diff --git a/tests/test_pidcommand.py b/tests/test_pidcommand.py
new file mode 100644
index 00000000..5ba51650
--- /dev/null
+++ b/tests/test_pidcommand.py
@@ -0,0 +1,114 @@
+from typing import TYPE_CHECKING
+
+from util import *  # type: ignore
+import wpimath.controller as controller
+import commands2
+
+if TYPE_CHECKING:
+    from .util import *
+
+import pytest
+
+
+def test_pidCommandSupplier(scheduler: commands2.CommandScheduler):
+    with ManualSimTime() as sim:
+        output_float = OOFloat(0.0)
+        measurement_source = OOFloat(5.0)
+        setpoint_source = OOFloat(2.0)
+        pid_controller = controller.PIDController(0.1, 0.01, 0.001)
+        system = commands2.Subsystem()
+        pidCommand = commands2.PIDCommand(
+            pid_controller,
+            measurement_source,
+            setpoint_source,
+            output_float.set,
+            system,
+        )
+        start_spying_on(pidCommand)
+        scheduler.schedule(pidCommand)
+        scheduler.run()
+        sim.step(1)
+        scheduler.run()
+
+        assert scheduler.isScheduled(pidCommand)
+
+        assert not pidCommand._controller.atSetpoint()
+
+        # Tell the pid command we're at our setpoint through the controller
+        measurement_source.set(setpoint_source())
+
+        sim.step(2)
+
+        scheduler.run()
+
+        # Should be measuring error of 0 now
+        assert pidCommand._controller.atSetpoint()
+
+
+def test_pidCommandScalar(scheduler: commands2.CommandScheduler):
+    with ManualSimTime() as sim:
+        output_float = OOFloat(0.0)
+        measurement_source = OOFloat(5.0)
+        setpoint_source = 2.0
+        pid_controller = controller.PIDController(0.1, 0.01, 0.001)
+        system = commands2.Subsystem()
+        pidCommand = commands2.PIDCommand(
+            pid_controller,
+            measurement_source,
+            setpoint_source,
+            output_float.set,
+            system,
+        )
+        start_spying_on(pidCommand)
+        scheduler.schedule(pidCommand)
+        scheduler.run()
+        sim.step(1)
+        scheduler.run()
+
+        assert scheduler.isScheduled(pidCommand)
+
+        assert not pidCommand._controller.atSetpoint()
+
+        # Tell the pid command we're at our setpoint through the controller
+        measurement_source.set(setpoint_source)
+
+        sim.step(2)
+
+        scheduler.run()
+
+        # Should be measuring error of 0 now
+        assert pidCommand._controller.atSetpoint()
+
+
+def test_withTimeout(scheduler: commands2.CommandScheduler):
+    with ManualSimTime() as sim:
+        output_float = OOFloat(0.0)
+        measurement_source = OOFloat(5.0)
+        setpoint_source = OOFloat(2.0)
+        pid_controller = controller.PIDController(0.1, 0.01, 0.001)
+        system = commands2.Subsystem()
+        command1 = commands2.PIDCommand(
+            pid_controller,
+            measurement_source,
+            setpoint_source,
+            output_float.set,
+            system,
+        )
+        start_spying_on(command1)
+
+        timeout = command1.withTimeout(2)
+
+        scheduler.schedule(timeout)
+        scheduler.run()
+
+        verify(command1).initialize()
+        verify(command1).execute()
+        assert not scheduler.isScheduled(command1)
+        assert scheduler.isScheduled(timeout)
+
+        sim.step(3)
+        scheduler.run()
+
+        verify(command1).end(True)
+        verify(command1, never()).end(False)
+        assert not scheduler.isScheduled(timeout)
diff --git a/tests/util.py b/tests/util.py
index 8a9bcf84..0c1a835f 100644
--- a/tests/util.py
+++ b/tests/util.py
@@ -141,6 +141,37 @@ def __call__(self) -> bool:
         return self.pressed
 
 
+class OOFloat:
+    def __init__(self, value: float = 0.0) -> None:
+        self.value = value
+
+    def get(self) -> float:
+        return self.value
+
+    def set(self, value: float):
+        self.value = value
+
+    def incrementAndGet(self) -> float:
+        self.value += 1
+        return self.value
+
+    def addAndGet(self, value: float) -> float:
+        self.value += value
+        return self.value
+
+    def __eq__(self, value: float) -> bool:
+        return self.value == value
+
+    def __lt__(self, value: float) -> bool:
+        return self.value < value
+
+    def __call__(self) -> float:
+        return self.value
+
+    def __name__(self) -> str:
+        return "OOFloat"
+
+
 ##########################################
 # Fakito Framework