diff --git a/build.gradle b/build.gradle
index 7d7b75c3..bef88aa8 100644
--- a/build.gradle
+++ b/build.gradle
@@ -141,6 +141,7 @@ dependencies {
     testImplementation 'junit:junit:4.13.2'
     testImplementation 'org.mockito:mockito-core:5.14.2'
     testImplementation 'com.google.truth:truth:1.4.4'
+    testImplementation 'com.team2813:testing'
 
     implementation 'com.team2813:lib2813'
     implementation 'com.team2813:limelight'
@@ -154,7 +155,9 @@ test {
 // Simulation configuration (e.g. environment variables).
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()
+
 downloadDepsPreemptively.dependsOn gradle.includedBuild('lib2813').task(':lib:jar')
+downloadDepsPreemptively.dependsOn gradle.includedBuild('lib2813').task(':testing:jar')
 downloadDepsPreemptively.dependsOn gradle.includedBuild('lib2813').task(':limelight:jar')
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
diff --git a/settings.gradle b/settings.gradle
index dfd42db5..e3ab5fd5 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -33,5 +33,6 @@ includeBuild('lib2813') {
     dependencySubstitution {
         substitute module('com.team2813:lib2813') using project(':lib')
         substitute module('com.team2813:limelight') using project(':limelight')
+        substitute module('com.team2813:testing') using project(':testing')
     }
 }
\ No newline at end of file
diff --git a/src/test/java/com/team2813/CommandTester.java b/src/test/java/com/team2813/CommandTester.java
deleted file mode 100644
index f8ccf7cc..00000000
--- a/src/test/java/com/team2813/CommandTester.java
+++ /dev/null
@@ -1,14 +0,0 @@
-package com.team2813;
-
-import edu.wpi.first.wpilibj2.command.Command;
-
-/**
- * Allows tests to run commands.
- *
- * <p>Tests can get an instance by using {@link CommandTesterExtension}.
- */
-public interface CommandTester {
-
-  /** Schedules the provided command and runs it until it completes. */
-  void runUntilComplete(Command command);
-}
diff --git a/src/test/java/com/team2813/CommandTesterExtension.java b/src/test/java/com/team2813/CommandTesterExtension.java
deleted file mode 100644
index 6bddc51f..00000000
--- a/src/test/java/com/team2813/CommandTesterExtension.java
+++ /dev/null
@@ -1,85 +0,0 @@
-package com.team2813;
-
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.DriverStationSim;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import org.junit.jupiter.api.extension.AfterAllCallback;
-import org.junit.jupiter.api.extension.AfterEachCallback;
-import org.junit.jupiter.api.extension.BeforeAllCallback;
-import org.junit.jupiter.api.extension.Extension;
-import org.junit.jupiter.api.extension.ExtensionContext;
-import org.junit.jupiter.api.extension.ParameterContext;
-import org.junit.jupiter.api.extension.ParameterResolutionException;
-import org.junit.jupiter.api.extension.ParameterResolver;
-
-/**
- * JUnit Jupiter extension for allowing a test to schedule commands.
- *
- * <p>Example use:
- *
- * <pre>{@code
- * @ExtendWith(CommandTesterExtension.class)
- * public final class FlightSubsystemTest {
- *
- *   @Test
- *   public void takesFlight(CommandTester commandTester) {}
- *     var flight = new FlightSubsystem();
- *     Command takeOff = flight.createTakeOffCommandCommand();
- *     assertThat(flight.inAir()).isFalse();
- *
- *     commandTester.runUntilComplete(takeOff);
- *
- *     assertThat(flight.inAir()).isTrue();
- *   }
- * }
- * }</pre>
- */
-public final class CommandTesterExtension
-    implements Extension,
-        AfterAllCallback,
-        AfterEachCallback,
-        BeforeAllCallback,
-        ParameterResolver {
-
-  @Override
-  public void beforeAll(ExtensionContext context) {
-    // See https://www.chiefdelphi.com/t/driverstation-getalliance-in-gradle-test/
-    HAL.initialize(500, 0);
-    DriverStationSim.setEnabled(true);
-    DriverStationSim.notifyNewData();
-    CommandScheduler.getInstance().enable();
-    CommandScheduler.getInstance().unregisterAllSubsystems();
-  }
-
-  @Override
-  public void afterEach(ExtensionContext context) {
-    CommandScheduler.getInstance().unregisterAllSubsystems();
-  }
-
-  @Override
-  public void afterAll(ExtensionContext context) {
-    CommandScheduler.getInstance().unregisterAllSubsystems();
-    CommandScheduler.getInstance().disable();
-    DriverStationSim.setEnabled(false);
-    DriverStationSim.notifyNewData();
-  }
-
-  @Override
-  public boolean supportsParameter(
-      ParameterContext parameterContext, ExtensionContext extensionContext)
-      throws ParameterResolutionException {
-    return CommandTester.class.equals(parameterContext.getParameter().getType());
-  }
-
-  @Override
-  public CommandTester resolveParameter(
-      ParameterContext parameterContext, ExtensionContext extensionContext) {
-    return command -> {
-      CommandScheduler scheduler = CommandScheduler.getInstance();
-      command.schedule();
-      do {
-        scheduler.run();
-      } while (scheduler.isScheduled(command));
-    };
-  }
-}
diff --git a/src/test/java/com/team2813/subsystems/IntakeTest.java b/src/test/java/com/team2813/subsystems/IntakeTest.java
index 91fc14c7..afbd33a8 100644
--- a/src/test/java/com/team2813/subsystems/IntakeTest.java
+++ b/src/test/java/com/team2813/subsystems/IntakeTest.java
@@ -6,9 +6,9 @@
 import static org.mockito.Mockito.verifyNoInteractions;
 import static org.mockito.Mockito.when;
 
-import com.team2813.CommandTester;
-import com.team2813.CommandTesterExtension;
 import com.team2813.IsolatedNetworkTablesExtension;
+import com.team2813.lib2813.testing.junit.jupiter.CommandTester;
+import com.team2813.lib2813.testing.junit.jupiter.WPILibExtension;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -16,7 +16,7 @@
 import org.junit.jupiter.api.extension.ExtendWith;
 import org.mockito.Answers;
 
-@ExtendWith({IsolatedNetworkTablesExtension.class, CommandTesterExtension.class})
+@ExtendWith({IsolatedNetworkTablesExtension.class, WPILibExtension.class})
 public final class IntakeTest {
   final FakePIDMotor fakeMotor = mock(FakePIDMotor.class, Answers.CALLS_REAL_METHODS);
   final DigitalInput mockBeamBreak = mock(DigitalInput.class);
diff --git a/src/test/java/com/team2813/subsystems/ParameterizedIntakeSubsystemTest.java b/src/test/java/com/team2813/subsystems/ParameterizedIntakeSubsystemTest.java
index 7b8c9fcd..4abd9803 100644
--- a/src/test/java/com/team2813/subsystems/ParameterizedIntakeSubsystemTest.java
+++ b/src/test/java/com/team2813/subsystems/ParameterizedIntakeSubsystemTest.java
@@ -4,10 +4,10 @@
 import static org.mockito.Mockito.mock;
 import static org.mockito.Mockito.verifyNoInteractions;
 
-import com.team2813.CommandTester;
-import com.team2813.CommandTesterExtension;
 import com.team2813.lib2813.control.ControlMode;
 import com.team2813.lib2813.control.PIDMotor;
+import com.team2813.lib2813.testing.junit.jupiter.CommandTester;
+import com.team2813.lib2813.testing.junit.jupiter.WPILibExtension;
 import edu.wpi.first.wpilibj2.command.Command;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.extension.ExtendWith;
@@ -17,7 +17,7 @@
 
 @ParameterizedClass
 @EnumSource(ControlMode.class)
-@ExtendWith(CommandTesterExtension.class)
+@ExtendWith(WPILibExtension.class)
 public final class ParameterizedIntakeSubsystemTest {
 
   private static class ConcreteParameterizedIntakeSubsystem extends ParameterizedIntakeSubsystem {