diff --git a/hal/include/ctre/PCM.h b/hal/include/ctre/PCM.h
new file mode 100644
index 0000000..03d9b2d
--- /dev/null
+++ b/hal/include/ctre/PCM.h
@@ -0,0 +1,226 @@
+#ifndef PCM_H_
+#define PCM_H_
+#include "ctre.h"				//BIT Defines + Typedefs
+#include "CtreCanNode.h"
+class PCM : public CtreCanNode
+{
+public:
+    PCM(UINT8 deviceNumber=0);
+    ~PCM();
+
+    /* Set PCM solenoid state
+     *
+     * @Return	-	CTR_Code	-	Error code (if any) for setting solenoid
+     * @Param 	-	idx			- 	ID of solenoid (0-7)
+     * @Param 	-	en			- 	Enable / Disable identified solenoid
+     */
+    CTR_Code 	SetSolenoid(unsigned char idx, bool en);
+
+    /* Set all PCM solenoid states
+     *
+     * @Return	-	CTR_Code	-	Error code (if any) for setting solenoids
+     * @Param 	-	state			Bitfield to set all solenoids to
+     */
+    CTR_Code 	SetAllSolenoids(UINT8 state);
+
+    /* Enables PCM Closed Loop Control of Compressor via pressure switch
+     * @Return	-	CTR_Code	-	Error code (if any) for setting solenoid
+     * @Param 	-	en		- 	Enable / Disable Closed Loop Control
+     */
+    CTR_Code 	SetClosedLoopControl(bool en);
+
+    /* Clears PCM sticky faults (indicators of past faults
+     * @Return	-	CTR_Code	-	Error code (if any) for setting solenoid
+     */
+    CTR_Code 	ClearStickyFaults();
+
+    /* Get solenoid state
+     *
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param 	-	idx		- 	ID of solenoid (0-7) to return if solenoid is on.
+     * @Param	-	status	-	true if solenoid enabled, false otherwise
+     */
+    CTR_Code 	GetSolenoid(UINT8 idx, bool &status);
+
+    /* Get state of all solenoids
+     *
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status	-	bitfield of solenoid states
+     */
+    CTR_Code 	GetAllSolenoids(UINT8 &status);
+
+    /* Get pressure switch state
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if pressure adequate, false if low
+     */
+    CTR_Code 	GetPressure(bool &status);
+
+    /* Get compressor state
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if compress ouput is on, false if otherwise
+     */
+    CTR_Code	GetCompressor(bool &status);
+
+    /* Get closed loop control state
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status	-	True if closed loop enabled, false if otherwise
+     */
+    CTR_Code 	GetClosedLoopControl(bool &status);
+
+    /* Get compressor current draw
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	Compressor current returned in Amperes (A)
+     */
+    CTR_Code 	GetCompressorCurrent(float &status);
+
+    /* Get voltage across solenoid rail
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	Voltage across solenoid rail in Volts (V)
+     */
+    CTR_Code 	GetSolenoidVoltage(float &status);
+
+    /* Get hardware fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if hardware failure detected, false if otherwise
+     */
+    CTR_Code 	GetHardwareFault(bool &status);
+
+    /* Get compressor fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if abnormally high compressor current detected, false if otherwise
+     */
+    CTR_Code 	GetCompressorCurrentTooHighFault(bool &status);
+
+    /* Get solenoid fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if shorted solenoid detected, false if otherwise
+     */
+    CTR_Code 	GetSolenoidFault(bool &status);
+
+    /* Get compressor sticky fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if solenoid had previously been shorted
+     * 								(and sticky fault was not cleared), false if otherwise
+     */
+    CTR_Code 	GetCompressorCurrentTooHighStickyFault(bool &status);
+    /* Get compressor shorted sticky fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if compressor output is shorted, false if otherwise
+     */
+    CTR_Code 	GetCompressorShortedStickyFault(bool &status);
+    /* Get compressor shorted fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if compressor output is shorted, false if otherwise
+     */
+    CTR_Code 	GetCompressorShortedFault(bool &status);
+    /* Get compressor is not connected sticky fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if compressor current is too low,
+     * 					indicating compressor is not connected, false if otherwise
+     */
+    CTR_Code 	GetCompressorNotConnectedStickyFault(bool &status);
+    /* Get compressor is not connected fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if compressor current is too low,
+     * 					indicating compressor is not connected, false if otherwise
+     */
+    CTR_Code 	GetCompressorNotConnectedFault(bool &status);
+
+    /* Get solenoid sticky fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if compressor had previously been shorted
+     * 								(and sticky fault was not cleared), false if otherwise
+     */
+    CTR_Code 	GetSolenoidStickyFault(bool &status);
+
+    /* Get battery voltage
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	Voltage across PCM power ports in Volts (V)
+     */
+    CTR_Code 	GetBatteryVoltage(float &status);
+
+    /* Set PCM Device Number and according CAN frame IDs
+     * @Return	-	void
+     * @Param	-	deviceNumber	-	Device number of PCM to control
+     */
+    void	SetDeviceNumber(UINT8 deviceNumber);
+    /* Get number of total failed PCM Control Frame
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	Number of failed control frames (tokenization fails)
+     * @WARNING	-	Return only valid if [SeekDebugFrames] is enabled
+     * 				See function SeekDebugFrames
+     * 				See function EnableSeekDebugFrames
+     */
+	CTR_Code GetNumberOfFailedControlFrames(UINT16 &status);
+
+    /* Get raw Solenoid Blacklist
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	Raw binary breakdown of Solenoid Blacklist
+     * 								BIT7 = Solenoid 1, BIT6 = Solenoid 2, etc.
+     * @WARNING	-	Return only valid if [SeekStatusFaultFrames] is enabled
+     * 				See function SeekStatusFaultFrames
+     * 				See function EnableSeekStatusFaultFrames
+     */
+    CTR_Code 	GetSolenoidBlackList(UINT8 &status);
+
+    /* Get solenoid Blacklist status
+     * - Blacklisted solenoids cannot be enabled until PCM is power cycled
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	idx			-	ID of solenoid [0,7]
+     * @Param	-	status		-	True if Solenoid is blacklisted, false if otherwise
+     * @WARNING	-	Return only valid if [SeekStatusFaultFrames] is enabled
+     * 				See function SeekStatusFaultFrames
+     * 				See function EnableSeekStatusFaultFrames
+     */
+    CTR_Code 	IsSolenoidBlacklisted(UINT8 idx, bool &status);
+
+    /* Return status of module enable/disable
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	Returns TRUE if PCM is enabled, FALSE if disabled
+     */
+    CTR_Code	isModuleEnabled(bool &status);
+
+    /* Get solenoid Blacklist status
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	idx			-	ID of solenoid [0,7] to fire one shot pulse.
+     */
+    CTR_Code FireOneShotSolenoid(UINT8 idx);
+
+    /* Configure the pulse width of a solenoid channel for one-shot pulse.
+	 * Preprogrammed pulsewidth is 10ms resolute and can be between 20ms and 5.1s.
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	idx			-	ID of solenoid [0,7] to configure.
+     * @Param	-	durMs		-	pulse width in ms.
+     */
+    CTR_Code SetOneShotDurationMs(UINT8 idx,uint32_t durMs);
+
+};
+//------------------ C interface --------------------------------------------//
+extern "C" {
+	void * c_PCM_Init(void);
+	CTR_Code c_SetSolenoid(void * handle,unsigned char idx,INT8 param);
+	CTR_Code c_SetAllSolenoids(void * handle,UINT8 state);
+	CTR_Code c_SetClosedLoopControl(void * handle,INT8 param);
+	CTR_Code c_ClearStickyFaults(void * handle,INT8 param);
+	CTR_Code c_GetSolenoid(void * handle,UINT8 idx,INT8 * status);
+	CTR_Code c_GetAllSolenoids(void * handle,UINT8 * status);
+	CTR_Code c_GetPressure(void * handle,INT8 * status);
+	CTR_Code c_GetCompressor(void * handle,INT8 * status);
+	CTR_Code c_GetClosedLoopControl(void * handle,INT8 * status);
+	CTR_Code c_GetCompressorCurrent(void * handle,float * status);
+	CTR_Code c_GetSolenoidVoltage(void * handle,float*status);
+	CTR_Code c_GetHardwareFault(void * handle,INT8*status);
+	CTR_Code c_GetCompressorFault(void * handle,INT8*status);
+	CTR_Code c_GetSolenoidFault(void * handle,INT8*status);
+	CTR_Code c_GetCompressorStickyFault(void * handle,INT8*status);
+	CTR_Code c_GetSolenoidStickyFault(void * handle,INT8*status);
+	CTR_Code c_GetBatteryVoltage(void * handle,float*status);
+	void c_SetDeviceNumber_PCM(void * handle,UINT8 deviceNumber);
+	void c_EnableSeekStatusFrames(void * handle,INT8 enable);
+	void c_EnableSeekStatusFaultFrames(void * handle,INT8 enable);
+	void c_EnableSeekDebugFrames(void * handle,INT8 enable);
+	CTR_Code c_GetNumberOfFailedControlFrames(void * handle,UINT16*status);
+	CTR_Code c_GetSolenoidBlackList(void * handle,UINT8 *status);
+	CTR_Code c_IsSolenoidBlacklisted(void * handle,UINT8 idx,INT8*status);
+}
+#endif