diff --git a/wpilibcIntegrationTests/src/PCMTest.cpp b/wpilibcIntegrationTests/src/PCMTest.cpp
new file mode 100644
index 0000000..1423e6e
--- /dev/null
+++ b/wpilibcIntegrationTests/src/PCMTest.cpp
@@ -0,0 +1,159 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "AnalogInput.h"
+#include "Compressor.h"
+#include "DigitalInput.h"
+#include "DigitalOutput.h"
+#include "DoubleSolenoid.h"
+#include "Solenoid.h"
+#include "TestBench.h"
+#include "Timer.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+/* The PCM switches the compressor up to a couple seconds after the pressure
+        switch changes. */
+static const double kCompressorDelayTime = 3.0;
+
+/* Solenoids should change much more quickly */
+static const double kSolenoidDelayTime = 0.5;
+
+/* The voltage divider on the test bench should bring the compressor output
+        to around these values. */
+static const double kCompressorOnVoltage = 5.00;
+static const double kCompressorOffVoltage = 1.68;
+
+class PCMTest : public testing::Test {
+ protected:
+  Compressor* m_compressor;
+
+  DigitalOutput* m_fakePressureSwitch;
+  AnalogInput* m_fakeCompressor;
+  DoubleSolenoid* m_doubleSolenoid;
+  DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2;
+
+  void SetUp() override {
+    m_compressor = new Compressor();
+
+    m_fakePressureSwitch =
+        new DigitalOutput(TestBench::kFakePressureSwitchChannel);
+    m_fakeCompressor = new AnalogInput(TestBench::kFakeCompressorChannel);
+    m_fakeSolenoid1 = new DigitalInput(TestBench::kFakeSolenoid1Channel);
+    m_fakeSolenoid2 = new DigitalInput(TestBench::kFakeSolenoid2Channel);
+  }
+
+  void TearDown() override {
+    delete m_compressor;
+    delete m_fakePressureSwitch;
+    delete m_fakeCompressor;
+    delete m_fakeSolenoid1;
+    delete m_fakeSolenoid2;
+  }
+
+  void Reset() {
+    m_compressor->Stop();
+    m_fakePressureSwitch->Set(false);
+  }
+};
+
+/**
+ * Test if the compressor turns on and off when the pressure switch is toggled
+ */
+TEST_F(PCMTest, PressureSwitch) {
+  Reset();
+
+  m_compressor->SetClosedLoopControl(true);
+
+  // Turn on the compressor
+  m_fakePressureSwitch->Set(true);
+  Wait(kCompressorDelayTime);
+  EXPECT_NEAR(kCompressorOnVoltage, m_fakeCompressor->GetVoltage(), 0.5)
+      << "Compressor did not turn on when the pressure switch turned on.";
+
+  // Turn off the compressor
+  m_fakePressureSwitch->Set(false);
+  Wait(kCompressorDelayTime);
+  EXPECT_NEAR(kCompressorOffVoltage, m_fakeCompressor->GetVoltage(), 0.5)
+      << "Compressor did not turn off when the pressure switch turned off.";
+}
+
+/**
+ * Test if the correct solenoids turn on and off when they should
+ */
+TEST_F(PCMTest, Solenoid) {
+  Reset();
+  Solenoid solenoid1(TestBench::kSolenoidChannel1);
+  Solenoid solenoid2(TestBench::kSolenoidChannel2);
+
+  // Turn both solenoids off
+  solenoid1.Set(false);
+  solenoid2.Set(false);
+  Wait(kSolenoidDelayTime);
+  EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
+  EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
+  EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
+  EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
+
+  // Turn one solenoid on and one off
+  solenoid1.Set(true);
+  solenoid2.Set(false);
+  Wait(kSolenoidDelayTime);
+  EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
+  EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
+  EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
+  EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
+
+  // Turn one solenoid on and one off
+  solenoid1.Set(false);
+  solenoid2.Set(true);
+  Wait(kSolenoidDelayTime);
+  EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
+  EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
+  EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
+  EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
+
+  // Turn both on
+  solenoid1.Set(true);
+  solenoid2.Set(true);
+  Wait(kSolenoidDelayTime);
+  EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
+  EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
+  EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
+  EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
+}
+
+/**
+ * Test if the correct solenoids turn on and off when they should when used
+ * with the DoubleSolenoid class.
+ */
+TEST_F(PCMTest, DoubleSolenoid) {
+  DoubleSolenoid solenoid(TestBench::kSolenoidChannel1,
+                          TestBench::kSolenoidChannel2);
+
+  solenoid.Set(DoubleSolenoid::kOff);
+  Wait(kSolenoidDelayTime);
+  EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
+  EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
+  EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kOff)
+      << "Solenoid does not read off";
+
+  solenoid.Set(DoubleSolenoid::kForward);
+  Wait(kSolenoidDelayTime);
+  EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
+  EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
+  EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kForward)
+      << "Solenoid does not read forward";
+
+  solenoid.Set(DoubleSolenoid::kReverse);
+  Wait(kSolenoidDelayTime);
+  EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
+  EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
+  EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kReverse)
+      << "Solenoid does not read reverse";
+}