diff --git a/azure-pipelines-testbench.yaml b/azure-pipelines-testbench.yaml
index 3ed5507b23..c87ba40c77 100644
--- a/azure-pipelines-testbench.yaml
+++ b/azure-pipelines-testbench.yaml
@@ -1,19 +1,46 @@
-# Starter pipeline
-# Start with a minimal pipeline that you can customize to build and deploy your code.
-# Add steps that build, run tests, deploy, and more:
-# https://aka.ms/yaml
-
-trigger:
-- master
-
-pool:
-  vmImage: 'ubuntu-latest'
-
-steps:
-- script: echo Hello, world!
-  displayName: 'Run a one-line script'
-
-- script: |
-    echo Add other tasks to build, test, and deploy your project.
-    echo See https://aka.ms/yaml
-  displayName: 'Run a multi-line script'
+# Testing steps for real hardware
+
+trigger:
+  batch: true
+  branches:
+    include:
+    - master
+
+jobs:
+- job: TestBench
+  pool: RoboRioConnections
+  timeoutInMinutes: 60
+  workspace:
+    clean: all
+  steps:
+    - task: Gradle@2
+      condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
+      inputs:
+        workingDirectory: ''
+        gradleWrapperFile: 'gradlew'
+        gradleOptions: '-Xmx3072m'
+        publishJUnitResults: false
+        testResultsFiles: '**/TEST-*.xml'
+        tasks: 'copyWpilibJIntegrationTestJarToOutput copyWpilibCTestLibrariesToOutput'
+        options: '-Ponlylinuxathena -PbuildServer'
+
+    - task: ShellScript@2
+      displayName: Run Tests & Get Results
+      inputs:
+        scriptPath: test-scripts/jenkins-run-tests-get-results.sh
+
+    - task: PublishTestResults@2
+      displayName: Publish C++ Test Results
+      inputs:
+        testResultsFormat: 'JUnit'
+        testResultsFiles: 'cpp*.xml'
+        testRunTitle: 'C++ Test Report'
+        searchFolder: '$(System.DefaultWorkingDirectory)/test-reports'
+
+    - task: PublishTestResults@2
+      displayName: Publish Java Test Results
+      inputs:
+        testResultsFormat: 'JUnit'
+        testResultsFiles: 'java*.xml'
+        testRunTitle: 'Java Test Report'
+        searchFolder: '$(System.DefaultWorkingDirectory)/test-reports'
diff --git a/test-scripts/config.sh b/test-scripts/config.sh
index 2232b8db4f..48eeda4d14 100755
--- a/test-scripts/config.sh
+++ b/test-scripts/config.sh
@@ -31,7 +31,7 @@ DEFAULT_DESTINATION_CPP_TEST_RESULTS=${DEFAULT_DESTINATION_TEST_RESULTS_DIR}/${C
 DEFAULT_JAVA_TEST_NAME=FRCUserProgram.jar
 DEFAULT_JAVA_TEST_ARGS=""
 
-DEFAULT_LOCAL_JAVA_TEST_FILE=../build/integrationTestFiles/java/wpilibjIntegrationTests.jar
+DEFAULT_LOCAL_JAVA_TEST_FILE=../build/integrationTestFiles/java/wpilibjIntegrationTests-all.jar
 
 JAVA_REPORT=javareport.xml
 DEFAULT_LIBRARY_NATIVE_FILES=../build/integrationTestFiles/libs
diff --git a/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
index 74242df745..ca6653cd94 100644
--- a/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
+++ b/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
@@ -5,6 +5,8 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include <algorithm>
+
 #include "TestBench.h"
 #include "frc/Encoder.h"
 #include "frc/Jaguar.h"
@@ -146,7 +148,8 @@ TEST_P(MotorEncoderTest, PositionPIDController) {
 
   /* 10 seconds should be plenty time to get to the reference */
   frc::Notifier pidRunner{[this, &pidController] {
-    m_speedController->Set(pidController.Calculate(m_encoder->GetDistance()));
+    auto speed = pidController.Calculate(m_encoder->GetDistance());
+    m_speedController->Set(std::clamp(speed, -0.2, 0.2));
   }};
   pidRunner.StartPeriodic(pidController.GetPeriod());
   Wait(10.0);
@@ -171,9 +174,9 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
 
   /* 10 seconds should be plenty time to get to the reference */
   frc::Notifier pidRunner{[this, &pidController] {
-    m_speedController->Set(
-        pidController.Calculate(m_filter->Calculate(m_encoder->GetRate())) +
-        8e-5);
+    auto speed =
+        pidController.Calculate(m_filter->Calculate(m_encoder->GetRate()));
+    m_speedController->Set(std::clamp(speed, -0.3, 0.3));
   }};
   pidRunner.StartPeriodic(pidController.GetPeriod());
   Wait(10.0);
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
index b14ad6f953..d2db15029f 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
@@ -23,6 +23,7 @@ import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
+import edu.wpi.first.wpiutil.math.MathUtils;
 
 import static org.junit.Assert.assertEquals;
 import static org.junit.Assert.assertFalse;
@@ -181,8 +182,10 @@ public class MotorEncoderTest extends AbstractComsSetup {
     pidController.setIntegratorRange(-0.2, 0.2);
     pidController.setSetpoint(1000);
 
-    Notifier pidRunner = new Notifier(
-        () -> me.getMotor().set(pidController.calculate(me.getEncoder().getDistance())));
+    Notifier pidRunner = new Notifier(() -> {
+      var speed = pidController.calculate(me.getEncoder().getDistance());
+      me.getMotor().set(MathUtils.clamp(speed, -0.2, 0.2));
+    });
 
     pidRunner.startPeriodic(pidController.getPeriod());
     Timer.delay(10.0);
@@ -202,8 +205,10 @@ public class MotorEncoderTest extends AbstractComsSetup {
     pidController.setTolerance(200);
     pidController.setSetpoint(600);
 
-    Notifier pidRunner =
-        new Notifier(() -> me.getMotor().set(filter.calculate(me.getEncoder().getRate()) + 8e-5));
+    Notifier pidRunner = new Notifier(() -> {
+      var speed = filter.calculate(me.getEncoder().getRate());
+      me.getMotor().set(MathUtils.clamp(speed, -0.3, 0.3));
+    });
 
     pidRunner.startPeriodic(pidController.getPeriod());
     Timer.delay(10.0);