diff --git a/wpilibc/athena/src/TalonSRX.cpp b/wpilibc/athena/src/TalonSRX.cpp
new file mode 100644
index 0000000..71b1b02
--- /dev/null
+++ b/wpilibc/athena/src/TalonSRX.cpp
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "TalonSRX.h"
+
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Construct a TalonSRX connected via PWM.
+ *
+ * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are
+ *                on-board, 10-19 are on the MXP port
+ */
+TalonSRX::TalonSRX(int channel) : PWMSpeedController(channel) {
+  /* Note that the TalonSRX uses the following bounds for PWM values. These
+   * values should work reasonably well for most controllers, but if users
+   * experience issues such as asymmetric behavior around the deadband or
+   * inability to saturate the controller in either direction, calibration is
+   * recommended. The calibration procedure can be found in the TalonSRX User
+   * Manual available from Cross The Road Electronics.
+   *   2.004ms = full "forward"
+   *   1.52ms = the "high end" of the deadband range
+   *   1.50ms = center of the deadband range (off)
+   *   1.48ms = the "low end" of the deadband range
+   *   0.997ms = full "reverse"
+   */
+  SetBounds(2.004, 1.52, 1.50, 1.48, .997);
+  SetPeriodMultiplier(kPeriodMultiplier_1X);
+  SetSpeed(0.0);
+  SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_TalonSRX, GetChannel());
+  LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this);
+}