diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp
new file mode 100644
index 0000000000..a432901fd6
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "ADXL345_I2C.h"
+#include "ADXL345_I2CAccelerometerData.h"
+#include "Talon.h"
+#include "gtest/gtest.h"
+
+class ADXL345_I2CAccelerometerTest
+    : public ::testing::TestWithParam<frc::I2C::Port> {};
+
+TEST_P(ADXL345_I2CAccelerometerTest, TestAccelerometer) {
+  const double EPSILON = 1 / 256.0;
+
+  frc::I2C::Port port = GetParam();
+
+  hal::ADXL345_I2CData sim{port};
+  frc::ADXL345_I2C accel{port};
+
+  EXPECT_NEAR(0, sim.GetX(), EPSILON);
+  EXPECT_NEAR(0, sim.GetY(), EPSILON);
+  EXPECT_NEAR(0, sim.GetZ(), EPSILON);
+
+  EXPECT_NEAR(0, accel.GetX(), EPSILON);
+  EXPECT_NEAR(0, accel.GetY(), EPSILON);
+  EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+
+  sim.SetX(1.56);
+  sim.SetY(-.653);
+  sim.SetZ(0.11);
+
+  EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
+  EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
+  EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
+
+  EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
+  EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
+  EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
+}
+
+INSTANTIATE_TEST_CASE_P(ADXL345_I2CAccelerometerTest,
+                        ADXL345_I2CAccelerometerTest,
+                        ::testing::Values(frc::I2C::kOnboard, frc::I2C::kMXP));
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp
new file mode 100644
index 0000000000..1a437d7527
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp
@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "ADXL345_SPI.h"
+#include "ADXL345_SpiAccelerometerData.h"
+#include "Talon.h"
+#include "gtest/gtest.h"
+
+class ADXL345_SpiAccelerometerTest
+    : public ::testing::TestWithParam<frc::SPI::Port> {};
+
+TEST_P(ADXL345_SpiAccelerometerTest, TestAccelerometer) {
+  const double EPSILON = 1 / 256.0;
+
+  frc::SPI::Port port = GetParam();
+
+  hal::ADXL345_SpiAccelerometer sim{port};
+  frc::ADXL345_SPI accel{port};
+
+  EXPECT_NEAR(0, sim.GetX(), EPSILON);
+  EXPECT_NEAR(0, sim.GetY(), EPSILON);
+  EXPECT_NEAR(0, sim.GetZ(), EPSILON);
+
+  EXPECT_NEAR(0, accel.GetX(), EPSILON);
+  EXPECT_NEAR(0, accel.GetY(), EPSILON);
+  EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+
+  sim.SetX(1.56);
+  sim.SetY(-.653);
+  sim.SetZ(0.11);
+
+  EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
+  EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
+  EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
+
+  EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
+  EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
+  EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
+}
+
+INSTANTIATE_TEST_CASE_P(
+    ADXL345_SpiAccelerometerTest, ADXL345_SpiAccelerometerTest,
+    ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
+                      frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
+                      frc::SPI::kMXP));
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp
new file mode 100644
index 0000000000..6e445ffc1f
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp
@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "ADXL362.h"
+#include "ADXL362_SpiAccelerometerData.h"
+#include "Talon.h"
+#include "gtest/gtest.h"
+
+class ADXL362_SpiAccelerometerTest
+    : public ::testing::TestWithParam<frc::SPI::Port> {};
+
+TEST_P(ADXL362_SpiAccelerometerTest, TestAccelerometer) {
+  const double EPSILON = 1 / 256.0;
+
+  frc::SPI::Port port = GetParam();
+
+  hal::ADXL362_SpiAccelerometer sim{port};
+  frc::ADXL362 accel{port};
+
+  EXPECT_NEAR(0, sim.GetX(), EPSILON);
+  EXPECT_NEAR(0, sim.GetY(), EPSILON);
+  EXPECT_NEAR(0, sim.GetZ(), EPSILON);
+
+  EXPECT_NEAR(0, accel.GetX(), EPSILON);
+  EXPECT_NEAR(0, accel.GetY(), EPSILON);
+  EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+
+  sim.SetX(1.56);
+  sim.SetY(-.653);
+  sim.SetZ(0.11);
+
+  EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
+  EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
+  EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
+
+  EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
+  EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
+  EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
+}
+
+INSTANTIATE_TEST_CASE_P(
+    ADXL362_SpiAccelerometerTest, ADXL362_SpiAccelerometerTest,
+    ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
+                      frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
+                      frc::SPI::kMXP));
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp
new file mode 100644
index 0000000000..ebb42fa297
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp
@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "ADXRS450_Gyro.h"
+#include "ADXRS450_SpiGyroWrapperData.h"
+#include "Talon.h"
+#include "gtest/gtest.h"
+
+class ADXRS450_SpiGyroWrapperTest
+    : public ::testing::TestWithParam<frc::SPI::Port> {};
+
+TEST_P(ADXRS450_SpiGyroWrapperTest, TestAccelerometer) {
+  const double EPSILON = .000001;
+
+  frc::SPI::Port port = GetParam();
+
+  hal::ADXRS450_SpiGyroWrapper sim{port};
+  frc::ADXRS450_Gyro gyro{port};
+
+  EXPECT_NEAR(0, sim.GetAngle(), EPSILON);
+  EXPECT_NEAR(0, gyro.GetAngle(), EPSILON);
+
+  sim.SetAngle(32.56);
+  EXPECT_NEAR(32.56, sim.GetAngle(), EPSILON);
+  EXPECT_NEAR(32.56, gyro.GetAngle(), EPSILON);
+}
+
+INSTANTIATE_TEST_CASE_P(
+    ADXRS450_SpiGyroWrapperTest, ADXRS450_SpiGyroWrapperTest,
+    ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
+                      frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
+                      frc::SPI::kMXP));
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/main.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/main.cpp
new file mode 100644
index 0000000000..298f23c1f8
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/main.cpp
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2018 FIRST. 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 <HAL/HAL.h>
+
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+  HAL_Initialize(500, 0);
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  return ret;
+}