diff --git a/wpilibc/simulation/include/Joystick.h b/wpilibc/simulation/include/Joystick.h
new file mode 100644
index 0000000..0922359
--- /dev/null
+++ b/wpilibc/simulation/include/Joystick.h
@@ -0,0 +1,118 @@
+/*----------------------------------------------------------------------------*/
+/* 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.  */
+/*----------------------------------------------------------------------------*/
+
+#ifndef JOYSTICK_H_
+#define JOYSTICK_H_
+
+#include <cstdint>
+#include <memory>
+#include <vector>
+#include "GenericHID.h"
+#include "ErrorBase.h"
+
+class DriverStation;
+
+/**
+ * Handle input from standard Joysticks connected to the Driver Station.
+ * This class handles standard input that comes from the Driver Station. Each
+ * time a value is requested
+ * the most recent value is returned. There is a single class instance for each
+ * joystick and the mapping
+ * of ports to hardware buttons depends on the code in the driver station.
+ */
+class Joystick : public GenericHID, public ErrorBase {
+ public:
+  static const uint32_t kDefaultXAxis = 0;
+  static const uint32_t kDefaultYAxis = 1;
+  static const uint32_t kDefaultZAxis = 2;
+  static const uint32_t kDefaultTwistAxis = 2;
+  static const uint32_t kDefaultThrottleAxis = 3;
+  typedef enum {
+    kXAxis,
+    kYAxis,
+    kZAxis,
+    kTwistAxis,
+    kThrottleAxis,
+    kNumAxisTypes
+  } AxisType;
+  static const uint32_t kDefaultTriggerButton = 1;
+  static const uint32_t kDefaultTopButton = 2;
+  typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
+  typedef enum { kLeftRumble, kRightRumble } RumbleType;
+  typedef enum {
+    kUnknown = -1,
+    kXInputUnknown = 0,
+    kXInputGamepad = 1,
+    kXInputWheel = 2,
+    kXInputArcadeStick = 3,
+    kXInputFlightStick = 4,
+    kXInputDancePad = 5,
+    kXInputGuitar = 6,
+    kXInputGuitar2 = 7,
+    kXInputDrumKit = 8,
+    kXInputGuitar3 = 11,
+    kXInputArcadePad = 19,
+    kHIDJoystick = 20,
+    kHIDGamepad = 21,
+    kHIDDriving = 22,
+    kHIDFlight = 23,
+    kHID1stPerson = 24
+  } HIDType;
+  explicit Joystick(uint32_t port);
+  Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
+  virtual ~Joystick() = default;
+
+  Joystick(const Joystick&) = delete;
+  Joystick& operator=(const Joystick&) = delete;
+
+  uint32_t GetAxisChannel(AxisType axis) const;
+  void SetAxisChannel(AxisType axis, uint32_t channel);
+
+  virtual float GetX(JoystickHand hand = kRightHand) const override;
+  virtual float GetY(JoystickHand hand = kRightHand) const override;
+  virtual float GetZ() const override;
+  virtual float GetTwist() const override;
+  virtual float GetThrottle() const override;
+  virtual float GetAxis(AxisType axis) const;
+  float GetRawAxis(uint32_t axis) const override;
+
+  virtual bool GetTrigger(JoystickHand hand = kRightHand) const override;
+  virtual bool GetTop(JoystickHand hand = kRightHand) const override;
+  virtual bool GetBumper(JoystickHand hand = kRightHand) const override;
+  virtual bool GetRawButton(uint32_t button) const override;
+  virtual int GetPOV(uint32_t pov = 0) const override;
+  bool GetButton(ButtonType button) const;
+  static Joystick *GetStickForPort(uint32_t port);
+
+  virtual float GetMagnitude() const;
+  virtual float GetDirectionRadians() const;
+  virtual float GetDirectionDegrees() const;
+
+  bool GetIsXbox() const;
+  Joystick::HIDType GetType() const;
+  std::string GetName() const;
+  int GetAxisType(uint8_t axis) const;
+
+  int GetAxisCount() const;
+  int GetButtonCount() const;
+  int GetPOVCount() const;
+
+  void SetRumble(RumbleType type, float value);
+  void SetOutput(uint8_t outputNumber, bool value);
+  void SetOutputs(uint32_t value);
+
+ private:
+  DriverStation &m_ds;
+  uint32_t m_port;
+  ::std::vector<uint32_t> m_axes;
+  ::std::vector<uint32_t> m_buttons;
+  uint32_t m_outputs = 0;
+  uint16_t m_leftRumble = 0;
+  uint16_t m_rightRumble = 0;
+};
+
+#endif