diff --git a/wpilibc/wpilibC++/include/PIDController.h b/wpilibc/wpilibC++/include/PIDController.h
index 8bc6c24039..a224632c95 100644
--- a/wpilibc/wpilibC++/include/PIDController.h
+++ b/wpilibc/wpilibC++/include/PIDController.h
@@ -9,6 +9,7 @@
 #include "Controller.h"
 #include "LiveWindow/LiveWindow.h"
 #include "HAL/Semaphore.hpp"
+#include "PIDInterface.h"
 
 class PIDOutput;
 class PIDSource;
@@ -21,8 +22,9 @@ class Notifier;
  * care of the integral calculations, as well as writing the given
  * PIDOutput
  */
-class PIDController : public LiveWindowSendable, public Controller, public ITableListener
-{
+class PIDController : public LiveWindowSendable,
+                      public PIDInterface,
+                      public ITableListener {
 public:
 	PIDController(float p, float i, float d, PIDSource *source, PIDOutput *output, float period =
 			0.05);
@@ -33,15 +35,15 @@ public:
 	virtual void SetContinuous(bool continuous = true);
 	virtual void SetInputRange(float minimumInput, float maximumInput);
 	virtual void SetOutputRange(float minimumOutput, float maximumOutput);
-	virtual void SetPID(float p, float i, float d);
-	virtual void SetPID(float p, float i, float d, float f);
-	virtual float GetP() const;
-	virtual float GetI() const;
-	virtual float GetD() const;
-	virtual float GetF() const;
+	virtual void SetPID(double p, double i, double d) override;
+	virtual void SetPID(double p, double i, double d, double f);
+	virtual double GetP() const override;
+	virtual double GetI() const override;
+	virtual double GetD() const override;
+	virtual double GetF() const;
 
-	virtual void SetSetpoint(float setpoint);
-	virtual float GetSetpoint() const;
+	virtual void SetSetpoint(float setpoint) override;
+	virtual double GetSetpoint() const override;
 
 	virtual float GetError() const;
 
@@ -52,9 +54,9 @@ public:
 
 	virtual void Enable() override;
 	virtual void Disable() override;
-	virtual bool IsEnabled() const;
+	virtual bool IsEnabled() const override;
 
-	virtual void Reset();
+	virtual void Reset() override;
 
 	virtual void InitTable(ITable* table);
 
diff --git a/wpilibc/wpilibC++/include/PIDInterface.h b/wpilibc/wpilibC++/include/PIDInterface.h
new file mode 100644
index 0000000000..3bde03b590
--- /dev/null
+++ b/wpilibc/wpilibC++/include/PIDInterface.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include "Base.h"
+#include "Controller.h"
+#include "LiveWindow/LiveWindow.h"
+#include "HAL/Semaphore.hpp"
+
+class PIDInterface : public Controller {
+	virtual void SetPID(double p, double i, double d)=0;
+	virtual double GetP() const=0;
+	virtual double GetI() const=0;
+	virtual double GetD() const=0;
+
+	virtual void SetSetpoint(float setpoint)=0;
+	virtual double GetSetpoint() const=0;
+
+	virtual void Enable()=0;
+	virtual void Disable()=0;
+	virtual bool IsEnabled() const=0;
+
+	virtual void Reset()=0;
+};
diff --git a/wpilibc/wpilibC++/include/PIDSource.h b/wpilibc/wpilibC++/include/PIDSource.h
index 8880f1bd35..de7a228f6d 100644
--- a/wpilibc/wpilibC++/include/PIDSource.h
+++ b/wpilibc/wpilibC++/include/PIDSource.h
@@ -11,7 +11,7 @@
  * returns a standard value that will be used in the PID code.
  */
 class PIDSource
-{	
+{
 public:
 	enum PIDSourceParameter {kDistance, kRate, kAngle};
 	virtual double PIDGet() const = 0;
diff --git a/wpilibc/wpilibC++Devices/include/CANTalon.h b/wpilibc/wpilibC++Devices/include/CANTalon.h
index 38590711f7..520e1b676d 100644
--- a/wpilibc/wpilibC++Devices/include/CANTalon.h
+++ b/wpilibc/wpilibC++Devices/include/CANTalon.h
@@ -8,6 +8,8 @@
 #include "SafePWM.h"
 #include "CANSpeedController.h"
 #include "PIDOutput.h"
+#include "PIDSource.h"
+#include "PIDInterface.h"
 #include "MotorSafetyHelper.h"
 #include "LiveWindow/LiveWindowSendable.h"
 #include "tables/ITable.h"
@@ -21,7 +23,9 @@ class CANTalon : public MotorSafety,
                  public CANSpeedController,
                  public ErrorBase,
                  public LiveWindowSendable,
-                 public ITableListener
+                 public ITableListener,
+                 public PIDSource,
+                 public PIDInterface
 {
 public:
   enum FeedbackDevice {
@@ -41,9 +45,12 @@ public:
 	explicit CANTalon(int deviceNumber,int controlPeriodMs);
 	virtual ~CANTalon();
 
-	// PIDController interface
+	// PIDOutput interface
 	virtual void PIDWrite(float output) override;
 
+  // PIDSource interface
+  virtual double PIDGet() const override;
+
 	// MotorSafety interface
 	virtual void SetExpiration(float timeout) override;
 	virtual float GetExpiration() const override;
@@ -56,19 +63,22 @@ public:
 	// CANSpeedController interface
 	virtual float Get() const override;
 	virtual void Set(float value, uint8_t syncGroup=0) override;
+  virtual void Reset() override;
+  virtual void SetSetpoint(float value) override;
 	virtual void Disable() override;
   virtual void EnableControl();
+  virtual void Enable();
 	virtual void SetP(double p) override;
 	virtual void SetI(double i) override;
 	virtual void SetD(double d) override;
 	void SetF(double f);
 	void SetIzone(unsigned iz);
 	virtual void SetPID(double p, double i, double d) override;
-	void SetPID(double p, double i, double d, double f);
+	virtual void SetPID(double p, double i, double d, double f);
 	virtual double GetP() const override;
 	virtual double GetI() const override;
 	virtual double GetD() const override;
-	double GetF() const;
+	virtual double GetF() const;
 	virtual float GetBusVoltage() const override;
 	virtual float GetOutputVoltage() const override;
 	virtual float GetOutputCurrent() const override;
@@ -141,7 +151,8 @@ public:
 	int GetBrakeEnableDuringNeutral() const;
 
   bool IsControlEnabled() const;
-  double GetSetpoint() const;
+  bool IsEnabled() const override;
+  double GetSetpoint() const override;
 
   // LiveWindow stuff.
 	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) override;
@@ -151,6 +162,7 @@ public:
 	std::string GetSmartDashboardType() const override;
 	void InitTable(ITable *subTable) override;
 	ITable * GetTable() const override;
+
 private:
   // Values for various modes as is sent in the CAN packets for the Talon.
   enum TalonControlMode {
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index f703441748..575a262762 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -66,16 +66,25 @@ void CANTalon::PIDWrite(float output)
 	}
 }
 
-  /**
-   * Gets the current status of the Talon (usually a sensor value).
-   *
-   * In Current mode: returns output current.
-   * In Speed mode: returns current speed.
-   * In Position mode: returns current sensor position.
-   * In PercentVbus and Follower modes: returns current applied throttle.
-   *
-   * @return The current sensor value of the Talon.
-   */
+/**
+ * Retrieve the current sensor value. Equivalent to Get().
+ *
+ * @return The current sensor value of the Talon.
+ */
+double CANTalon::PIDGet() const {
+  return Get();
+}
+
+/**
+ * Gets the current status of the Talon (usually a sensor value).
+ *
+ * In Current mode: returns output current.
+ * In Speed mode: returns current speed.
+ * In Position mode: returns current sensor position.
+ * In PercentVbus and Follower modes: returns current applied throttle.
+ *
+ * @return The current sensor value of the Talon.
+ */
 float CANTalon::Get() const
 {
   int value;
@@ -165,7 +174,24 @@ void CANTalon::Set(float value, uint8_t syncGroup)
 }
 
 /**
- * TODO documentation (see CANJaguar.cpp)
+ * Sets the setpoint to value. Equivalent to Set().
+ */
+void CANTalon::SetSetpoint(float value) {
+  Set(value);
+}
+
+/**
+ * Resets the integral term and disables the controller.
+ */
+void CANTalon::Reset() {
+  ClearIaccum();
+  Disable();
+}
+
+/**
+ * Disables control of the talon, causing the motor to brake or coast
+ * depending on its mode (see the Talon SRX Software Reference manual
+ * for more information).
  */
 void CANTalon::Disable()
 {
@@ -174,13 +200,20 @@ void CANTalon::Disable()
 }
 
 /**
- * TODO documentation (see CANJaguar.cpp)
+ * Enables control of the Talon, allowing the motor to move.
  */
 void CANTalon::EnableControl() {
   SetControlMode(m_controlMode);
   m_controlEnabled = true;
 }
 
+/**
+ * Enables control of the Talon, allowing the motor to move.
+ */
+void CANTalon::Enable() {
+  EnableControl();
+}
+
 /**
  * @return Whether the Talon is currently enabled.
  */
@@ -188,6 +221,13 @@ bool CANTalon::IsControlEnabled() const {
   return m_controlEnabled;
 }
 
+/**
+ * @return Whether the Talon is currently enabled.
+ */
+bool CANTalon::IsEnabled() const {
+  return IsControlEnabled();
+}
+
 /**
  * @param p Proportional constant to use in PID loop.
  * @see SelectProfileSlot to choose between the two sets of gains.
diff --git a/wpilibc/wpilibC++Devices/src/PIDController.cpp b/wpilibc/wpilibC++Devices/src/PIDController.cpp
index cd1e0cdff6..e051d05964 100644
--- a/wpilibc/wpilibC++Devices/src/PIDController.cpp
+++ b/wpilibc/wpilibC++Devices/src/PIDController.cpp
@@ -63,7 +63,7 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
 								float period)
 {
 	m_table = NULL;
-	
+
 	m_semaphore = initializeMutexNormal();
 
 	m_controlLoop = new Notifier(PIDController::CallCalculate, this);
@@ -209,7 +209,7 @@ void PIDController::Calculate()
  * @param i Integral coefficient
  * @param d Differential coefficient
  */
-void PIDController::SetPID(float p, float i, float d)
+void PIDController::SetPID(double p, double i, double d)
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -234,7 +234,7 @@ void PIDController::SetPID(float p, float i, float d)
  * @param d Differential coefficient
  * @param f Feed forward coefficient
  */
-void PIDController::SetPID(float p, float i, float d, float f)
+void PIDController::SetPID(double p, double i, double d, double f)
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -257,7 +257,7 @@ void PIDController::SetPID(float p, float i, float d, float f)
  * Get the Proportional coefficient
  * @return proportional coefficient
  */
-float PIDController::GetP() const
+double PIDController::GetP() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -270,7 +270,7 @@ float PIDController::GetP() const
  * Get the Integral coefficient
  * @return integral coefficient
  */
-float PIDController::GetI() const
+double PIDController::GetI() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -283,7 +283,7 @@ float PIDController::GetI() const
  * Get the Differential coefficient
  * @return differential coefficient
  */
-float PIDController::GetD() const
+double PIDController::GetD() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -296,7 +296,7 @@ float PIDController::GetD() const
  * Get the Feed forward coefficient
  * @return Feed forward coefficient
  */
-float PIDController::GetF() const
+double PIDController::GetF() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -348,7 +348,7 @@ void PIDController::SetInputRange(float minimumInput, float maximumInput)
 	CRITICAL_REGION(m_semaphore)
 	{
 		m_minimumInput = minimumInput;
-		m_maximumInput = maximumInput;	
+		m_maximumInput = maximumInput;
 	}
 	END_REGION;
 
@@ -393,8 +393,8 @@ void PIDController::SetSetpoint(float setpoint)
 			m_setpoint = setpoint;
 		}
 	}
-	END_REGION;	
-	
+	END_REGION;
+
 	if (m_table != NULL) {
 		m_table->PutNumber("setpoint", m_setpoint);
 	}
@@ -404,7 +404,7 @@ void PIDController::SetSetpoint(float setpoint)
  * Returns the current setpoint of the PIDController
  * @return the current setpoint
  */
-float PIDController::GetSetpoint() const
+double PIDController::GetSetpoint() const
 {
 	float setpoint;
 	CRITICAL_REGION(m_semaphore)
@@ -512,11 +512,11 @@ bool PIDController::OnTarget() const
 void PIDController::Enable()
 {
 	CRITICAL_REGION(m_semaphore)
-	{			
+	{
 		m_enabled = true;
 	}
-	END_REGION;	
-	
+	END_REGION;
+
 	if (m_table != NULL) {
 		m_table->PutBoolean("enabled", true);
 	}
@@ -533,7 +533,7 @@ void PIDController::Disable()
 		m_enabled = false;
 	}
 	END_REGION;
-	
+
 	if (m_table != NULL) {
 		m_table->PutBoolean("enabled", false);
 	}
diff --git a/wpilibc/wpilibC++Sim/src/PIDController.cpp b/wpilibc/wpilibC++Sim/src/PIDController.cpp
index d3e3ade778..97f5b233b9 100644
--- a/wpilibc/wpilibC++Sim/src/PIDController.cpp
+++ b/wpilibc/wpilibC++Sim/src/PIDController.cpp
@@ -66,7 +66,7 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
 	m_I = Ki;
 	m_D = Kd;
 	m_F = Kf;
-	
+
 	m_maximumOutput = 1.0;
 	m_minimumOutput = -1.0;
 
@@ -87,14 +87,14 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
 	m_pidOutput = output;
 	m_period = period;
 
-	
+
 	m_semaphore = initializeMutexRecursive();
 	m_controlLoop = new Notifier(PIDController::CallCalculate, this);
 	m_controlLoop->StartPeriodic(m_period);
 
 	static int32_t instances = 0;
 	instances++;
-	
+
 	m_toleranceType = kNoTolerance;
 }
 
@@ -125,7 +125,7 @@ void PIDController::CallCalculate(void *controller)
   * Read the input, calculate the output accordingly, and write to the output.
   * This should only be called by the Notifier indirectly through CallCalculate
   * and is created during initialization.
-  */	
+  */
 void PIDController::Calculate()
 {
 	bool enabled;
@@ -163,7 +163,7 @@ void PIDController::Calculate()
 					}
 				}
 			}
-			
+
 			if(m_I != 0)
 			{
 				double potentialIGain = (m_totalError + m_error) * m_I;
@@ -201,7 +201,7 @@ void PIDController::Calculate()
  * @param i Integral coefficient
  * @param d Differential coefficient
  */
-void PIDController::SetPID(float p, float i, float d)
+void PIDController::SetPID(double p, double i, double d)
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -226,7 +226,7 @@ void PIDController::SetPID(float p, float i, float d)
  * @param d Differential coefficient
  * @param f Feed forward coefficient
  */
-void PIDController::SetPID(float p, float i, float d, float f)
+void PIDController::SetPID(double p, double i, double d, double f)
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -249,7 +249,7 @@ void PIDController::SetPID(float p, float i, float d, float f)
  * Get the Proportional coefficient
  * @return proportional coefficient
  */
-float PIDController::GetP() const
+double PIDController::GetP() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -262,7 +262,7 @@ float PIDController::GetP() const
  * Get the Integral coefficient
  * @return integral coefficient
  */
-float PIDController::GetI() const
+double PIDController::GetI() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -275,7 +275,7 @@ float PIDController::GetI() const
  * Get the Differential coefficient
  * @return differential coefficient
  */
-float PIDController::GetD() const
+double PIDController::GetD() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -288,7 +288,7 @@ float PIDController::GetD() const
  * Get the Feed forward coefficient
  * @return Feed forward coefficient
  */
-float PIDController::GetF() const
+double PIDController::GetF() const
 {
 	CRITICAL_REGION(m_semaphore)
 	{
@@ -332,7 +332,7 @@ void PIDController::SetContinuous(bool continuous)
 
 /**
  * Sets the maximum and minimum values expected from the input.
- * 
+ *
  * @param minimumInput the minimum value expected from the input
  * @param maximumInput the maximum value expected from the output
  */
@@ -341,7 +341,7 @@ void PIDController::SetInputRange(float minimumInput, float maximumInput)
 	CRITICAL_REGION(m_semaphore)
 	{
 		m_minimumInput = minimumInput;
-		m_maximumInput = maximumInput;	
+		m_maximumInput = maximumInput;
 	}
 	END_REGION;
 
@@ -350,7 +350,7 @@ void PIDController::SetInputRange(float minimumInput, float maximumInput)
 
 /**
  * Sets the minimum and maximum values to write.
- * 
+ *
  * @param minimumOutput the minimum value to write to the output
  * @param maximumOutput the maximum value to write to the output
  */
@@ -386,8 +386,8 @@ void PIDController::SetSetpoint(float setpoint)
 			m_setpoint = setpoint;
 		}
 	}
-	END_REGION;	
-	
+	END_REGION;
+
 	if (m_table != NULL) {
 		m_table->PutNumber("setpoint", m_setpoint);
 	}
@@ -397,7 +397,7 @@ void PIDController::SetSetpoint(float setpoint)
  * Returns the current setpoint of the PIDController
  * @return the current setpoint
  */
-float PIDController::GetSetpoint() const
+double PIDController::GetSetpoint() const
 {
 	float setpoint;
 	CRITICAL_REGION(m_semaphore)
@@ -501,11 +501,11 @@ bool PIDController::OnTarget() const
 void PIDController::Enable()
 {
 	CRITICAL_REGION(m_semaphore)
-	{			
+	{
 		m_enabled = true;
 	}
-	END_REGION;	
-	
+	END_REGION;
+
 	if (m_table != NULL) {
 		m_table->PutBoolean("enabled", true);
 	}
@@ -522,7 +522,7 @@ void PIDController::Disable()
 		m_enabled = false;
 	}
 	END_REGION;
-	
+
 	if (m_table != NULL) {
 		m_table->PutBoolean("enabled", false);
 	}
@@ -598,7 +598,7 @@ void PIDController::ValueChanged(ITable* source, const std::string& key, EntryVa
 }
 
 void PIDController::UpdateTable() {
-	
+
 }
 
 void PIDController::StartLiveWindowMode() {
@@ -606,5 +606,5 @@ void PIDController::StartLiveWindowMode() {
 }
 
 void PIDController::StopLiveWindowMode() {
-	
+
 }
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDController.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDController.java
index 96c65cd52d..f84211ed6d 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDController.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDController.java
@@ -1,4 +1,3 @@
-/*----------------------------------------------------------------------------*/
 /* Copyright (c) FIRST 2008-2012. 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 */
@@ -20,7 +19,7 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
  * care of the integral calculations, as well as writing the given
  * PIDOutput
  */
-public class PIDController implements LiveWindowSendable, Controller {
+public class PIDController implements PIDInterface, LiveWindowSendable, Controller {
 
     public static final double kDefaultPeriod = .05;
     private static int instances = 0;
@@ -47,15 +46,27 @@ public class PIDController implements LiveWindowSendable, Controller {
     private boolean m_freed = false;
     private boolean m_usingPercentTolerance;
 
-    /**
-     * Tolerance is the type of tolerance used to specify if the PID controller is on target.
-     * The various implementations of this class such as PercentageTolerance and AbsoluteTolerance
-     * specify types of tolerance specifications to use.
-     */
+   /**
+    * Tolerance is the type of tolerance used to specify if the PID controller
+    * is on target.
+    *
+    * The various implementations of this class such as PercentageTolerance and
+    * AbsoluteTolerance specify types of tolerance specifications to use.
+    */
     public interface Tolerance {
         public boolean onTarget();
     }
 
+    /**
+     * Used internally for when Tolerance hasn't been set.
+     */
+    public class NullTolerance implements Tolerance {
+        @Override
+        public boolean onTarget() {
+          throw new RuntimeException("No tolerance value set when calling onTarget().");
+        }
+    }
+
     public class PercentageTolerance implements Tolerance {
         double percentage;
 
@@ -64,7 +75,7 @@ public class PIDController implements LiveWindowSendable, Controller {
         }
 
         @Override
-    public boolean onTarget() {
+        public boolean onTarget() {
             return (Math.abs(getError()) < percentage / 100
                     * (m_maximumInput - m_minimumInput));
         }
@@ -78,19 +89,11 @@ public class PIDController implements LiveWindowSendable, Controller {
         }
 
         @Override
-    public boolean onTarget() {
+        public boolean onTarget() {
             return Math.abs(getError()) < value;
         }
     }
 
-    public class NullTolerance implements Tolerance {
-
-        @Override
-    public boolean onTarget() {
-            throw new RuntimeException("No tolerance value set when using PIDController.onTarget()");
-        }
-    }
-
     private class PIDTask extends TimerTask {
 
         private PIDController m_controller;
@@ -464,7 +467,7 @@ public class PIDController implements LiveWindowSendable, Controller {
      * @param tolerance a tolerance object of the right type, e.g. PercentTolerance
      * or AbsoluteTolerance
      */
-    private synchronized void setTolerance(Tolerance tolerance) {
+    public void setTolerance(Tolerance tolerance) {
         m_tolerance = tolerance;
     }
 
@@ -523,9 +526,19 @@ public class PIDController implements LiveWindowSendable, Controller {
 
     /**
      * Return true if PIDController is enabled.
+     *
+     * @deprecated Call {@link #isEnabled()} instead.
      */
+    @Deprecated
     public synchronized boolean isEnable() {
-        return m_enabled;
+        return isEnabled();
+    }
+
+    /**
+     * Return true if PIDController is enabled.
+     */
+    public boolean isEnabled() {
+      return m_enabled;
     }
 
     /**
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java
new file mode 100644
index 0000000000..ab8b334ce0
--- /dev/null
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java
@@ -0,0 +1,16 @@
+package edu.wpi.first.wpilibj;
+
+public interface PIDInterface extends Controller {
+
+    public void setPID(double p, double i, double d);
+    public double getP();
+    public double getI();
+    public double getD();
+    public void setSetpoint(double setpoint);
+    public double getSetpoint();
+    public double getError();
+    public void enable();
+    public void disable();
+    public boolean isEnabled();
+    public void reset();
+}
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
index 22a1ff3862..a378400e64 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
@@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
  * Texas Instruments Jaguar Speed Controller as a CAN device.
  * @author Thomas Clark
  */
-public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController, LiveWindowSendable {
+public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeedController, LiveWindowSendable {
 
 	public static final int kMaxMessageDataSize = 8;
 
@@ -304,6 +304,27 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController, Li
 		return m_value;
 	}
 
+  /**
+   * Equivalent to {@link #get()}.
+   */
+  @Override
+  public double getSetpoint() {
+    return get();
+  }
+
+  /**
+   * Get the difference between the setpoint and goal in closed loop modes.
+   *
+   * Outside of position and velocity modes the return value of getError()
+   * has relatively little meaning.
+   *
+   * @return The difference between the setpoint and the current position.
+   */
+  @Override
+  public double getError() {
+    return get() - getPosition();
+  }
+
 	/**
 	 * Sets the output set-point value.
 	 *
@@ -387,6 +408,20 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController, Li
 		set(value, (byte)0);
 	}
 
+  /**
+   * Equivalent to {@link #set(double)}. Implements PIDInterface.
+   */
+  @Override
+  public void setSetpoint(double value) {
+    set(value);
+  }
+
+  @Override
+  public void reset() {
+    set(m_value);
+    disableControl();
+  }
+
 	/**
 	* Check all unverified params and make sure they're equal to their local
 	* cached versions. If a value isn't available, it gets requested.  If a value
@@ -834,6 +869,11 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController, Li
 		disableControl();
 	}
 
+  // PIDInterface interface
+  public void enable() {
+    enableControl();
+  }
+
 	// PIDOutput interface
 	@Override
 	public void pidWrite(double output) {
@@ -1061,6 +1101,15 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController, Li
 		enableControl(0.0);
 	}
 
+  /**
+   * Return whether the controller is enabled.
+   *
+   * @returns true if enabled.
+   */
+  public boolean isEnabled() {
+    return m_controlEnabled;
+  }
+
 	/**
 	* Disable the closed loop controller.
 	*
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
index 6f8a0f5bd7..e2d0ff0745 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
@@ -1,11 +1,3 @@
-/* ----------------------------------------------------------------------------
- * This file was automatically generated by SWIG (http://www.swig.org).
- * Version 2.0.11
- *
- * Do not make changes to this file unless you know what you are doing--modify
- * the SWIG interface file instead.
- * ----------------------------------------------------------------------------- */
-
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.hal.CanTalonSRX;
@@ -20,7 +12,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
 import edu.wpi.first.wpilibj.tables.ITableListener;
 
-public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedController, LiveWindowSendable {
+public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface, CANSpeedController, LiveWindowSendable {
 	private MotorSafetyHelper m_safetyHelper;
 	public enum TalonControlMode {
 		PercentVbus(0), Follower(5), Voltage(4), Position(1), Speed(2), Current(3), Disabled(15);
@@ -79,8 +71,10 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
 
 
   private CanTalonSRX m_impl;
-  TalonControlMode m_controlMode;
+  private TalonControlMode m_controlMode;
   private static double kDelayForSolicitedSignals = 0.004;
+  private double m_minimumInput;
+  private double m_maximumInput;
 
   int m_deviceNumber;
   boolean m_controlEnabled;
@@ -98,6 +92,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
     setProfile(m_profile);
     applyControlMode(TalonControlMode.PercentVbus);
   }
+
   public CANTalon(int deviceNumber,int controlPeriodMs) {
     m_deviceNumber = deviceNumber;
     m_impl = new CanTalonSRX(deviceNumber,controlPeriodMs); /* bound period to be within [1 ms,95 ms] */
@@ -183,6 +178,40 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
     set(outputValue);
   }
 
+  /**
+   * Resets the accumulated integral error and disables the controller.
+   *
+   * The only difference between this and {@link PIDController#reset} is that
+   * the PIDController also resets the previous error for the D term, but the
+   * difference should have minimal effect as it will only last one cycle.
+   */
+  public void reset() {
+    disable();
+    clearIAccum();
+  }
+
+  /**
+   * Return true if Talon is enabled.
+   *
+   * @return true if the Talon is enabled and may be applying power to the motor
+   */
+  public boolean isEnabled() {
+    return isControlEnabled();
+  }
+
+  /**
+   * Returns the difference between the setpoint and the current position.
+   *
+   * @return The error in units corresponding to whichever mode we are in.
+   * @see #set(double) set() for a detailed description of the various units.
+   */
+  public double getError() {return getClosedLoopError();}
+
+  /**
+   * Calls {@link #set(double)}.
+   */
+  public void setSetpoint(double setpoint) { set(setpoint); }
+
   /**
    * Flips the sign (multiplies by negative one) the sensor values going into
    *the talon.
@@ -487,6 +516,9 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
     changeControlMode(m_controlMode);
 		m_controlEnabled = true;
   }
+  public void enable() {
+    enableControl();
+  }
 
   public void disableControl() {
     m_impl.SetModeSelect(TalonControlMode.Disabled.value);
@@ -652,13 +684,6 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
     return CanTalonJNI.intp_value(fp);
   }
 
-	/**
-	 * Clear the accumulator for I gain.
-	 */
-	public void ClearIaccum()
-	{
-		SWIGTYPE_p_CTR_Code status = m_impl.SetParam(CanTalonSRX.param_t.ePidIaccum, 0);
-	}
   /**
    * Set the proportional value of the currently selected profile.
    *
@@ -743,6 +768,14 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
     m_impl.SetRampThrottle(rate);
   }
 
+	/**
+	 * Clear the accumulator for I gain.
+	 */
+	public void ClearIaccum()
+	{
+		SWIGTYPE_p_CTR_Code status = m_impl.SetParam(CanTalonSRX.param_t.ePidIaccum, 0);
+	}
+
   /**
    * Sets control values for closed loop control.
    *
@@ -816,6 +849,9 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
 	}
 
   // TODO: Documentation for all these accessors/setters for misc. stuff.
+  public void clearIAccum() {
+ 		SWIGTYPE_p_CTR_Code status = m_impl.SetParam(CanTalonSRX.param_t.ePidIaccum, 0);
+  }
   public void setForwardSoftLimit(int forwardLimit) {
     m_impl.SetForwardSoftLimit(forwardLimit);
   }