diff --git a/wpilibc/simulation/include/Relay.h b/wpilibc/simulation/include/Relay.h
new file mode 100644
index 0000000..abc9ad5
--- /dev/null
+++ b/wpilibc/simulation/include/Relay.h
@@ -0,0 +1,80 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "MotorSafety.h"
+#include "SensorBase.h"
+#include "simulation/SimContinuousOutput.h"
+#include "tables/ITableListener.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "tables/ITable.h"
+
+#include <memory>
+
+class MotorSafetyHelper;
+class DigitalModule;
+
+/**
+ * Class for Spike style relay outputs.
+ * Relays are intended to be connected to spikes or similar relays. The relay channels controls
+ * a pair of pins that are either both off, one on, the other on, or both on. This translates into
+ * two spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two
+ * spike outputs at 12V. This allows off, full forward, or full reverse control of motors without
+ * variable speed.  It also allows the two channels (forward and reverse) to be used independently
+ * for something that does not care about voltage polatiry (like a solenoid).
+ */
+class Relay : public MotorSafety,
+              public SensorBase,
+              public ITableListener,
+              public LiveWindowSendable {
+public:
+	enum Value
+	{
+		kOff,
+		kOn,
+		kForward,
+		kReverse
+	};
+	enum Direction
+	{
+		kBothDirections,
+		kForwardOnly,
+		kReverseOnly
+	};
+
+	Relay(uint32_t channel, Direction direction = kBothDirections);
+	virtual ~Relay();
+
+	void Set(Value value);
+	Value Get() const;
+    uint32_t GetChannel() const;
+
+  void SetExpiration(float timeout) override;
+  float GetExpiration() const override;
+  bool IsAlive() const override;
+  void StopMotor() override;
+  bool IsSafetyEnabled() const override;
+  void SetSafetyEnabled(bool enabled) override;
+  void GetDescription(std::ostringstream& desc) const override;
+
+	void ValueChanged(ITable* source, llvm::StringRef key,
+                    std::shared_ptr<nt::Value> value, bool isNew) 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;
+
+	std::shared_ptr<ITable> m_table;
+
+private:
+	uint32_t m_channel;
+	Direction m_direction;
+    std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
+	SimContinuousOutput* impl;
+	bool go_pos, go_neg;
+};