diff --git a/wpilibc/simulation/include/Encoder.h b/wpilibc/simulation/include/Encoder.h
new file mode 100644
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+++ b/wpilibc/simulation/include/Encoder.h
@@ -0,0 +1,87 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "simulation/SimEncoder.h"
+#include "CounterBase.h"
+#include "SensorBase.h"
+#include "Counter.h"
+#include "PIDSource.h"
+#include "LiveWindow/LiveWindowSendable.h"
+
+#include <memory>
+
+/**
+ * Class to read quad encoders.
+ * Quadrature encoders are devices that count shaft rotation and can sense direction. The output of
+ * the QuadEncoder class is an integer that can count either up or down, and can go negative for
+ * reverse direction counting. When creating QuadEncoders, a direction is supplied that changes the
+ * sense of the output to make code more readable if the encoder is mounted such that forward movement
+ * generates negative values. Quadrature encoders have two digital outputs, an A Channel and a B Channel
+ * that are out of phase with each other to allow the FPGA to do direction sensing.
+ *
+ * All encoders will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
+ */
+class Encoder : public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
+{
+public:
+
+	Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
+			EncodingType encodingType = k4X);
+	// TODO: [Not Supported] Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
+	// TODO: [Not Supported] Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
+	virtual ~Encoder() = default;
+
+	// CounterBase interface
+	int32_t Get() const override;
+	int32_t GetRaw() const;
+	int32_t GetEncodingScale() const;
+	void Reset() override;
+	double GetPeriod() const override;
+	void SetMaxPeriod(double maxPeriod) override;
+	bool GetStopped() const override;
+	bool GetDirection() const override;
+
+	double GetDistance() const;
+	double GetRate() const;
+	void SetMinRate(double minRate);
+	void SetDistancePerPulse(double distancePerPulse);
+	void SetReverseDirection(bool reverseDirection);
+	void SetSamplesToAverage(int samplesToAverage);
+	int GetSamplesToAverage() const;
+	void SetPIDSourceType(PIDSourceType pidSource);
+	double PIDGet() override;
+
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(std::shared_ptr<ITable> subTable) override;
+	std::shared_ptr<ITable> GetTable() const override;
+
+	int32_t FPGAEncoderIndex() const
+	{
+		return 0;
+	}
+
+private:
+	void InitEncoder(int channelA, int channelB, bool _reverseDirection, EncodingType encodingType);
+	double DecodingScaleFactor() const;
+
+	// TODO: [Not Supported] DigitalSource *m_aSource;		// the A phase of the quad encoder
+	// TODO: [Not Supported] DigitalSource *m_bSource;		// the B phase of the quad encoder
+    // TODO: [Not Supported] bool m_allocatedASource;		// was the A source allocated locally?
+    // TODO: [Not Supported] bool m_allocatedBSource;		// was the B source allocated locally?
+	int channelA, channelB;
+	double m_distancePerPulse;		// distance of travel for each encoder tick
+	EncodingType m_encodingType;	// Encoding type
+	int32_t m_encodingScale;		// 1x, 2x, or 4x, per the encodingType
+	bool m_reverseDirection;
+	SimEncoder* impl;
+
+	std::shared_ptr<ITable> m_table;
+};