diff --git a/hal/lib/athena/FPGAEncoder.h b/hal/lib/athena/FPGAEncoder.h
new file mode 100644
index 0000000..279fa81
--- /dev/null
+++ b/hal/lib/athena/FPGAEncoder.h
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* 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"
+
+extern "C" {
+HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
+    HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
+    HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
+    HAL_Bool reverseDirection, int32_t* index, int32_t* status);
+void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
+                         int32_t* status);
+void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
+                          int32_t* status);
+int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
+                           int32_t* status);  // Raw value
+double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
+                                int32_t* status);
+void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
+                                 double maxPeriod, int32_t* status);
+HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle,
+                                   int32_t* status);
+HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
+                                     int32_t* status);
+void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
+                                        HAL_Bool reverseDirection,
+                                        int32_t* status);
+void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle,
+                                        int32_t samplesToAverage,
+                                        int32_t* status);
+int32_t HAL_GetFPGAEncoderSamplesToAverage(
+    HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status);
+void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle,
+                                   HAL_Handle digitalSourceHandle,
+                                   HAL_AnalogTriggerType analogTriggerType,
+                                   HAL_Bool activeHigh, HAL_Bool edgeSensitive,
+                                   int32_t* status);
+}