diff --git a/wpilibc/Athena/include/CANSpeedController.h b/wpilibc/Athena/include/CANSpeedController.h
index 773fb9984f..5d7602639f 100644
--- a/wpilibc/Athena/include/CANSpeedController.h
+++ b/wpilibc/Athena/include/CANSpeedController.h
@@ -65,6 +65,7 @@ class CANSpeedController : public SpeedController {
 
   virtual float Get() const = 0;
   virtual void Set(float value, uint8_t syncGroup = 0) = 0;
+  virtual void StopMotor() = 0;
   virtual void Disable() = 0;
   virtual void SetP(double p) = 0;
   virtual void SetI(double i) = 0;
diff --git a/wpilibc/Athena/include/Jaguar.h b/wpilibc/Athena/include/Jaguar.h
index 7e25b9b4a4..c129559869 100644
--- a/wpilibc/Athena/include/Jaguar.h
+++ b/wpilibc/Athena/include/Jaguar.h
@@ -21,6 +21,7 @@ class Jaguar : public SafePWM, public SpeedController {
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
+  virtual void StopMotor() override;
 
   virtual void PIDWrite(float output) override;
   virtual void SetInverted(bool isInverted) override;
diff --git a/wpilibc/Athena/include/SD540.h b/wpilibc/Athena/include/SD540.h
index e2c98e9e80..9e98678929 100644
--- a/wpilibc/Athena/include/SD540.h
+++ b/wpilibc/Athena/include/SD540.h
@@ -21,6 +21,7 @@ class SD540 : public SafePWM, public SpeedController {
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
+  virtual void StopMotor() override;
 
   virtual void PIDWrite(float output) override;
 
diff --git a/wpilibc/Athena/include/Spark.h b/wpilibc/Athena/include/Spark.h
index 65d5c6ab7a..d4859ce216 100644
--- a/wpilibc/Athena/include/Spark.h
+++ b/wpilibc/Athena/include/Spark.h
@@ -21,6 +21,7 @@ class Spark : public SafePWM, public SpeedController {
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
+  virtual void StopMotor() override;
 
   virtual void PIDWrite(float output) override;
 
diff --git a/wpilibc/Athena/include/SpeedController.h b/wpilibc/Athena/include/SpeedController.h
index 6adba5d787..47ba84371c 100644
--- a/wpilibc/Athena/include/SpeedController.h
+++ b/wpilibc/Athena/include/SpeedController.h
@@ -48,4 +48,9 @@ class SpeedController : public PIDOutput {
    * @return isInverted The state of inversion, true is inverted.
    */
   virtual bool GetInverted() const = 0;
+
+  /**
+   * Common interface to stop the motor until Set is called again.
+   */
+  virtual void StopMotor() = 0;
 };
diff --git a/wpilibc/Athena/include/Talon.h b/wpilibc/Athena/include/Talon.h
index 1908d19b60..0a8801229b 100644
--- a/wpilibc/Athena/include/Talon.h
+++ b/wpilibc/Athena/include/Talon.h
@@ -25,6 +25,7 @@ class Talon : public SafePWM, public SpeedController {
   virtual void PIDWrite(float output) override;
   virtual void SetInverted(bool isInverted) override;
   virtual bool GetInverted() const override;
+  virtual void StopMotor() override;
 
  private:
   bool m_isInverted = false;
diff --git a/wpilibc/Athena/include/TalonSRX.h b/wpilibc/Athena/include/TalonSRX.h
index b64324ee6b..61b1fd8fbe 100644
--- a/wpilibc/Athena/include/TalonSRX.h
+++ b/wpilibc/Athena/include/TalonSRX.h
@@ -22,6 +22,7 @@ class TalonSRX : public SafePWM, public SpeedController {
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
+  virtual void StopMotor() override;
 
   virtual void PIDWrite(float output) override;
   virtual void SetInverted(bool isInverted) override;
diff --git a/wpilibc/Athena/include/Victor.h b/wpilibc/Athena/include/Victor.h
index eddc2e28ba..2aa2ecfd2b 100644
--- a/wpilibc/Athena/include/Victor.h
+++ b/wpilibc/Athena/include/Victor.h
@@ -24,6 +24,7 @@ class Victor : public SafePWM, public SpeedController {
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
+  virtual void StopMotor() override;
 
   virtual void PIDWrite(float output) override;
 
diff --git a/wpilibc/Athena/include/VictorSP.h b/wpilibc/Athena/include/VictorSP.h
index e90a293463..a53ccfde77 100644
--- a/wpilibc/Athena/include/VictorSP.h
+++ b/wpilibc/Athena/include/VictorSP.h
@@ -21,6 +21,7 @@ class VictorSP : public SafePWM, public SpeedController {
   virtual void Set(float value, uint8_t syncGroup = 0) override;
   virtual float Get() const override;
   virtual void Disable() override;
+  virtual void StopMotor() override;
 
   virtual void PIDWrite(float output) override;
 
diff --git a/wpilibc/Athena/src/CANJaguar.cpp b/wpilibc/Athena/src/CANJaguar.cpp
index c267cd5aae..7dcca19031 100644
--- a/wpilibc/Athena/src/CANJaguar.cpp
+++ b/wpilibc/Athena/src/CANJaguar.cpp
@@ -247,10 +247,10 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup) {
   uint8_t dataSize;
 
   if (m_safetyHelper) m_safetyHelper->Feed();
-  
+
   if (m_stopped) {
     EnableControl();
-	m_stopped = false;
+    m_stopped = false;
   }
 
   if (m_controlEnabled) {
diff --git a/wpilibc/Athena/src/CANTalon.cpp b/wpilibc/Athena/src/CANTalon.cpp
index e59982cff6..9adc66c37f 100644
--- a/wpilibc/Athena/src/CANTalon.cpp
+++ b/wpilibc/Athena/src/CANTalon.cpp
@@ -134,12 +134,12 @@ float CANTalon::Get() const {
 void CANTalon::Set(float value, uint8_t syncGroup) {
   /* feed safety helper since caller just updated our output */
   m_safetyHelper->Feed();
-  
+
   if (m_stopped) {
     EnableControl();
-	m_stopped = false;
+    m_stopped = false;
   }
-  
+
   if (m_controlEnabled) {
     m_setPoint = value;  /* cache set point for GetSetpoint() */
     CTR_Code status = CTR_OKAY;
@@ -1898,7 +1898,7 @@ bool CANTalon::GetInverted() const { return m_isInverted; }
  *
  * @deprecated Call Disable instead.
 */
-void CANTalon::StopMotor() { 
+void CANTalon::StopMotor() {
 	Disable();
 	m_stopped = true;
 }
diff --git a/wpilibc/Athena/src/Jaguar.cpp b/wpilibc/Athena/src/Jaguar.cpp
index 4f285c4422..b2bd57aacb 100644
--- a/wpilibc/Athena/src/Jaguar.cpp
+++ b/wpilibc/Athena/src/Jaguar.cpp
@@ -77,3 +77,8 @@ bool Jaguar::GetInverted() const { return m_isInverted; }
  * @param output Write out the PWM value as was found in the PIDController
  */
 void Jaguar::PIDWrite(float output) { Set(output); }
+
+/**
+ * Common interface to stop the motor until Set is called again.
+ */
+void Jaguar::StopMotor() { this->SafePWM::StopMotor(); }
\ No newline at end of file
diff --git a/wpilibc/Athena/src/RobotDrive.cpp b/wpilibc/Athena/src/RobotDrive.cpp
index 8fd0f0ea3f..69184e3463 100644
--- a/wpilibc/Athena/src/RobotDrive.cpp
+++ b/wpilibc/Athena/src/RobotDrive.cpp
@@ -745,9 +745,9 @@ void RobotDrive::GetDescription(std::ostringstream& desc) const {
 }
 
 void RobotDrive::StopMotor() {
-  if (m_frontLeftMotor != nullptr) m_frontLeftMotor->Disable();
-  if (m_frontRightMotor != nullptr) m_frontRightMotor->Disable();
-  if (m_rearLeftMotor != nullptr) m_rearLeftMotor->Disable();
-  if (m_rearRightMotor != nullptr) m_rearRightMotor->Disable();
+  if (m_frontLeftMotor != nullptr) m_frontLeftMotor->StopMotor();
+  if (m_frontRightMotor != nullptr) m_frontRightMotor->StopMotor();
+  if (m_rearLeftMotor != nullptr) m_rearLeftMotor->StopMotor();
+  if (m_rearRightMotor != nullptr) m_rearRightMotor->StopMotor();
   m_safetyHelper->Feed();
 }
diff --git a/wpilibc/Athena/src/SD540.cpp b/wpilibc/Athena/src/SD540.cpp
index f88893b190..9d2ad1eb0d 100644
--- a/wpilibc/Athena/src/SD540.cpp
+++ b/wpilibc/Athena/src/SD540.cpp
@@ -86,3 +86,8 @@ void SD540::Disable() { SetRaw(kPwmDisabled); }
  * @param output Write out the PWM value as was found in the PIDController
  */
 void SD540::PIDWrite(float output) { Set(output); }
+
+/**
+ * Common interface to stop the motor until Set is called again.
+ */
+void SD540::StopMotor() { this->SafePWM::StopMotor(); }
diff --git a/wpilibc/Athena/src/Spark.cpp b/wpilibc/Athena/src/Spark.cpp
index 343472170b..35171220b0 100644
--- a/wpilibc/Athena/src/Spark.cpp
+++ b/wpilibc/Athena/src/Spark.cpp
@@ -86,3 +86,8 @@ void Spark::Disable() { SetRaw(kPwmDisabled); }
  * @param output Write out the PWM value as was found in the PIDController
  */
 void Spark::PIDWrite(float output) { Set(output); }
+
+/**
+ * Common interface to stop the motor until Set is called again.
+ */
+void Spark::StopMotor() { this->SafePWM::StopMotor(); }
\ No newline at end of file
diff --git a/wpilibc/Athena/src/Talon.cpp b/wpilibc/Athena/src/Talon.cpp
index 0d7e18e4c8..64f9db83ea 100644
--- a/wpilibc/Athena/src/Talon.cpp
+++ b/wpilibc/Athena/src/Talon.cpp
@@ -82,3 +82,8 @@ bool Talon::GetInverted() const { return m_isInverted; }
  * @param output Write out the PWM value as was found in the PIDController
  */
 void Talon::PIDWrite(float output) { Set(output); }
+
+/**
+ * Common interface to stop the motor until Set is called again.
+ */
+void Talon::StopMotor() { this->SafePWM::StopMotor(); }
diff --git a/wpilibc/Athena/src/TalonSRX.cpp b/wpilibc/Athena/src/TalonSRX.cpp
index 2bee06d422..e06f8ca2aa 100644
--- a/wpilibc/Athena/src/TalonSRX.cpp
+++ b/wpilibc/Athena/src/TalonSRX.cpp
@@ -79,3 +79,8 @@ bool TalonSRX::GetInverted() const { return m_isInverted; }
  * @param output Write out the PWM value as was found in the PIDController
  */
 void TalonSRX::PIDWrite(float output) { Set(output); }
+
+/**
+ * Common interface to stop the motor until Set is called again.
+ */
+void TalonSRX::StopMotor() { this->SafePWM::StopMotor(); }
\ No newline at end of file
diff --git a/wpilibc/Athena/src/Victor.cpp b/wpilibc/Athena/src/Victor.cpp
index 059a47dca9..81c863c1ea 100644
--- a/wpilibc/Athena/src/Victor.cpp
+++ b/wpilibc/Athena/src/Victor.cpp
@@ -82,3 +82,8 @@ bool Victor::GetInverted() const { return m_isInverted; }
  * @param output Write out the PWM value as was found in the PIDController
  */
 void Victor::PIDWrite(float output) { Set(output); }
+
+/**
+ * Common interface to stop the motor until Set is called again.
+ */
+void Victor::StopMotor() { this->SafePWM::StopMotor(); }
\ No newline at end of file
diff --git a/wpilibc/Athena/src/VictorSP.cpp b/wpilibc/Athena/src/VictorSP.cpp
index c09a73de77..57dddea9a2 100644
--- a/wpilibc/Athena/src/VictorSP.cpp
+++ b/wpilibc/Athena/src/VictorSP.cpp
@@ -86,3 +86,8 @@ void VictorSP::Disable() { SetRaw(kPwmDisabled); }
  * @param output Write out the PWM value as was found in the PIDController
  */
 void VictorSP::PIDWrite(float output) { Set(output); }
+
+/**
+ * Common interface to stop the motor until Set is called again.
+ */
+void VictorSP::StopMotor() { this->SafePWM::StopMotor(); }
\ No newline at end of file
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java
index 9b013c8456..cabcaba6fe 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java
@@ -375,15 +375,14 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
     byte[] data = new byte[8];
     byte dataSize;
 
-	if (m_safetyHelper != null)
-        m_safetyHelper.feed();
-	
-	if (m_stopped)
-	{
-		enableControl();
-		m_stopped = false;
-	}
-	
+    if (m_safetyHelper != null)
+      m_safetyHelper.feed();
+
+    if (m_stopped) {
+      enableControl();
+      m_stopped = false;
+    }
+
     if (m_controlEnabled) {
       switch (m_controlMode) {
         case PercentVbus:
@@ -2251,10 +2250,9 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
    * @deprecated Use disableControl instead.
    */
   @Override
-  @Deprecated
   public void stopMotor() {
     disableControl();
-	m_stopped = true;
+    m_stopped = true;
   }
 
   /*
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
index 09bc46f0f1..b60de8676d 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
@@ -424,11 +424,10 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
   public void set(double outputValue) {
     /* feed safety helper since caller just updated our output */
     m_safetyHelper.feed();
-	if(m_stopped)
-	{
-		enableControl();
-		m_stopped = false;
-	}
+    if(m_stopped) {
+      enableControl();
+      m_stopped = false;
+    }
     if (m_controlEnabled) {
       m_setPoint = outputValue; /* cache set point for getSetpoint() */
       switch (m_controlMode) {
@@ -1218,10 +1217,9 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
    * @deprecated Use disableControl instead.
    */
   @Override
-  @Deprecated
   public void stopMotor() {
     disableControl();
-	m_stopped = true;
+    m_stopped = true;
   }
 
   @Override
diff --git a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/MotorSafetyHelper.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/MotorSafetyHelper.java
similarity index 97%
rename from wpilibj/src/shared/java/edu/wpi/first/wpilibj/MotorSafetyHelper.java
rename to wpilibj/src/athena/java/edu/wpi/first/wpilibj/MotorSafetyHelper.java
index 73d7976f42..fb3ba24c5d 100644
--- a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/MotorSafetyHelper.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/MotorSafetyHelper.java
@@ -92,7 +92,7 @@ public class MotorSafetyHelper {
     if (!m_enabled || RobotState.isDisabled() || RobotState.isTest())
       return;
     if (m_stopTime < Timer.getFPGATimestamp()) {
-      System.err.println(m_safeObject.getDescription() + "... Output not updated often enough.");
+      DriverStation.reportError(m_safeObject.getDescription() + "... Output not updated often enough.", false);
 
       m_safeObject.stopMotor();
     }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java
index 5d04b52ece..97338d297d 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java
@@ -794,16 +794,16 @@ public class RobotDrive implements MotorSafety {
 
   public void stopMotor() {
     if (m_frontLeftMotor != null) {
-      m_frontLeftMotor.set(0.0);
+      m_frontLeftMotor.stopMotor();
     }
     if (m_frontRightMotor != null) {
-      m_frontRightMotor.set(0.0);
+      m_frontRightMotor.stopMotor();
     }
     if (m_rearLeftMotor != null) {
-      m_rearLeftMotor.set(0.0);
+      m_rearLeftMotor.stopMotor();
     }
     if (m_rearRightMotor != null) {
-      m_rearRightMotor.set(0.0);
+      m_rearRightMotor.stopMotor();
     }
     if (m_safetyHelper != null)
       m_safetyHelper.feed();
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SpeedController.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SpeedController.java
index e06ee3fca4..e886590f74 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SpeedController.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SpeedController.java
@@ -51,10 +51,14 @@ public interface SpeedController extends PIDOutput {
    */
   boolean getInverted();
 
-
-
   /**
    * Disable the speed controller
    */
   void disable();
+
+  /**
+   * Stops motor movement. Motor can be moved again by calling set without having
+   * to re-enable the motor.
+   */
+  void stopMotor();
 }
diff --git a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/MotorSafetyHelper.java b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/MotorSafetyHelper.java
new file mode 100644
index 0000000000..fb3ba24c5d
--- /dev/null
+++ b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/MotorSafetyHelper.java
@@ -0,0 +1,132 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * The MotorSafetyHelper object is constructed for every object that wants to
+ * implement the Motor Safety protocol. The helper object has the code to
+ * actually do the timing and call the motors Stop() method when the timeout
+ * expires. The motor object is expected to call the Feed() method whenever the
+ * motors value is updated.
+ *
+ * @author brad
+ */
+public class MotorSafetyHelper {
+
+  double m_expiration;
+  boolean m_enabled;
+  double m_stopTime;
+  MotorSafety m_safeObject;
+  MotorSafetyHelper m_nextHelper;
+  static MotorSafetyHelper m_headHelper = null;
+
+  /**
+   * The constructor for a MotorSafetyHelper object. The helper object is
+   * constructed for every object that wants to implement the Motor Safety
+   * protocol. The helper object has the code to actually do the timing and call
+   * the motors Stop() method when the timeout expires. The motor object is
+   * expected to call the Feed() method whenever the motors value is updated.
+   *
+   * @param safeObject a pointer to the motor object implementing MotorSafety.
+   *        This is used to call the Stop() method on the motor.
+   */
+  public MotorSafetyHelper(MotorSafety safeObject) {
+    m_safeObject = safeObject;
+    m_enabled = false;
+    m_expiration = MotorSafety.DEFAULT_SAFETY_EXPIRATION;
+    m_stopTime = Timer.getFPGATimestamp();
+    m_nextHelper = m_headHelper;
+    m_headHelper = this;
+  }
+
+  /**
+   * Feed the motor safety object. Resets the timer on this object that is used
+   * to do the timeouts.
+   */
+  public void feed() {
+    m_stopTime = Timer.getFPGATimestamp() + m_expiration;
+  }
+
+  /**
+   * Set the expiration time for the corresponding motor safety object.
+   *$
+   * @param expirationTime The timeout value in seconds.
+   */
+  public void setExpiration(double expirationTime) {
+    m_expiration = expirationTime;
+  }
+
+  /**
+   * Retrieve the timeout value for the corresponding motor safety object.
+   *$
+   * @return the timeout value in seconds.
+   */
+  public double getExpiration() {
+    return m_expiration;
+  }
+
+  /**
+   * Determine of the motor is still operating or has timed out.
+   *$
+   * @return a true value if the motor is still operating normally and hasn't
+   *         timed out.
+   */
+  public boolean isAlive() {
+    return !m_enabled || m_stopTime > Timer.getFPGATimestamp();
+  }
+
+  /**
+   * Check if this motor has exceeded its timeout. This method is called
+   * periodically to determine if this motor has exceeded its timeout value. If
+   * it has, the stop method is called, and the motor is shut down until its
+   * value is updated again.
+   */
+  public void check() {
+    if (!m_enabled || RobotState.isDisabled() || RobotState.isTest())
+      return;
+    if (m_stopTime < Timer.getFPGATimestamp()) {
+      DriverStation.reportError(m_safeObject.getDescription() + "... Output not updated often enough.", false);
+
+      m_safeObject.stopMotor();
+    }
+  }
+
+  /**
+   * 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
+   */
+  public void setSafetyEnabled(boolean enabled) {
+    m_enabled = enabled;
+  }
+
+  /**
+   * Return the state of the motor safety enabled flag Return if the motor
+   * safety is currently enabled for this devicce.
+   *$
+   * @return True if motor safety is enforced for this device
+   */
+  public boolean isSafetyEnabled() {
+    return m_enabled;
+  }
+
+  /**
+   * Check the motors to see if any have timed out. This static method is called
+   * periodically to poll all the motors and stop any that have timed out.
+   */
+  // TODO: these should be synchronized with the setting methods in case it's
+  // called from a different thread
+  public static void checkMotors() {
+    for (MotorSafetyHelper msh = m_headHelper; msh != null; msh = msh.m_nextHelper) {
+      msh.check();
+    }
+  }
+}