diff --git a/wpilibc/shared/include/Joystick.h b/wpilibc/shared/include/Joystick.h
new file mode 100644
index 0000000..e4ee16f
--- /dev/null
+++ b/wpilibc/shared/include/Joystick.h
@@ -0,0 +1,88 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <stdint.h>
+
+#include <memory>
+#include <vector>
+
+#include "ErrorBase.h"
+#include "JoystickBase.h"
+
+namespace frc {
+
+class DriverStation;
+
+/**
+ * Handle input from standard Joysticks connected to the Driver Station.
+ * This class handles standard input that comes from the Driver Station. Each
+ * time a value is requested the most recent value is returned. There is a
+ * single class instance for each joystick and the mapping of ports to hardware
+ * buttons depends on the code in the Driver Station.
+ */
+class Joystick : public JoystickBase, public ErrorBase {
+ public:
+  static const int kDefaultXAxis = 0;
+  static const int kDefaultYAxis = 1;
+  static const int kDefaultZAxis = 2;
+  static const int kDefaultTwistAxis = 2;
+  static const int kDefaultThrottleAxis = 3;
+
+  typedef enum {
+    kXAxis,
+    kYAxis,
+    kZAxis,
+    kTwistAxis,
+    kThrottleAxis,
+    kNumAxisTypes
+  } AxisType;
+
+  static const int kDefaultTriggerButton = 1;
+  static const int kDefaultTopButton = 2;
+
+  typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
+
+  explicit Joystick(int port);
+  Joystick(int port, int numAxisTypes, int numButtonTypes);
+  virtual ~Joystick() = default;
+
+  Joystick(const Joystick&) = delete;
+  Joystick& operator=(const Joystick&) = delete;
+
+  int GetAxisChannel(AxisType axis) const;
+  void SetAxisChannel(AxisType axis, int channel);
+
+  double GetX(JoystickHand hand = kRightHand) const override;
+  double GetY(JoystickHand hand = kRightHand) const override;
+  double GetZ(JoystickHand hand = kRightHand) const override;
+  double GetTwist() const override;
+  double GetThrottle() const override;
+  virtual double GetAxis(AxisType axis) const;
+
+  bool GetTrigger(JoystickHand hand = kRightHand) const override;
+  bool GetTop(JoystickHand hand = kRightHand) const override;
+  bool GetButton(ButtonType button) const;
+  static Joystick* GetStickForPort(int port);
+
+  virtual double GetMagnitude() const;
+  virtual double GetDirectionRadians() const;
+  virtual double GetDirectionDegrees() const;
+
+  int GetAxisType(int axis) const;
+
+  int GetAxisCount() const;
+  int GetButtonCount() const;
+
+ private:
+  DriverStation& m_ds;
+  std::vector<int> m_axes;
+  std::vector<int> m_buttons;
+};
+
+}  // namespace frc