diff --git a/wpilibc/simulation/src/Jaguar.cpp b/wpilibc/simulation/src/Jaguar.cpp
new file mode 100644
index 0000000..fab109d
--- /dev/null
+++ b/wpilibc/simulation/src/Jaguar.cpp
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* 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.  */
+/*----------------------------------------------------------------------------*/
+
+
+#include "Jaguar.h"
+//#include "NetworkCommunication/UsageReporting.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * @param channel The PWM channel that the Jaguar is attached to.
+ */
+Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
+{
+	/*
+	 * Input profile defined by Luminary Micro.
+	 *
+	 * Full reverse ranges from 0.671325ms to 0.6972211ms
+	 * Proportional reverse ranges from 0.6972211ms to 1.4482078ms
+	 * Neutral ranges from 1.4482078ms to 1.5517922ms
+	 * Proportional forward ranges from 1.5517922ms to 2.3027789ms
+	 * Full forward ranges from 2.3027789ms to 2.328675ms
+	 */
+	SetBounds(2.31, 1.55, 1.507, 1.454, .697);
+	SetPeriodMultiplier(kPeriodMultiplier_1X);
+	SetRaw(m_centerPwm);
+
+	LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
+}
+
+/**
+ * Set the PWM value.
+ *
+ * The PWM value is set using a range of -1.0 to 1.0, appropriately
+ * scaling the value for the FPGA.
+ *
+ * @param speed The speed value between -1.0 and 1.0 to set.
+ * @param syncGroup Unused interface.
+ */
+void Jaguar::Set(float speed, uint8_t syncGroup)
+{
+	SetSpeed(speed);
+}
+
+/**
+ * Get the recently set value of the PWM.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+float Jaguar::Get() const
+{
+	return GetSpeed();
+}
+
+/**
+ * Common interface for disabling a motor.
+ */
+void Jaguar::Disable()
+{
+	SetRaw(kPwmDisabled);
+}
+
+/**
+ * Write out the PID value as seen in the PIDOutput base object.
+ *
+ * @param output Write out the PWM value as was found in the PIDController
+ */
+void Jaguar::PIDWrite(float output)
+{
+	Set(output);
+}