diff --git a/wpilibcIntegrationTests/src/command/ConditionalCommandTest.cpp b/wpilibcIntegrationTests/src/command/ConditionalCommandTest.cpp
new file mode 100644
index 0000000..271131d
--- /dev/null
+++ b/wpilibcIntegrationTests/src/command/ConditionalCommandTest.cpp
@@ -0,0 +1,100 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 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 <DriverStation.h>
+#include <RobotState.h>
+
+#include "Commands/ConditionalCommand.h"
+#include "Commands/Scheduler.h"
+#include "command/MockCommand.h"
+#include "command/MockConditionalCommand.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+class ConditionalCommandTest : public testing::Test {
+ public:
+  MockConditionalCommand* m_command;
+  MockCommand* m_onTrue;
+  MockCommand* m_onFalse;
+
+ protected:
+  void SetUp() override {
+    RobotState::SetImplementation(DriverStation::GetInstance());
+    Scheduler::GetInstance()->SetEnabled(true);
+
+    m_onTrue = new MockCommand();
+    m_onFalse = new MockCommand();
+    m_command = new MockConditionalCommand(m_onTrue, m_onFalse);
+  }
+
+  void TearDown() override { delete m_command; }
+
+  /**
+   * Tears Down the Scheduler at the end of each test.
+   *
+   * Must be called at the end of each test inside each test in order to prevent
+   * them being deallocated when they leave the scope of the test (causing a
+   * segfault). This cannot be done within the virtual void Teardown() method
+   * because it is called outside of the scope of the test.
+   */
+  void TeardownScheduler() { Scheduler::GetInstance()->ResetAll(); }
+
+  void AssertCommandState(MockCommand& command, int32_t initialize,
+                          int32_t execute, int32_t isFinished, int32_t end,
+                          int32_t interrupted) {
+    EXPECT_EQ(initialize, command.GetInitializeCount());
+    EXPECT_EQ(execute, command.GetExecuteCount());
+    EXPECT_EQ(isFinished, command.GetIsFinishedCount());
+    EXPECT_EQ(end, command.GetEndCount());
+    EXPECT_EQ(interrupted, command.GetInterruptedCount());
+  }
+};
+
+TEST_F(ConditionalCommandTest, OnTrueTest) {
+  m_command->SetCondition(true);
+
+  Scheduler::GetInstance()->AddCommand(m_command);
+  AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
+  Scheduler::GetInstance()->Run();  // init command and select m_onTrue
+  AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
+  Scheduler::GetInstance()->Run();  // init m_onTrue
+  AssertCommandState(*m_onTrue, 0, 0, 0, 0, 0);
+  Scheduler::GetInstance()->Run();
+  AssertCommandState(*m_onTrue, 1, 1, 2, 0, 0);
+  Scheduler::GetInstance()->Run();
+  AssertCommandState(*m_onTrue, 1, 2, 4, 0, 0);
+
+  EXPECT_TRUE(m_onTrue->GetInitializeCount() > 0)
+      << "Did not initialize the true command\n";
+  EXPECT_TRUE(m_onFalse->GetInitializeCount() == 0)
+      << "Initialized the false command\n";
+
+  TeardownScheduler();
+}
+
+TEST_F(ConditionalCommandTest, OnFalseTest) {
+  m_command->SetCondition(false);
+
+  Scheduler::GetInstance()->AddCommand(m_command);
+  AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
+  Scheduler::GetInstance()->Run();  // init command and select m_onTrue
+  AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
+  Scheduler::GetInstance()->Run();  // init m_onTrue
+  AssertCommandState(*m_onFalse, 0, 0, 0, 0, 0);
+  Scheduler::GetInstance()->Run();
+  AssertCommandState(*m_onFalse, 1, 1, 2, 0, 0);
+  Scheduler::GetInstance()->Run();
+  AssertCommandState(*m_onFalse, 1, 2, 4, 0, 0);
+
+  EXPECT_TRUE(m_onFalse->GetInitializeCount() > 0)
+      << "Did not initialize the false command";
+  EXPECT_TRUE(m_onTrue->GetInitializeCount() == 0)
+      << "Initialized the true command";
+
+  TeardownScheduler();
+}