I would really like to have a nice unit testing framework for C++ FRC code. There's been a lot of work in
Java to write abstractions around WPILib for easy testing. I'd be happy to help with making something similar for C++. We would basically make a bunch of abstract classes like "Motor" that are implemented by both the real hardware SpeedController and any fake test ones you may wish to write. It's kind of a large undertaking, as WPILib is actually pretty big, especially when you start looking at the Command stuff.