diff --git a/wpilibc/shared/include/PIDOutput.h b/wpilibc/shared/include/PIDOutput.h
new file mode 100644
index 0000000..40421d0
--- /dev/null
+++ b/wpilibc/shared/include/PIDOutput.h
@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "Base.h"
+
+/**
+ * PIDOutput interface is a generic output for the PID class.
+ * PWMs use this class.
+ * Users implement this interface to allow for a PIDController to
+ * read directly from the inputs
+ */
+class PIDOutput {
+ public:
+  virtual void PIDWrite(float output) = 0;
+};