diff --git a/hal/include/HAL/Encoder.h b/hal/include/HAL/Encoder.h
new file mode 100644
index 0000000..c86ca8e
--- /dev/null
+++ b/hal/include/HAL/Encoder.h
@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "HAL/AnalogTrigger.h"
+#include "HAL/Types.h"
+
+enum HAL_EncoderIndexingType : int32_t {
+  HAL_kResetWhileHigh,
+  HAL_kResetWhileLow,
+  HAL_kResetOnFallingEdge,
+  HAL_kResetOnRisingEdge
+};
+enum HAL_EncoderEncodingType : int32_t {
+  HAL_Encoder_k1X,
+  HAL_Encoder_k2X,
+  HAL_Encoder_k4X
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+HAL_EncoderHandle HAL_InitializeEncoder(
+    HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
+    HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
+    HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
+    int32_t* status);
+void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
+int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
+int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status);
+int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
+                                    int32_t* status);
+void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
+double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status);
+void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
+                             int32_t* status);
+HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
+                               int32_t* status);
+HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
+                                 int32_t* status);
+double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle, int32_t* status);
+double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status);
+void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
+                           int32_t* status);
+void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
+                                    double distancePerPulse, int32_t* status);
+void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
+                                    HAL_Bool reverseDirection, int32_t* status);
+void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
+                                    int32_t samplesToAverage, int32_t* status);
+int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
+                                       int32_t* status);
+
+void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
+                               HAL_Handle digitalSourceHandle,
+                               HAL_AnalogTriggerType analogTriggerType,
+                               HAL_EncoderIndexingType type, int32_t* status);
+
+int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
+                                int32_t* status);
+
+double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
+                                         int32_t* status);
+
+double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
+                                      int32_t* status);
+
+HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
+    HAL_EncoderHandle encoderHandle, int32_t* status);
+#ifdef __cplusplus
+}
+#endif