diff --git a/frc971/wpilib/wpilib_utils.cc b/frc971/wpilib/wpilib_utils.cc
new file mode 100644
index 0000000..937acd9
--- /dev/null
+++ b/frc971/wpilib/wpilib_utils.cc
@@ -0,0 +1,26 @@
+#include "frc971/wpilib/wpilib_utils.h"
+
+namespace frc971 {
+namespace wpilib {
+
+bool SafePotVoltageRange(::frc971::constants::Range subsystem_range,
+                         double potentiometer_offset,
+                         ::std::function<double(double)> pot_translate_inverse,
+                         bool reverse, double limit_buffer) {
+  constexpr double kMinVoltage = 0.0;
+  constexpr double kMaxVoltage = 5.0;
+  double min_range_voltage =
+      pot_translate_inverse(subsystem_range.lower_hard - potentiometer_offset);
+  double max_range_voltage =
+      pot_translate_inverse(subsystem_range.upper_hard - potentiometer_offset);
+  if (reverse) {
+    min_range_voltage *= -1;
+    max_range_voltage *= -1;
+  }
+  return ((kMinVoltage + limit_buffer) < min_range_voltage &&
+          min_range_voltage < (kMaxVoltage - limit_buffer) &&
+          (kMinVoltage + limit_buffer) < max_range_voltage &&
+          max_range_voltage < (kMaxVoltage - limit_buffer));
+}
+}  // namespace wpilib
+}  // namespace frc971
\ No newline at end of file