diff --git a/wpilibc/Athena/src/Relay.cpp b/wpilibc/Athena/src/Relay.cpp
new file mode 100644
index 0000000..17f0ef8
--- /dev/null
+++ b/wpilibc/Athena/src/Relay.cpp
@@ -0,0 +1,293 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "Relay.h"
+
+#include "MotorSafetyHelper.h"
+#include "Resource.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+#include "HAL/HAL.hpp"
+
+#include <sstream>
+
+// Allocate each direction separately.
+static std::unique_ptr<Resource> relayChannels;
+
+/**
+ * Relay constructor given a channel.
+ *
+ * This code initializes the relay and reserves all resources that need to be
+ * locked. Initially the relay is set to both lines at 0v.
+ * @param channel The channel number (0-3).
+ * @param direction The direction that the Relay object will control.
+ */
+Relay::Relay(uint32_t channel, Relay::Direction direction)
+    : m_channel(channel), m_direction(direction) {
+  std::stringstream buf;
+  Resource::CreateResourceObject(relayChannels,
+                                 dio_kNumSystems * kRelayChannels * 2);
+  if (!SensorBase::CheckRelayChannel(m_channel)) {
+    buf << "Relay Channel " << m_channel;
+    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    return;
+  }
+
+  if (m_direction == kBothDirections || m_direction == kForwardOnly) {
+    buf << "Forward Relay " << m_channel;
+    if (relayChannels->Allocate(m_channel * 2, buf.str()) ==
+        std::numeric_limits<uint32_t>::max()) {
+      CloneError(*relayChannels);
+      return;
+    }
+
+    HALReport(HALUsageReporting::kResourceType_Relay, m_channel);
+  }
+  if (m_direction == kBothDirections || m_direction == kReverseOnly) {
+    buf << "Reverse Relay " << m_channel;
+    if (relayChannels->Allocate(m_channel * 2 + 1, buf.str()) ==
+        std::numeric_limits<uint32_t>::max()) {
+      CloneError(*relayChannels);
+      return;
+    }
+
+    HALReport(HALUsageReporting::kResourceType_Relay, m_channel + 128);
+  }
+
+  int32_t status = 0;
+  setRelayForward(m_relay_ports[m_channel], false, &status);
+  setRelayReverse(m_relay_ports[m_channel], false, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+  m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
+  m_safetyHelper->SetSafetyEnabled(false);
+
+  LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
+}
+
+/**
+ * Free the resource associated with a relay.
+ * The relay channels are set to free and the relay output is turned off.
+ */
+Relay::~Relay() {
+  int32_t status = 0;
+  setRelayForward(m_relay_ports[m_channel], false, &status);
+  setRelayReverse(m_relay_ports[m_channel], false, &status);
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+  if (m_direction == kBothDirections || m_direction == kForwardOnly) {
+    relayChannels->Free(m_channel * 2);
+  }
+  if (m_direction == kBothDirections || m_direction == kReverseOnly) {
+    relayChannels->Free(m_channel * 2 + 1);
+  }
+  if (m_table != nullptr) m_table->RemoveTableListener(this);
+}
+
+/**
+ * Set the relay state.
+ *
+ * Valid values depend on which directions of the relay are controlled by the
+ * object.
+ *
+ * When set to kBothDirections, the relay can be any of the four states:
+ * 	 0v-0v, 0v-12v, 12v-0v, 12v-12v
+ *
+ * When set to kForwardOnly or kReverseOnly, you can specify the constant for
+ * the
+ * 	 direction or you can simply specify kOff and kOn.  Using only kOff and
+ * kOn is
+ * 	 recommended.
+ *
+ * @param value The state to set the relay.
+ */
+void Relay::Set(Relay::Value value) {
+  if (StatusIsFatal()) return;
+
+  int32_t status = 0;
+
+  switch (value) {
+    case kOff:
+      if (m_direction == kBothDirections || m_direction == kForwardOnly) {
+        setRelayForward(m_relay_ports[m_channel], false, &status);
+      }
+      if (m_direction == kBothDirections || m_direction == kReverseOnly) {
+        setRelayReverse(m_relay_ports[m_channel], false, &status);
+      }
+      break;
+    case kOn:
+      if (m_direction == kBothDirections || m_direction == kForwardOnly) {
+        setRelayForward(m_relay_ports[m_channel], true, &status);
+      }
+      if (m_direction == kBothDirections || m_direction == kReverseOnly) {
+        setRelayReverse(m_relay_ports[m_channel], true, &status);
+      }
+      break;
+    case kForward:
+      if (m_direction == kReverseOnly) {
+        wpi_setWPIError(IncompatibleMode);
+        break;
+      }
+      if (m_direction == kBothDirections || m_direction == kForwardOnly) {
+        setRelayForward(m_relay_ports[m_channel], true, &status);
+      }
+      if (m_direction == kBothDirections) {
+        setRelayReverse(m_relay_ports[m_channel], false, &status);
+      }
+      break;
+    case kReverse:
+      if (m_direction == kForwardOnly) {
+        wpi_setWPIError(IncompatibleMode);
+        break;
+      }
+      if (m_direction == kBothDirections) {
+        setRelayForward(m_relay_ports[m_channel], false, &status);
+      }
+      if (m_direction == kBothDirections || m_direction == kReverseOnly) {
+        setRelayReverse(m_relay_ports[m_channel], true, &status);
+      }
+      break;
+  }
+
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Get the Relay State
+ *
+ * Gets the current state of the relay.
+ *
+ * When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
+ * kForward/kReverse (per the recommendation in Set)
+ *
+ * @return The current state of the relay as a Relay::Value
+ */
+Relay::Value Relay::Get() const {
+  int32_t status;
+
+  if (getRelayForward(m_relay_ports[m_channel], &status)) {
+    if (getRelayReverse(m_relay_ports[m_channel], &status)) {
+      return kOn;
+    } else {
+      if (m_direction == kForwardOnly) {
+        return kOn;
+      } else {
+        return kForward;
+      }
+    }
+  } else {
+    if (getRelayReverse(m_relay_ports[m_channel], &status)) {
+      if (m_direction == kReverseOnly) {
+        return kOn;
+      } else {
+        return kReverse;
+      }
+    } else {
+      return kOff;
+    }
+  }
+
+  wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+uint32_t Relay::GetChannel() const {
+  return m_channel;
+}
+
+/**
+ * Set the expiration time for the Relay object
+ * @param timeout The timeout (in seconds) for this relay object
+ */
+void Relay::SetExpiration(float timeout) {
+  m_safetyHelper->SetExpiration(timeout);
+}
+
+/**
+ * Return the expiration time for the relay object.
+ * @return The expiration time value.
+ */
+float Relay::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
+
+/**
+ * Check if the relay object is currently alive or stopped due to a timeout.
+ * @returns a bool value that is true if the motor has NOT timed out and should
+ * still be running.
+ */
+bool Relay::IsAlive() const { return m_safetyHelper->IsAlive(); }
+
+/**
+ * Stop the motor associated with this PWM object.
+ * This is called by the MotorSafetyHelper object when it has a timeout for this
+ * relay and needs to stop it from running.
+ */
+void Relay::StopMotor() { Set(kOff); }
+
+/**
+ * Enable/disable motor safety for this device
+ * Turn on and off the motor safety option for this relay object.
+ * @param enabled True if motor safety is enforced for this object
+ */
+void Relay::SetSafetyEnabled(bool enabled) {
+  m_safetyHelper->SetSafetyEnabled(enabled);
+}
+
+/**
+ * Check if motor safety is enabled for this object
+ * @returns True if motor safety is enforced for this object
+ */
+bool Relay::IsSafetyEnabled() const {
+  return m_safetyHelper->IsSafetyEnabled();
+}
+
+void Relay::GetDescription(std::ostringstream& desc) const {
+  desc << "Relay " << GetChannel();
+}
+
+void Relay::ValueChanged(ITable* source, llvm::StringRef key,
+                         std::shared_ptr<nt::Value> value, bool isNew) {
+  if (!value->IsString()) return;
+  if (value->GetString() == "Off") Set(kOff);
+  else if (value->GetString() == "Forward") Set(kForward);
+  else if (value->GetString() == "Reverse") Set(kReverse);
+  else if (value->GetString() == "On") Set(kOn);
+}
+
+void Relay::UpdateTable() {
+  if (m_table != nullptr) {
+    if (Get() == kOn) {
+      m_table->PutString("Value", "On");
+    } else if (Get() == kForward) {
+      m_table->PutString("Value", "Forward");
+    } else if (Get() == kReverse) {
+      m_table->PutString("Value", "Reverse");
+    } else {
+      m_table->PutString("Value", "Off");
+    }
+  }
+}
+
+void Relay::StartLiveWindowMode() {
+  if (m_table != nullptr) {
+    m_table->AddTableListener("Value", this, true);
+  }
+}
+
+void Relay::StopLiveWindowMode() {
+  if (m_table != nullptr) {
+    m_table->RemoveTableListener(this);
+  }
+}
+
+std::string Relay::GetSmartDashboardType() const { return "Relay"; }
+
+void Relay::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> Relay::GetTable() const { return m_table; }