diff --git a/wpilibc/sim/include/DriverStation.h b/wpilibc/sim/include/DriverStation.h
new file mode 100644
index 0000000..c9218dd
--- /dev/null
+++ b/wpilibc/sim/include/DriverStation.h
@@ -0,0 +1,147 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <condition_variable>
+#include <mutex>
+#include <string>
+
+#include <gazebo/transport/transport.hh>
+
+#include "RobotState.h"
+#include "SensorBase.h"
+#include "llvm/StringRef.h"
+#include "simulation/gz_msgs/msgs.h"
+
+#ifdef _WIN32
+// Ensure that Winsock2.h is included before Windows.h, which can get
+// pulled in by anybody (e.g., Boost).
+#include <Winsock2.h>
+#endif
+
+namespace frc {
+
+struct HALCommonControlData;
+class AnalogInput;
+
+/**
+ * Provide access to the network communication data to / from the Driver
+ * Station.
+ */
+class DriverStation : public SensorBase, public RobotStateInterface {
+ public:
+  enum Alliance { kRed, kBlue, kInvalid };
+
+  virtual ~DriverStation() = default;
+  static DriverStation& GetInstance();
+  static void ReportError(llvm::StringRef error);
+  static void ReportWarning(llvm::StringRef error);
+  static void ReportError(bool is_error, int code, llvm::StringRef error,
+                          llvm::StringRef location, llvm::StringRef stack);
+
+  static const int kBatteryChannel = 7;
+  static const int kJoystickPorts = 4;
+  static const int kJoystickAxes = 6;
+
+  double GetStickAxis(int stick, int axis);
+  bool GetStickButton(int stick, int button);
+  int16_t GetStickButtons(int stick);
+
+  double GetAnalogIn(int channel);
+  bool GetDigitalIn(int channel);
+  void SetDigitalOut(int channel, bool value);
+  bool GetDigitalOut(int channel);
+
+  bool IsEnabled() const;
+  bool IsDisabled() const;
+  bool IsAutonomous() const;
+  bool IsOperatorControl() const;
+  bool IsTest() const;
+  bool IsFMSAttached() const;
+
+  int GetPacketNumber() const;
+  Alliance GetAlliance() const;
+  int GetLocation() const;
+  void WaitForData();
+  bool WaitForData(double timeout);
+  double GetMatchTime() const;
+  double GetBatteryVoltage() const;
+  uint16_t GetTeamNumber() const;
+
+  void IncrementUpdateNumber() { m_updateNumber++; }
+
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be
+   * executing for diagnostic purposes only.
+   *
+   * @param entering If true, starting disabled code; if false, leaving
+   *                 disabled code
+   */
+  void InDisabled(bool entering) { m_userInDisabled = entering; }
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be
+   * executing for diagnostic purposes only.
+   *
+   * @param entering If true, starting autonomous code; if false, leaving
+   *                 autonomous code
+   */
+  void InAutonomous(bool entering) { m_userInAutonomous = entering; }
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be
+   * executing for diagnostic purposes only.
+   *
+   * @param entering If true, starting teleop code; if false, leaving teleop
+   *                 code
+   */
+  void InOperatorControl(bool entering) { m_userInTeleop = entering; }
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be
+   * executing for diagnostic purposes only.
+   *
+   * @param entering If true, starting test code; if false, leaving test code
+   */
+  void InTest(bool entering) { m_userInTest = entering; }
+
+ protected:
+  DriverStation();
+
+ private:
+  static void InitTask(DriverStation* ds);
+  static DriverStation* m_instance;
+  static int m_updateNumber;
+  ///< TODO: Get rid of this and use the semaphore signaling
+  static const double kUpdatePeriod;
+
+  void stateCallback(const gazebo::msgs::ConstDriverStationPtr& msg);
+  void joystickCallback(const gazebo::msgs::ConstFRCJoystickPtr& msg, int i);
+  void joystickCallback0(const gazebo::msgs::ConstFRCJoystickPtr& msg);
+  void joystickCallback1(const gazebo::msgs::ConstFRCJoystickPtr& msg);
+  void joystickCallback2(const gazebo::msgs::ConstFRCJoystickPtr& msg);
+  void joystickCallback3(const gazebo::msgs::ConstFRCJoystickPtr& msg);
+  void joystickCallback4(const gazebo::msgs::ConstFRCJoystickPtr& msg);
+  void joystickCallback5(const gazebo::msgs::ConstFRCJoystickPtr& msg);
+
+  int m_digitalOut = 0;
+  std::condition_variable m_waitForDataCond;
+  std::mutex m_waitForDataMutex;
+  bool m_updatedControlLoopData = false;
+  mutable std::recursive_mutex m_stateMutex;
+  std::recursive_mutex m_joystickMutex;
+  double m_approxMatchTimeOffset = 0;
+  bool m_userInDisabled = false;
+  bool m_userInAutonomous = false;
+  bool m_userInTeleop = false;
+  bool m_userInTest = false;
+
+  gazebo::transport::SubscriberPtr stateSub;
+  gazebo::transport::SubscriberPtr joysticksSub[6];
+  gazebo::msgs::DriverStationPtr state;
+  gazebo::msgs::FRCJoystickPtr joysticks[6];
+};
+
+}  // namespace frc