diff --git a/wpilibc/athena/src/Jaguar.cpp b/wpilibc/athena/src/Jaguar.cpp
new file mode 100644
index 0000000..1d6cce8
--- /dev/null
+++ b/wpilibc/athena/src/Jaguar.cpp
@@ -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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Jaguar.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Constructor for a Jaguar connected via PWM.
+ *
+ * @param channel The PWM channel that the Jaguar is attached to. 0-9 are
+ *                on-board, 10-19 are on the MXP port
+ */
+Jaguar::Jaguar(int channel) : PWMSpeedController(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);
+  SetSpeed(0.0);
+  SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel());
+  LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
+}