diff --git a/wpilibc/sim/src/Joystick.cpp b/wpilibc/sim/src/Joystick.cpp
new file mode 100644
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+++ b/wpilibc/sim/src/Joystick.cpp
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+/*----------------------------------------------------------------------------*/
+/* 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 "Joystick.h"
+
+#include <cmath>
+
+#include "DriverStation.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+const int Joystick::kDefaultXAxis;
+const int Joystick::kDefaultYAxis;
+const int Joystick::kDefaultZAxis;
+const int Joystick::kDefaultTwistAxis;
+const int Joystick::kDefaultThrottleAxis;
+const int Joystick::kDefaultTriggerButton;
+const int Joystick::kDefaultTopButton;
+static Joystick* joysticks[DriverStation::kJoystickPorts];
+static bool joySticksInitialized = false;
+
+/**
+ * Construct an instance of a joystick.
+ *
+ * The joystick index is the USB port on the Driver Station.
+ *
+ * @param port The port on the Driver Station that the joystick is plugged into
+ *             (0-5).
+ */
+Joystick::Joystick(int port) : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
+  m_axes[kXAxis] = kDefaultXAxis;
+  m_axes[kYAxis] = kDefaultYAxis;
+  m_axes[kZAxis] = kDefaultZAxis;
+  m_axes[kTwistAxis] = kDefaultTwistAxis;
+  m_axes[kThrottleAxis] = kDefaultThrottleAxis;
+
+  m_buttons[kTriggerButton] = kDefaultTriggerButton;
+  m_buttons[kTopButton] = kDefaultTopButton;
+}
+
+/**
+ * Version of the constructor to be called by sub-classes.
+ *
+ * This constructor allows the subclass to configure the number of constants
+ * for axes and buttons.
+ *
+ * @param port           The port on the Driver Station that the joystick is
+ *                       plugged into.
+ * @param numAxisTypes   The number of axis types in the enum.
+ * @param numButtonTypes The number of button types in the enum.
+ */
+Joystick::Joystick(int port, int numAxisTypes, int numButtonTypes)
+    : JoystickBase(port),
+      m_ds(DriverStation::GetInstance()),
+      m_axes(numAxisTypes),
+      m_buttons(numButtonTypes) {
+  if (!joySticksInitialized) {
+    for (auto& joystick : joysticks) joystick = nullptr;
+    joySticksInitialized = true;
+  }
+  if (GetPort() >= DriverStation::kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+  } else {
+    joysticks[GetPort()] = this;
+  }
+}
+
+Joystick* Joystick::GetStickForPort(int port) {
+  Joystick* stick = joysticks[port];
+  if (stick == nullptr) {
+    stick = new Joystick(port);
+    joysticks[port] = stick;
+  }
+  return stick;
+}
+
+/**
+ * Get the X value of the joystick.
+ *
+ * This depends on the mapping of the joystick connected to the current port.
+ *
+ * @param hand This parameter is ignored for the Joystick class and is only
+ *             here to complete the GenericHID interface.
+ */
+double Joystick::GetX(JoystickHand hand) const {
+  return GetRawAxis(m_axes[kXAxis]);
+}
+
+/**
+ * Get the Y value of the joystick.
+ *
+ * This depends on the mapping of the joystick connected to the current port.
+ *
+ * @param hand This parameter is ignored for the Joystick class and is only
+ *             here to complete the GenericHID interface.
+ */
+double Joystick::GetY(JoystickHand hand) const {
+  return GetRawAxis(m_axes[kYAxis]);
+}
+
+/**
+ * Get the Z value of the current joystick.
+ *
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+double Joystick::GetZ(JoystickHand hand) const {
+  return GetRawAxis(m_axes[kZAxis]);
+}
+
+/**
+ * Get the twist value of the current joystick.
+ *
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+double Joystick::GetTwist() const { return GetRawAxis(m_axes[kTwistAxis]); }
+
+/**
+ * Get the throttle value of the current joystick.
+ *
+ * This depends on the mapping of the joystick connected to the current port.
+ */
+double Joystick::GetThrottle() const {
+  return GetRawAxis(m_axes[kThrottleAxis]);
+}
+
+/**
+ * For the current joystick, return the axis determined by the argument.
+ *
+ * This is for cases where the joystick axis is returned programatically,
+ * otherwise one of the previous functions would be preferable (for example
+ * GetX()).
+ *
+ * @param axis The axis to read.
+ * @return The value of the axis.
+ */
+double Joystick::GetAxis(AxisType axis) const {
+  switch (axis) {
+    case kXAxis:
+      return this->GetX();
+    case kYAxis:
+      return this->GetY();
+    case kZAxis:
+      return this->GetZ();
+    case kTwistAxis:
+      return this->GetTwist();
+    case kThrottleAxis:
+      return this->GetThrottle();
+    default:
+      wpi_setWPIError(BadJoystickAxis);
+      return 0.0;
+  }
+}
+
+/**
+ * Read the state of the trigger on the joystick.
+ *
+ * Look up which button has been assigned to the trigger and read its state.
+ *
+ * @param hand This parameter is ignored for the Joystick class and is only
+ *             here to complete the GenericHID interface.
+ * @return The state of the trigger.
+ */
+bool Joystick::GetTrigger(JoystickHand hand) const {
+  return GetRawButton(m_buttons[kTriggerButton]);
+}
+
+/**
+ * Read the state of the top button on the joystick.
+ *
+ * Look up which button has been assigned to the top and read its state.
+ *
+ * @param hand This parameter is ignored for the Joystick class and is only
+ *             here to complete the GenericHID interface.
+ * @return The state of the top button.
+ */
+bool Joystick::GetTop(JoystickHand hand) const {
+  return GetRawButton(m_buttons[kTopButton]);
+}
+
+/**
+ * Get buttons based on an enumerated type.
+ *
+ * The button type will be looked up in the list of buttons and then read.
+ *
+ * @param button The type of button to read.
+ * @return The state of the button.
+ */
+bool Joystick::GetButton(ButtonType button) const {
+  switch (button) {
+    case kTriggerButton:
+      return GetTrigger();
+    case kTopButton:
+      return GetTop();
+    default:
+      return false;
+  }
+}
+
+/**
+ * Get the number of axis for a joystick
+ *
+ * @return the number of axis for the current joystick
+ */
+int Joystick::GetAxisCount() const { return 0; }
+
+/**
+ * Get the axis type of a joystick axis.
+ *
+ * @return the axis type of a joystick axis.
+ */
+int Joystick::GetAxisType(int axis) const { return 0; }
+
+/**
+ * Get the number of buttons for a joystick.
+ *
+ * @return the number of buttons on the current joystick
+ */
+int Joystick::GetButtonCount() const { return 0; }
+
+/**
+ * Get the channel currently associated with the specified axis.
+ *
+ * @param axis The axis to look up the channel for.
+ * @return The channel fr the axis.
+ */
+int Joystick::GetAxisChannel(AxisType axis) const { return m_axes[axis]; }
+
+/**
+ * Set the channel associated with a specified axis.
+ *
+ * @param axis    The axis to set the channel for.
+ * @param channel The channel to set the axis to.
+ */
+void Joystick::SetAxisChannel(AxisType axis, int channel) {
+  m_axes[axis] = channel;
+}
+
+/**
+ * Get the magnitude of the direction vector formed by the joystick's
+ * current position relative to its origin.
+ *
+ * @return The magnitude of the direction vector
+ */
+double Joystick::GetMagnitude() const {
+  return std::sqrt(std::pow(GetX(), 2) + std::pow(GetY(), 2));
+}
+
+/**
+ * Get the direction of the vector formed by the joystick and its origin
+ * in radians.
+ *
+ * @return The direction of the vector in radians
+ */
+double Joystick::GetDirectionRadians() const {
+  return std::atan2(GetX(), -GetY());
+}
+
+/**
+ * Get the direction of the vector formed by the joystick and its origin
+ * in degrees.
+ *
+ * uses std::acos(-1) to represent Pi due to absence of readily accessible Pi
+ * constant in C++
+ *
+ * @return The direction of the vector in degrees
+ */
+double Joystick::GetDirectionDegrees() const {
+  return (180 / std::acos(-1)) * GetDirectionRadians();
+}