diff --git a/wpilibc/Athena/include/SpeedController.h b/wpilibc/Athena/include/SpeedController.h
new file mode 100644
index 0000000..a87ed2b
--- /dev/null
+++ b/wpilibc/Athena/include/SpeedController.h
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.
+ */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "HAL/HAL.hpp"
+#include "PIDOutput.h"
+
+/**
+ * Interface for speed controlling devices.
+ */
+class SpeedController : public PIDOutput {
+ public:
+  virtual ~SpeedController() = default;
+  /**
+   * Common interface for setting the speed of a speed controller.
+   *
+   * @param speed The speed to set.  Value should be between -1.0 and 1.0.
+   * @param syncGroup The update group to add this Set() to, pending
+   * UpdateSyncGroup().  If 0, update immediately.
+   */
+  virtual void Set(float speed, uint8_t syncGroup = 0) = 0;
+
+  /**
+   * Common interface for getting the current set speed of a speed controller.
+   *
+   * @return The current set speed.  Value is between -1.0 and 1.0.
+   */
+  virtual float Get() const = 0;
+
+  /**
+  * Common interface for inverting direction of a speed controller.
+  * @param isInverted The state of inversion, true is inverted.
+  */
+  virtual void SetInverted(bool isInverted) = 0;
+  /**
+
+   * Common interface for disabling a motor.
+   */
+  virtual void Disable() = 0;
+
+  /**
+   * Common interface for returning the inversion state of a speed controller.
+   * @return isInverted The state of inversion, true is inverted.
+   */
+  virtual bool GetInverted() const = 0;
+};