diff --git a/wpilibcIntegrationTests/src/RelayTest.cpp b/wpilibcIntegrationTests/src/RelayTest.cpp
new file mode 100644
index 0000000..81a7c14
--- /dev/null
+++ b/wpilibcIntegrationTests/src/RelayTest.cpp
@@ -0,0 +1,68 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "Relay.h"  // NOLINT(build/include_order)
+
+#include "DigitalInput.h"
+#include "TestBench.h"
+#include "Timer.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static const double kDelayTime = 0.01;
+
+class RelayTest : public testing::Test {
+ protected:
+  Relay* m_relay;
+  DigitalInput* m_forward;
+  DigitalInput* m_reverse;
+
+  void SetUp() override {
+    m_relay = new Relay(TestBench::kRelayChannel);
+    m_forward = new DigitalInput(TestBench::kFakeRelayForward);
+    m_reverse = new DigitalInput(TestBench::kFakeRelayReverse);
+  }
+
+  void TearDown() override {
+    delete m_relay;
+    delete m_forward;
+    delete m_reverse;
+  }
+
+  void Reset() { m_relay->Set(Relay::kOff); }
+};
+/**
+ * Test the relay by setting it forward, reverse, off, and on.
+ */
+TEST_F(RelayTest, Relay) {
+  Reset();
+
+  // set the relay to forward
+  m_relay->Set(Relay::kForward);
+  Wait(kDelayTime);
+  EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward";
+  EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward";
+
+  // set the relay to reverse
+  m_relay->Set(Relay::kReverse);
+  Wait(kDelayTime);
+  EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse";
+  EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse";
+
+  // set the relay to off
+  m_relay->Set(Relay::kOff);
+  Wait(kDelayTime);
+  EXPECT_FALSE(m_forward->Get()) << "Relay did not set off";
+  EXPECT_FALSE(m_reverse->Get()) << "Relay did not set off";
+
+  // set the relay to on
+  m_relay->Set(Relay::kOn);
+  Wait(kDelayTime);
+  EXPECT_TRUE(m_forward->Get()) << "Relay did not set on";
+  EXPECT_TRUE(m_reverse->Get()) << "Relay did not set on";
+}