diff --git a/wpilibc/simulation/include/RobotDrive.h b/wpilibc/simulation/include/RobotDrive.h
new file mode 100644
index 0000000..a181e46
--- /dev/null
+++ b/wpilibc/simulation/include/RobotDrive.h
@@ -0,0 +1,112 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "ErrorBase.h"
+#include <stdlib.h>
+#include "MotorSafety.h"
+#include "MotorSafetyHelper.h"
+
+class SpeedController;
+class GenericHID;
+
+/**
+ * Utility class for handling Robot drive based on a definition of the motor configuration.
+ * The robot drive class handles basic driving for a robot. Currently, 2 and 4 motor standard
+ * drive trains are supported. In the future other drive types like swerve and meccanum might
+ * be implemented. Motor channel numbers are passed supplied on creation of the class. Those are
+ * used for either the Drive function (intended for hand created drive code, such as autonomous)
+ * or with the Tank/Arcade functions intended to be used for Operator Control driving.
+ */
+class RobotDrive : public MotorSafety, public ErrorBase
+{
+public:
+	enum MotorType
+	{
+		kFrontLeftMotor = 0,
+		kFrontRightMotor = 1,
+		kRearLeftMotor = 2,
+		kRearRightMotor = 3
+	};
+
+	RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel);
+	RobotDrive(uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel,
+			uint32_t frontRightMotorChannel, uint32_t rearRightMotorChannel);
+	RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor);
+	RobotDrive(SpeedController &leftMotor, SpeedController &rightMotor);
+	RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLeftMotor,
+			SpeedController *frontRightMotor, SpeedController *rearRightMotor);
+	RobotDrive(SpeedController &frontLeftMotor, SpeedController &rearLeftMotor,
+			SpeedController &frontRightMotor, SpeedController &rearRightMotor);
+	virtual ~RobotDrive();
+
+    RobotDrive(const RobotDrive&) = delete;
+    RobotDrive& operator=(const RobotDrive&) = delete;
+
+	void Drive(float outputMagnitude, float curve);
+	void TankDrive(GenericHID *leftStick, GenericHID *rightStick, bool squaredInputs = true);
+	void TankDrive(GenericHID &leftStick, GenericHID &rightStick, bool squaredInputs = true);
+	void TankDrive(GenericHID *leftStick, uint32_t leftAxis, GenericHID *rightStick,
+			uint32_t rightAxis, bool squaredInputs = true);
+	void TankDrive(GenericHID &leftStick, uint32_t leftAxis, GenericHID &rightStick,
+			uint32_t rightAxis, bool squaredInputs = true);
+	void TankDrive(float leftValue, float rightValue, bool squaredInputs = true);
+	void ArcadeDrive(GenericHID *stick, bool squaredInputs = true);
+	void ArcadeDrive(GenericHID &stick, bool squaredInputs = true);
+	void ArcadeDrive(GenericHID *moveStick, uint32_t moveChannel, GenericHID *rotateStick,
+			uint32_t rotateChannel, bool squaredInputs = true);
+	void ArcadeDrive(GenericHID &moveStick, uint32_t moveChannel, GenericHID &rotateStick,
+			uint32_t rotateChannel, bool squaredInputs = true);
+	void ArcadeDrive(float moveValue, float rotateValue, bool squaredInputs = true);
+	void MecanumDrive_Cartesian(float x, float y, float rotation, float gyroAngle = 0.0);
+	void MecanumDrive_Polar(float magnitude, float direction, float rotation);
+	void HolonomicDrive(float magnitude, float direction, float rotation);
+	virtual void SetLeftRightMotorOutputs(float leftOutput, float rightOutput);
+	void SetInvertedMotor(MotorType motor, bool isInverted);
+	void SetSensitivity(float sensitivity);
+	void SetMaxOutput(double maxOutput);
+
+	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;
+
+protected:
+	void InitRobotDrive();
+	float Limit(float num);
+	void Normalize(double *wheelSpeeds);
+	void RotateVector(double &x, double &y, double angle);
+
+	static const int32_t kMaxNumberOfMotors = 4;
+
+	int32_t m_invertedMotors[kMaxNumberOfMotors];
+	float m_sensitivity = 0.5;
+	double m_maxOutput = 1.0;
+	bool m_deleteSpeedControllers;
+	SpeedController *m_frontLeftMotor = nullptr;
+	SpeedController *m_frontRightMotor = nullptr;
+	SpeedController *m_rearLeftMotor = nullptr;
+	SpeedController *m_rearRightMotor = nullptr;
+	// FIXME: MotorSafetyHelper *m_safetyHelper;
+
+private:
+	int32_t GetNumMotors()
+	{
+		int motors = 0;
+		if (m_frontLeftMotor)
+			motors++;
+		if (m_frontRightMotor)
+			motors++;
+		if (m_rearLeftMotor)
+			motors++;
+		if (m_rearRightMotor)
+			motors++;
+		return motors;
+	}
+};