diff --git a/wpilibc/shared/include/PIDInterface.h b/wpilibc/shared/include/PIDInterface.h
new file mode 100644
index 0000000..5d50199
--- /dev/null
+++ b/wpilibc/shared/include/PIDInterface.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include "Base.h"
+#include "Controller.h"
+#include "LiveWindow/LiveWindow.h"
+
+class PIDInterface : public Controller {
+  virtual void SetPID(double p, double i, double d) = 0;
+  virtual double GetP() const = 0;
+  virtual double GetI() const = 0;
+  virtual double GetD() const = 0;
+
+  virtual void SetSetpoint(float setpoint) = 0;
+  virtual double GetSetpoint() const = 0;
+
+  virtual void Enable() = 0;
+  virtual void Disable() = 0;
+  virtual bool IsEnabled() const = 0;
+
+  virtual void Reset() = 0;
+};