diff --git a/wpilibc/sim/include/RobotDrive.h b/wpilibc/sim/include/RobotDrive.h
new file mode 100644
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--- /dev/null
+++ b/wpilibc/sim/include/RobotDrive.h
@@ -0,0 +1,131 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "ErrorBase.h"
+#include "MotorSafety.h"
+#include "MotorSafetyHelper.h"
+
+namespace frc {
+
+class SpeedController;
+class GenericHID;
+
+/**
+ * Utility class for handling Robot drive based on a definition of the motor
+ * configuration.
+ *
+ * The robot drive class handles basic driving for a robot. Currently, 2 and 4
+ * motor standard drive trains are supported. In the future other drive types
+ * like swerve and meccanum might be implemented. Motor channel numbers are
+ * passed supplied on creation of the class. Those are used for either the
+ * Drive function (intended for hand created drive code, such as autonomous)
+ * or with the Tank/Arcade functions intended to be used for Operator Control
+ * driving.
+ */
+class RobotDrive : public MotorSafety, public ErrorBase {
+ public:
+  enum MotorType {
+    kFrontLeftMotor = 0,
+    kFrontRightMotor = 1,
+    kRearLeftMotor = 2,
+    kRearRightMotor = 3
+  };
+
+  RobotDrive(int leftMotorChannel, int rightMotorChannel);
+  RobotDrive(int frontLeftMotorChannel, int rearLeftMotorChannel,
+             int frontRightMotorChannel, int rearRightMotorChannel);
+  RobotDrive(SpeedController* leftMotor, SpeedController* rightMotor);
+  RobotDrive(SpeedController& leftMotor, SpeedController& rightMotor);
+  RobotDrive(std::shared_ptr<SpeedController> leftMotor,
+             std::shared_ptr<SpeedController> rightMotor);
+  RobotDrive(SpeedController* frontLeftMotor, SpeedController* rearLeftMotor,
+             SpeedController* frontRightMotor, SpeedController* rearRightMotor);
+  RobotDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
+             SpeedController& frontRightMotor, SpeedController& rearRightMotor);
+  RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
+             std::shared_ptr<SpeedController> rearLeftMotor,
+             std::shared_ptr<SpeedController> frontRightMotor,
+             std::shared_ptr<SpeedController> rearRightMotor);
+  virtual ~RobotDrive() = default;
+
+  RobotDrive(const RobotDrive&) = delete;
+  RobotDrive& operator=(const RobotDrive&) = delete;
+
+  void Drive(double outputMagnitude, double curve);
+  void TankDrive(GenericHID* leftStick, GenericHID* rightStick,
+                 bool squaredInputs = true);
+  void TankDrive(GenericHID& leftStick, GenericHID& rightStick,
+                 bool squaredInputs = true);
+  void TankDrive(GenericHID* leftStick, int leftAxis, GenericHID* rightStick,
+                 int rightAxis, bool squaredInputs = true);
+  void TankDrive(GenericHID& leftStick, int leftAxis, GenericHID& rightStick,
+                 int rightAxis, bool squaredInputs = true);
+  void TankDrive(double leftValue, double rightValue,
+                 bool squaredInputs = true);
+  void ArcadeDrive(GenericHID* stick, bool squaredInputs = true);
+  void ArcadeDrive(GenericHID& stick, bool squaredInputs = true);
+  void ArcadeDrive(GenericHID* moveStick, int moveChannel,
+                   GenericHID* rotateStick, int rotateChannel,
+                   bool squaredInputs = true);
+  void ArcadeDrive(GenericHID& moveStick, int moveChannel,
+                   GenericHID& rotateStick, int rotateChannel,
+                   bool squaredInputs = true);
+  void ArcadeDrive(double moveValue, double rotateValue,
+                   bool squaredInputs = true);
+  void MecanumDrive_Cartesian(double x, double y, double rotation,
+                              double gyroAngle = 0.0);
+  void MecanumDrive_Polar(double magnitude, double direction, double rotation);
+  void HolonomicDrive(double magnitude, double direction, double rotation);
+  virtual void SetLeftRightMotorOutputs(double leftOutput, double rightOutput);
+  void SetInvertedMotor(MotorType motor, bool isInverted);
+  void SetSensitivity(double sensitivity);
+  void SetMaxOutput(double maxOutput);
+
+  void SetExpiration(double timeout) override;
+  double GetExpiration() const override;
+  bool IsAlive() const override;
+  void StopMotor() override;
+  bool IsSafetyEnabled() const override;
+  void SetSafetyEnabled(bool enabled) override;
+  void GetDescription(std::ostringstream& desc) const override;
+
+ protected:
+  void InitRobotDrive();
+  double Limit(double num);
+  void Normalize(double* wheelSpeeds);
+  void RotateVector(double& x, double& y, double angle);
+
+  static const int kMaxNumberOfMotors = 4;
+
+  int m_invertedMotors[kMaxNumberOfMotors] = {1, 1, 1, 1};
+  double m_sensitivity = 0.5;
+  double m_maxOutput = 1.0;
+  bool m_deleteSpeedControllers;
+  std::shared_ptr<SpeedController> m_frontLeftMotor;
+  std::shared_ptr<SpeedController> m_frontRightMotor;
+  std::shared_ptr<SpeedController> m_rearLeftMotor;
+  std::shared_ptr<SpeedController> m_rearRightMotor;
+  // FIXME: MotorSafetyHelper *m_safetyHelper;
+
+ private:
+  int GetNumMotors() {
+    int motors = 0;
+    if (m_frontLeftMotor) motors++;
+    if (m_frontRightMotor) motors++;
+    if (m_rearLeftMotor) motors++;
+    if (m_rearRightMotor) motors++;
+    return motors;
+  }
+};
+
+}  // namespace frc