diff --git a/wpilibc/shared/include/PIDController.h b/wpilibc/shared/include/PIDController.h
new file mode 100644
index 0000000..a304f9c
--- /dev/null
+++ b/wpilibc/shared/include/PIDController.h
@@ -0,0 +1,153 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <atomic>
+#include <memory>
+#include <queue>
+#include <string>
+
+#include "Base.h"
+#include "Controller.h"
+#include "HAL/cpp/priority_mutex.h"
+#include "LiveWindow/LiveWindow.h"
+#include "Notifier.h"
+#include "PIDInterface.h"
+#include "PIDSource.h"
+#include "Timer.h"
+
+namespace frc {
+
+class PIDOutput;
+
+/**
+ * Class implements a PID Control Loop.
+ *
+ * Creates a separate thread which reads the given PIDSource and takes
+ * care of the integral calculations, as well as writing the given PIDOutput.
+ *
+ * This feedback controller runs in discrete time, so time deltas are not used
+ * in the integral and derivative calculations. Therefore, the sample rate
+ * affects the controller's behavior for a given set of PID constants.
+ */
+class PIDController : public LiveWindowSendable,
+                      public PIDInterface,
+                      public ITableListener {
+ public:
+  PIDController(double p, double i, double d, PIDSource* source,
+                PIDOutput* output, double period = 0.05);
+  PIDController(double p, double i, double d, double f, PIDSource* source,
+                PIDOutput* output, double period = 0.05);
+  virtual ~PIDController();
+
+  PIDController(const PIDController&) = delete;
+  PIDController& operator=(const PIDController) = delete;
+
+  virtual double Get() const;
+  virtual void SetContinuous(bool continuous = true);
+  virtual void SetInputRange(double minimumInput, double maximumInput);
+  virtual void SetOutputRange(double minimumOutput, double maximumOutput);
+  void SetPID(double p, double i, double d) override;
+  virtual void SetPID(double p, double i, double d, double f);
+  double GetP() const override;
+  double GetI() const override;
+  double GetD() const override;
+  virtual double GetF() const;
+
+  void SetSetpoint(double setpoint) override;
+  double GetSetpoint() const override;
+  double GetDeltaSetpoint() const;
+
+  virtual double GetError() const;
+  virtual double GetAvgError() const;
+
+  virtual void SetPIDSourceType(PIDSourceType pidSource);
+  virtual PIDSourceType GetPIDSourceType() const;
+
+  virtual void SetTolerance(double percent);
+  virtual void SetAbsoluteTolerance(double absValue);
+  virtual void SetPercentTolerance(double percentValue);
+  virtual void SetToleranceBuffer(int buf = 1);
+  virtual bool OnTarget() const;
+
+  void Enable() override;
+  void Disable() override;
+  bool IsEnabled() const override;
+
+  void Reset() override;
+
+  void InitTable(std::shared_ptr<ITable> subtable) override;
+
+ protected:
+  PIDSource* m_pidInput;
+  PIDOutput* m_pidOutput;
+
+  std::shared_ptr<ITable> m_table;
+  virtual void Calculate();
+  virtual double CalculateFeedForward();
+  double GetContinuousError(double error) const;
+
+ private:
+  // factor for "proportional" control
+  double m_P;
+  // factor for "integral" control
+  double m_I;
+  // factor for "derivative" control
+  double m_D;
+  // factor for "feed forward" control
+  double m_F;
+  // |maximum output|
+  double m_maximumOutput = 1.0;
+  // |minimum output|
+  double m_minimumOutput = -1.0;
+  // maximum input - limit setpoint to this
+  double m_maximumInput = 0;
+  // minimum input - limit setpoint to this
+  double m_minimumInput = 0;
+  // do the endpoints wrap around? eg. Absolute encoder
+  bool m_continuous = false;
+  // is the pid controller enabled
+  bool m_enabled = false;
+  // the prior error (used to compute velocity)
+  double m_prevError = 0;
+  // the sum of the errors for use in the integral calc
+  double m_totalError = 0;
+  enum {
+    kAbsoluteTolerance,
+    kPercentTolerance,
+    kNoTolerance
+  } m_toleranceType = kNoTolerance;
+
+  // the percetage or absolute error that is considered on target.
+  double m_tolerance = 0.05;
+  double m_setpoint = 0;
+  double m_prevSetpoint = 0;
+  double m_error = 0;
+  double m_result = 0;
+  double m_period;
+
+  // Length of buffer for averaging for tolerances.
+  std::atomic<unsigned> m_bufLength{1};
+  std::queue<double> m_buf;
+  double m_bufTotal = 0;
+
+  mutable priority_recursive_mutex m_mutex;
+
+  std::unique_ptr<Notifier> m_controlLoop;
+  Timer m_setpointTimer;
+
+  std::shared_ptr<ITable> GetTable() const override;
+  std::string GetSmartDashboardType() const override;
+  void ValueChanged(ITable* source, llvm::StringRef key,
+                    std::shared_ptr<nt::Value> value, bool isNew) override;
+  void UpdateTable() override;
+  void StartLiveWindowMode() override;
+  void StopLiveWindowMode() override;
+};
+
+}  // namespace frc