() override {
+    switch (GetParam()) {
+      case TEST_VICTOR:
+        m_speedController = new Victor(TestBench::kVictorChannel);
+        m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
+                                TestBench::kVictorEncoderChannelB);
+        break;
+
+      case TEST_JAGUAR:
+        m_speedController = new Jaguar(TestBench::kJaguarChannel);
+        m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
+                                TestBench::kJaguarEncoderChannelB);
+        break;
+
+      case TEST_TALON:
+        m_speedController = new Talon(TestBench::kTalonChannel);
+        m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
+                                TestBench::kTalonEncoderChannelB);
+        break;
+    }
+  }
+  void TearDown() override {
+    delete m_speedController;
+    delete m_encoder;
+  }
+
+  void Reset() {
+    m_speedController->SetInverted(false);
+    m_speedController->Set(0.0);
+    m_encoder->Reset();
+  }
+};
+
+TEST_P(MotorInvertingTest, InvertingPositive) {
+  Reset();
+  m_speedController->Set(motorSpeed);
+  Wait(delayTime);
+  bool initDirection = m_encoder->GetDirection();
+  m_speedController->SetInverted(true);
+  m_speedController->Set(motorSpeed);
+  Wait(delayTime);
+  EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
+      << "Inverting with Positive value does not change direction";
+  Reset();
+}
+TEST_P(MotorInvertingTest, InvertingNegative) {
+  Reset();
+  m_speedController->SetInverted(false);
+  m_speedController->Set(-motorSpeed);
+  Wait(delayTime);
+  bool initDirection = m_encoder->GetDirection();
+  m_speedController->SetInverted(true);
+  m_speedController->Set(-motorSpeed);
+  Wait(delayTime);
+  EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
+      << "Inverting with Negative value does not change direction";
+  Reset();
+}
+TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
+  Reset();
+  m_speedController->SetInverted(false);
+  m_speedController->Set(motorSpeed);
+  Wait(delayTime);
+  bool initDirection = m_encoder->GetDirection();
+  m_speedController->SetInverted(true);
+  m_speedController->Set(-motorSpeed);
+  Wait(delayTime);
+  EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
+      << "Inverting with Switching value does change direction";
+  Reset();
+}
+TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) {
+  Reset();
+  m_speedController->SetInverted(false);
+  m_speedController->Set(-motorSpeed);
+  Wait(delayTime);
+  bool initDirection = m_encoder->GetDirection();
+  m_speedController->SetInverted(true);
+  m_speedController->Set(motorSpeed);
+  Wait(delayTime);
+  EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
+      << "Inverting with Switching value does change direction";
+  Reset();
+}
+INSTANTIATE_TEST_CASE_P(Test, MotorInvertingTest,
+                        testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));