diff --git a/wpilibc/shared/include/Controller.h b/wpilibc/shared/include/Controller.h
new file mode 100644
index 0000000..d852307
--- /dev/null
+++ b/wpilibc/shared/include/Controller.h
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* 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
+
+/**
+ * Interface for Controllers
+ * Common interface for controllers. Controllers run control loops, the most
+ * common
+ * are PID controllers and their variants, but this includes anything that is
+ * controlling
+ * an actuator in a separate thread.
+ */
+class Controller {
+ public:
+  virtual ~Controller() = default;
+
+  /**
+   * Allows the control loop to run
+   */
+  virtual void Enable() = 0;
+
+  /**
+   * Stops the control loop from running until explicitly re-enabled by calling
+   * enable()
+   */
+  virtual void Disable() = 0;
+};