diff --git a/frc971/wpilib/wpilib_utils.h b/frc971/wpilib/wpilib_utils.h
new file mode 100644
index 0000000..78dd262
--- /dev/null
+++ b/frc971/wpilib/wpilib_utils.h
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+#ifndef FRC971_WPILIB_WPILIB_UTILS_H_
+#define FRC971_WPILIB_WPILIB_UTILS_H_
+
+#include <functional>
+
+#include "frc971/constants.h"
+
+namespace frc971 {
+namespace wpilib {
+
+// Convert min and max angle positions from range to voltage and compare to
+// min and max potentiometer voltage to check if in range.
+
+// subsystem_range is a ::frc971::constants::Range that defines the pot limits
+// potentiometer_offset is a constant that is the initial offset of the pot
+// pot_translate_inverse is a function that translates an angle to voltage
+// reverse is a boolean that sets the pot voltage range as -5 to 0 when true
+// limit_buffer is a constant that is the buffer for the maximum voltage values
+
+bool SafePotVoltageRange(::frc971::constants::Range subsystem_range,
+                         double potentiometer_offset,
+                         ::std::function<double(double)> pot_translate_inverse,
+                         bool reverse, double limit_buffer = 0.05);
+
+}  // namespace wpilib
+}  // namespace frc971
+
+#endif  // FRC971_WPILIB_WPILIB_UTILS_H_
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