diff --git a/testing/build.gradle b/testing/build.gradle
index bb4a224b..afb273a6 100644
--- a/testing/build.gradle
+++ b/testing/build.gradle
@@ -8,12 +8,18 @@ version = '1.0.0-alpha.1'
 repositories {
     // Use Maven Central for resolving dependencies.
     mavenCentral()
+    maven {
+        // WPI
+        url 'https://frcmaven.wpi.edu/artifactory/release/'
+    }
 }
 
 dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
     implementation 'com.google.truth:truth:1.4.4'
+    implementation(platform('org.junit:junit-bom:5.13.1'))
+    implementation('org.junit.jupiter:junit-jupiter')
 
     nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
     nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
@@ -22,8 +28,7 @@ dependencies {
     nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
-    testImplementation(platform('org.junit:junit-bom:5.13.1'))
-    testImplementation('org.junit.jupiter:junit-jupiter')
+
     testRuntimeOnly('org.junit.platform:junit-platform-launcher')
 }
 
@@ -45,15 +50,6 @@ javadoc {
     ]
 }
 
-// Generates Javadocs for test libraries under /build/docs/testjavadoc
-// https://discuss.gradle.org/t/how-configure-gradle-to-generate-javadoc-for-testing-classes-junit/12764/6
-task testJavadoc(type: Javadoc) {
-    source = sourceSets.test.allJava
-    classpath = sourceSets.test.compileClasspath
-    destinationDir = file("${buildDir}/docs/testjavadoc")
-    println (title == null ? '<null>' : title)
-}
-
 task sourceJar(type: Jar) {
     from sourceSets.main.allJava
     archiveClassifier = 'sources'
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/CommandTester.java b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/CommandTester.java
new file mode 100644
index 00000000..42bc7741
--- /dev/null
+++ b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/CommandTester.java
@@ -0,0 +1,14 @@
+package com.team2813.lib2813.testing.junit.jupiter;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/**
+ * Allows tests to run commands.
+ *
+ * <p>Tests can get an instance by using {@link WPILibExtension}.
+ */
+public interface CommandTester {
+
+  /** Schedules the provided command and runs it until it completes. */
+  void runUntilComplete(Command command);
+}
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtension.java b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtension.java
new file mode 100644
index 00000000..d6787beb
--- /dev/null
+++ b/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtension.java
@@ -0,0 +1,96 @@
+package com.team2813.lib2813.testing.junit.jupiter;
+
+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 testing code that depends on WPILib.
+ *
+ * <p>Also provides a {@link CommandTester} for tests.
+ *
+ * <p>Example use:
+ *
+ * <pre>{@code
+ * @ExtendWith(WPILibExtension.class)
+ * public final class FlightSubsystemTest {
+ *
+ *   @Test
+ *   public void initiallyNotInAir() {
+ *     var flight = new FlightSubsystem();
+ *
+ *     assertThat(flight.inAir()).isFalse();
+ *   }
+ *
+ *   @Test
+ *   public void takesFlight(CommandTester commandTester) {
+ *     var flight = new FlightSubsystem();
+ *     Command takeOff = flight.createTakeOffCommandCommand();
+ *
+ *     commandTester.runUntilComplete(takeOff);
+ *
+ *     assertThat(flight.inAir()).isTrue();
+ *   }
+ * }
+ * }</pre>
+ */
+public final class WPILibExtension
+    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().cancelAll();
+    CommandScheduler.getInstance().unregisterAllSubsystems();
+  }
+
+  @Override
+  public void afterEach(ExtensionContext context) {
+    CommandScheduler.getInstance().cancelAll();
+    CommandScheduler.getInstance().unregisterAllSubsystems();
+  }
+
+  @Override
+  public void afterAll(ExtensionContext context) {
+    CommandScheduler.getInstance().cancelAll();
+    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/testing/vendordeps/WPILibNewCommands.json b/testing/vendordeps/WPILibNewCommands.json
new file mode 100644
index 00000000..b7aedf69
--- /dev/null
+++ b/testing/vendordeps/WPILibNewCommands.json
@@ -0,0 +1,38 @@
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "version": "1.0.0",
+  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2025",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-java",
+      "version": "wpilib"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-cpp",
+      "version": "wpilib",
+      "libName": "wpilibNewCommands",
+      "headerClassifier": "headers",
+      "sourcesClassifier": "sources",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxathena",
+        "linuxarm32",
+        "linuxarm64",
+        "windowsx86-64",
+        "windowsx86",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ]
+}
\ No newline at end of file