diff --git a/wpilibc/athena/include/PWMSpeedController.h b/wpilibc/athena/include/PWMSpeedController.h
index 9060413c85..941d31cf3d 100644
--- a/wpilibc/athena/include/PWMSpeedController.h
+++ b/wpilibc/athena/include/PWMSpeedController.h
@@ -20,14 +20,13 @@ class PWMSpeedController : public SafePWM, public SpeedController {
   virtual ~PWMSpeedController() = default;
   void Set(double value) override;
   double Get() const override;
+  void SetInverted(bool isInverted) override;
+  bool GetInverted() const override;
   void Disable() override;
   void StopMotor() override;
 
   void PIDWrite(double output) override;
 
-  void SetInverted(bool isInverted) override;
-  bool GetInverted() const override;
-
  protected:
   explicit PWMSpeedController(int channel);
 
diff --git a/wpilibc/athena/src/PWMSpeedController.cpp b/wpilibc/athena/src/PWMSpeedController.cpp
index 6c5ed5a82b..6c6b5c0d97 100644
--- a/wpilibc/athena/src/PWMSpeedController.cpp
+++ b/wpilibc/athena/src/PWMSpeedController.cpp
@@ -36,36 +36,19 @@ void PWMSpeedController::Set(double speed) {
  */
 double PWMSpeedController::Get() const { return GetSpeed(); }
 
-/**
- * Common interface for disabling a motor.
- */
-void PWMSpeedController::Disable() { SetDisabled(); }
-
-/**
- * Common interface for inverting direction of a speed controller.
- *
- * @param isInverted The state of inversion, true is inverted.
- */
 void PWMSpeedController::SetInverted(bool isInverted) {
   m_isInverted = isInverted;
 }
 
-/**
- * Common interface for the inverting direction of a speed controller.
- *
- * @return isInverted The state of inversion, true is inverted.
- *
- */
 bool PWMSpeedController::GetInverted() const { return m_isInverted; }
 
+void PWMSpeedController::Disable() { SetDisabled(); }
+
+void PWMSpeedController::StopMotor() { SafePWM::StopMotor(); }
+
 /**
  * Write out the PID value as seen in the PIDOutput base object.
  *
  * @param output Write out the PWM value as was found in the PIDController
  */
 void PWMSpeedController::PIDWrite(double output) { Set(output); }
-
-/**
- * Common interface to stop the motor until Set is called again.
- */
-void PWMSpeedController::StopMotor() { this->SafePWM::StopMotor(); }
diff --git a/wpilibc/athena/include/SpeedController.h b/wpilibc/shared/include/SpeedController.h
similarity index 91%
rename from wpilibc/athena/include/SpeedController.h
rename to wpilibc/shared/include/SpeedController.h
index 3458e7f8ff..a274994eec 100644
--- a/wpilibc/athena/include/SpeedController.h
+++ b/wpilibc/shared/include/SpeedController.h
@@ -32,22 +32,24 @@ class SpeedController : public PIDOutput {
   virtual double Get() const = 0;
 
   /**
-  * Common interface for inverting direction of a speed controller.
-  * @param isInverted The state of inversion, true is inverted.
-  */
-  virtual void SetInverted(bool isInverted) = 0;
-  /**
-
-   * Common interface for disabling a motor.
+   * Common interface for inverting direction of a speed controller.
+   *
+   * @param isInverted The state of inversion, true is inverted.
    */
-  virtual void Disable() = 0;
+  virtual void SetInverted(bool isInverted) = 0;
 
   /**
    * Common interface for returning the inversion state of a speed controller.
+   *
    * @return isInverted The state of inversion, true is inverted.
    */
   virtual bool GetInverted() const = 0;
 
+  /**
+   * Common interface for disabling a motor.
+   */
+  virtual void Disable() = 0;
+
   /**
    * Common interface to stop the motor until Set is called again.
    */
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java
index a08a0c8c51..27d7f1a2fb 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java
@@ -37,26 +37,6 @@ public abstract class PWMSpeedController extends SafePWM implements SpeedControl
     feed();
   }
 
-  /**
-   * Common interface for inverting direction of a speed controller.
-   *
-   * @param isInverted The state of inversion true is inverted
-   */
-  @Override
-  public void setInverted(boolean isInverted) {
-    m_isInverted = isInverted;
-  }
-
-  /**
-   * Common interface for the inverting direction of a speed controller.
-   *
-   * @return isInverted The state of inversion, true is inverted.
-   */
-  @Override
-  public boolean getInverted() {
-    return m_isInverted;
-  }
-
   /**
    * Get the recently set value of the PWM.
    *
@@ -67,6 +47,16 @@ public abstract class PWMSpeedController extends SafePWM implements SpeedControl
     return getSpeed();
   }
 
+  @Override
+  public void setInverted(boolean isInverted) {
+    m_isInverted = isInverted;
+  }
+
+  @Override
+  public boolean getInverted() {
+    return m_isInverted;
+  }
+
   /**
    * Write out the PID value as seen in the PIDOutput base object.
    *
diff --git a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/SpeedController.java b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/SpeedController.java
index f48d45acce..b4a65b098c 100644
--- a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/SpeedController.java
+++ b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/SpeedController.java
@@ -11,6 +11,12 @@ package edu.wpi.first.wpilibj;
  * Interface for speed controlling devices.
  */
 public interface SpeedController extends PIDOutput {
+  /**
+   * Common interface for setting the speed of a speed controller.
+   *
+   * @param speed The speed to set. Value should be between -1.0 and 1.0.
+   */
+  void set(double speed);
 
   /**
    * Common interface for getting the current set speed of a speed controller.
@@ -19,13 +25,6 @@ public interface SpeedController extends PIDOutput {
    */
   double get();
 
-  /**
-   * Common interface for setting the speed of a speed controller.
-   *
-   * @param speed The speed to set. Value should be between -1.0 and 1.0.
-   */
-  void set(double speed);
-
   /**
    * Common interface for inverting direction of a speed controller.
    *