Infura has a testnet: https://explorer.infuranet.io/. I don't see anything in the docs about getting testnet ether on their testnet.
Does anyone know how to?
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Simply run a local geth node in testnet mode and start mining. Send the mined testnet eth to whatever wallet is associated with your infruanet account.
Another option is go to the gitter chat page for go-ethereum https://gitter.im/ethereum/go-ethereum. Just ask someone in there nicely to send you some testnet ether to your address.