diff --git a/wpilibc/athena/include/PWMSpeedController.h b/wpilibc/athena/include/PWMSpeedController.h
new file mode 100644
index 0000000..9060413
--- /dev/null
+++ b/wpilibc/athena/include/PWMSpeedController.h
@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 "SafePWM.h"
+#include "SpeedController.h"
+
+namespace frc {
+
+/**
+ * Common base class for all PWM Speed Controllers
+ */
+class PWMSpeedController : public SafePWM, public SpeedController {
+ public:
+  virtual ~PWMSpeedController() = default;
+  void Set(double value) override;
+  double Get() const override;
+  void Disable() override;
+  void StopMotor() override;
+
+  void PIDWrite(double output) override;
+
+  void SetInverted(bool isInverted) override;
+  bool GetInverted() const override;
+
+ protected:
+  explicit PWMSpeedController(int channel);
+
+ private:
+  bool m_isInverted = false;
+};
+
+}  // namespace frc