diff --git a/wpilibc/sim/src/SafePWM.cpp b/wpilibc/sim/src/SafePWM.cpp
new file mode 100644
index 0000000..4e42958
--- /dev/null
+++ b/wpilibc/sim/src/SafePWM.cpp
@@ -0,0 +1,94 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "SafePWM.h"
+
+#include <memory>
+#include <sstream>
+
+using namespace frc;
+
+/**
+ * Constructor for a SafePWM object taking a channel number.
+ *
+ * @param channel The PWM channel number (0..19).
+ */
+SafePWM::SafePWM(int channel) : PWM(channel) {
+  m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
+  m_safetyHelper->SetSafetyEnabled(false);
+}
+
+/**
+ * Set the expiration time for the PWM object.
+ *
+ * @param timeout The timeout (in seconds) for this motor object
+ */
+void SafePWM::SetExpiration(double timeout) {
+  m_safetyHelper->SetExpiration(timeout);
+}
+
+/**
+ * Return the expiration time for the PWM object.
+ *
+ * @returns The expiration time value.
+ */
+double SafePWM::GetExpiration() const {
+  return m_safetyHelper->GetExpiration();
+}
+
+/**
+ * Check if the PWM object is currently alive or stopped due to a timeout.
+ *
+ * @return a bool value that is true if the motor has NOT timed out and should
+ *         still be running.
+ */
+bool SafePWM::IsAlive() const { return m_safetyHelper->IsAlive(); }
+
+/**
+ * Stop the motor associated with this PWM object.
+ *
+ * This is called by the MotorSafetyHelper object when it has a timeout for this
+ * PWM and needs to stop it from running.
+ */
+void SafePWM::StopMotor() { SetRaw(kPwmDisabled); }
+
+/**
+ * Enable/disable motor safety for this device.
+ *
+ * Turn on and off the motor safety option for this PWM object.
+ *
+ * @param enabled True if motor safety is enforced for this object
+ */
+void SafePWM::SetSafetyEnabled(bool enabled) {
+  m_safetyHelper->SetSafetyEnabled(enabled);
+}
+
+/**
+ * Check if motor safety is enabled for this object.
+ *
+ * @returns True if motor safety is enforced for this object
+ */
+bool SafePWM::IsSafetyEnabled() const {
+  return m_safetyHelper->IsSafetyEnabled();
+}
+
+void SafePWM::GetDescription(std::ostringstream& desc) const {
+  desc << "PWM " << GetChannel();
+}
+
+/**
+ * Feed the MotorSafety timer when setting the speed.
+ *
+ * This method is called by the subclass motor whenever it updates its speed,
+ * thereby reseting the timeout value.
+ *
+ * @param speed Value to pass to the PWM class
+ */
+void SafePWM::SetSpeed(double speed) {
+  PWM::SetSpeed(speed);
+  m_safetyHelper->Feed();
+}