diff --git a/wpilibc/Athena/src/DigitalOutput.cpp b/wpilibc/Athena/src/DigitalOutput.cpp
new file mode 100644
index 0000000..d74f93b
--- /dev/null
+++ b/wpilibc/Athena/src/DigitalOutput.cpp
@@ -0,0 +1,230 @@
+/*----------------------------------------------------------------------------*/
+/* 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.  */
+/*----------------------------------------------------------------------------*/
+
+#include "DigitalOutput.h"
+#include "Resource.h"
+#include "WPIErrors.h"
+
+#include <limits>
+#include <sstream>
+
+/**
+ * Create an instance of a digital output.
+ * Create a digital output given a channel.
+ *
+ * @param channel The digital channel 0-9 are on-board, 10-25 are on the MXP
+ * port
+ */
+DigitalOutput::DigitalOutput(uint32_t channel) {
+  std::stringstream buf;
+
+  m_pwmGenerator = (void *)std::numeric_limits<uint32_t>::max();
+  if (!CheckDigitalChannel(channel)) {
+    buf << "Digital Channel " << channel;
+    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    m_channel = std::numeric_limits<uint32_t>::max();
+    return;
+  }
+  m_channel = channel;
+
+  int32_t status = 0;
+  allocateDIO(m_digital_ports[channel], false, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+  HALReport(HALUsageReporting::kResourceType_DigitalOutput, channel);
+}
+
+/**
+ * Free the resources associated with a digital output.
+ */
+DigitalOutput::~DigitalOutput() {
+  if (m_table != nullptr) m_table->RemoveTableListener(this);
+  if (StatusIsFatal()) return;
+  // Disable the PWM in case it was running.
+  DisablePWM();
+
+  int32_t status = 0;
+  freeDIO(m_digital_ports[m_channel], &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Set the value of a digital output.
+ * Set the value of a digital output to either one (true) or zero (false).
+ * @param value 1 (true) for high, 0 (false) for disabled
+ */
+void DigitalOutput::Set(uint32_t value) {
+  if (StatusIsFatal()) return;
+
+  int32_t status = 0;
+  setDIO(m_digital_ports[m_channel], value, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * @return The GPIO channel number that this object represents.
+ */
+uint32_t DigitalOutput::GetChannel() const { return m_channel; }
+
+/**
+ * Output a single pulse on the digital output line.
+ * Send a single pulse on the digital output line where the pulse duration is
+ * specified in seconds.
+ * Maximum pulse length is 0.0016 seconds.
+ * @param length The pulselength in seconds
+ */
+void DigitalOutput::Pulse(float length) {
+  if (StatusIsFatal()) return;
+
+  int32_t status = 0;
+  pulse(m_digital_ports[m_channel], length, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Determine if the pulse is still going.
+ * Determine if a previously started pulse is still going.
+ */
+bool DigitalOutput::IsPulsing() const {
+  if (StatusIsFatal()) return false;
+
+  int32_t status = 0;
+  bool value = isPulsing(m_digital_ports[m_channel], &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  return value;
+}
+
+/**
+ * Change the PWM frequency of the PWM output on a Digital Output line.
+ *
+ * The valid range is from 0.6 Hz to 19 kHz.  The frequency resolution is
+ * logarithmic.
+ *
+ * There is only one PWM frequency for all digital channels.
+ *
+ * @param rate The frequency to output all digital output PWM signals.
+ */
+void DigitalOutput::SetPWMRate(float rate) {
+  if (StatusIsFatal()) return;
+
+  int32_t status = 0;
+  setPWMRate(rate, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Enable a PWM Output on this line.
+ *
+ * Allocate one of the 6 DO PWM generator resources from this module.
+ *
+ * Supply the initial duty-cycle to output so as to avoid a glitch when first
+ * starting.
+ *
+ * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
+ * but is reduced the higher the frequency of the PWM signal is.
+ *
+ * @param initialDutyCycle The duty-cycle to start generating. [0..1]
+ */
+void DigitalOutput::EnablePWM(float initialDutyCycle) {
+  if (m_pwmGenerator != (void *)std::numeric_limits<uint32_t>::max()) return;
+
+  int32_t status = 0;
+
+  if (StatusIsFatal()) return;
+  m_pwmGenerator = allocatePWM(&status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+  if (StatusIsFatal()) return;
+  setPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+  if (StatusIsFatal()) return;
+  setPWMOutputChannel(m_pwmGenerator, m_channel, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Change this line from a PWM output back to a static Digital Output line.
+ *
+ * Free up one of the 6 DO PWM generator resources that were in use.
+ */
+void DigitalOutput::DisablePWM() {
+  if (StatusIsFatal()) return;
+  if (m_pwmGenerator == (void *)std::numeric_limits<uint32_t>::max()) return;
+
+  int32_t status = 0;
+
+  // Disable the output by routing to a dead bit.
+  setPWMOutputChannel(m_pwmGenerator, kDigitalChannels, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+  freePWM(m_pwmGenerator, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+  m_pwmGenerator = (void *)std::numeric_limits<uint32_t>::max();
+}
+
+/**
+ * Change the duty-cycle that is being generated on the line.
+ *
+ * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less)
+ * but is reduced the higher the frequency of the PWM signal is.
+ *
+ * @param dutyCycle The duty-cycle to change to. [0..1]
+ */
+void DigitalOutput::UpdateDutyCycle(float dutyCycle) {
+  if (StatusIsFatal()) return;
+
+  int32_t status = 0;
+  setPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * @return The value to be written to the channel field of a routing mux.
+ */
+uint32_t DigitalOutput::GetChannelForRouting() const { return GetChannel(); }
+
+/**
+ * @return The value to be written to the module field of a routing mux.
+ */
+uint32_t DigitalOutput::GetModuleForRouting() const { return 0; }
+
+/**
+ * @return The value to be written to the analog trigger field of a routing mux.
+ */
+bool DigitalOutput::GetAnalogTriggerForRouting() const { return false; }
+
+void DigitalOutput::ValueChanged(ITable* source, llvm::StringRef key,
+                                 std::shared_ptr<nt::Value> value, bool isNew) {
+  if (!value->IsBoolean()) return;
+  Set(value->GetBoolean());
+}
+
+void DigitalOutput::UpdateTable() {}
+
+void DigitalOutput::StartLiveWindowMode() {
+  if (m_table != nullptr) {
+    m_table->AddTableListener("Value", this, true);
+  }
+}
+
+void DigitalOutput::StopLiveWindowMode() {
+  if (m_table != nullptr) {
+    m_table->RemoveTableListener(this);
+  }
+}
+
+std::string DigitalOutput::GetSmartDashboardType() const {
+  return "Digital Output";
+}
+
+void DigitalOutput::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> DigitalOutput::GetTable() const { return m_table; }