diff --git a/hal/include/HAL/CanTalonSRX.h b/hal/include/HAL/CanTalonSRX.h
index f04ce3c3a0..4060650b86 100644
--- a/hal/include/HAL/CanTalonSRX.h
+++ b/hal/include/HAL/CanTalonSRX.h
@@ -75,9 +75,21 @@
 #include "ctre/CtreCanNode.h"
 #include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
 #include <map>
+#include <atomic>
 class CanTalonSRX : public CtreCanNode
 {
 private:
+  // Use this for determining whether the default move constructor has been
+  // called; this prevents us from calling the destructor twice.
+  struct HasBeenMoved {
+    HasBeenMoved(HasBeenMoved&& other) {
+      other.moved = true;
+      moved = false;
+    }
+    HasBeenMoved() = default;
+    std::atomic<bool> moved{false};
+    operator bool() const { return moved; }
+  } m_hasBeenMoved;
 
 	/** just in case user wants to modify periods of certain status frames.
 	 * 	Default the vars to match the firmware default. */
@@ -211,7 +223,7 @@ public:
 		eResetFlags=88,
 		eFirmVers=89,
 		eSettingsChanged=90,
-		eQuadFilterEn=91,	
+		eQuadFilterEn=91,
 		ePidIaccum=93,
 	}param_t;
     /*---------------------setters and getters that use the solicated param request/response-------------*//**
diff --git a/hal/lib/Athena/ctre/CanTalonSRX.cpp b/hal/lib/Athena/ctre/CanTalonSRX.cpp
index a3177cd3ad..b416986858 100644
--- a/hal/lib/Athena/ctre/CanTalonSRX.cpp
+++ b/hal/lib/Athena/ctre/CanTalonSRX.cpp
@@ -268,6 +268,8 @@ CanTalonSRX::CanTalonSRX(int deviceNumber,int controlPeriodMs): CtreCanNode(devi
  */
 CanTalonSRX::~CanTalonSRX()
 {
+  if (m_hasBeenMoved) return;
+  RegisterTx(CONTROL_1 | (UINT8)GetDeviceNumber(), 0);
 	if(_can_h){
 		FRC_NetworkCommunication_CANSessionMux_closeStreamSession(_can_h);
 		_can_h = 0;
diff --git a/wpilibc/wpilibC++/include/Base.h b/wpilibc/wpilibC++/include/Base.h
index 892dd5dd4c..7a7cc1266c 100644
--- a/wpilibc/wpilibC++/include/Base.h
+++ b/wpilibc/wpilibC++/include/Base.h
@@ -5,6 +5,16 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
+// MSVC 2013 doesn't allow "= default" on move constructors, but since we are
+// (currently) only actually using the move constructors in non-MSVC situations
+// (ie, wpilibC++Devices), we can just ignore it in MSVC.
+#if !defined(_MSC_VER)
+#define DEFAULT_MOVE_CONSTRUCTOR(ClassName)     \
+ClassName(ClassName &&) = default
+#else
+#define DEFAULT_MOVE_CONSTRUCTOR(ClassName)
+#endif
+
 // A struct to use as a deleter when a std::shared_ptr must wrap a raw pointer
 // that is being deleted by someone else.
 // This should only be called in deprecated functions; using it anywhere else
@@ -13,3 +23,19 @@ template<class T>
 struct [[deprecated]] NullDeleter {
   void operator()(T *) const noexcept {};
 };
+
+#include <atomic>
+// Use this for determining whether the default move constructor has been
+// called on a containing object. This serves the purpose of allowing us to
+// use the default move constructor of an object for moving all the data around
+// while being able to use this to, for instance, chose not to de-allocate
+// a PWM port in a destructor.
+struct HasBeenMoved {
+  HasBeenMoved(HasBeenMoved&& other) {
+    other.moved = true;
+    moved = false;
+  }
+  HasBeenMoved() = default;
+  std::atomic<bool> moved{false};
+  operator bool() const { return moved; }
+};
diff --git a/wpilibc/wpilibC++Devices/include/CANTalon.h b/wpilibc/wpilibC++Devices/include/CANTalon.h
index 3c2545938d..9108451b71 100644
--- a/wpilibc/wpilibC++Devices/include/CANTalon.h
+++ b/wpilibc/wpilibC++Devices/include/CANTalon.h
@@ -43,7 +43,8 @@ class CANTalon : public MotorSafety,
   };
   explicit CANTalon(int deviceNumber);
   explicit CANTalon(int deviceNumber, int controlPeriodMs);
-  virtual ~CANTalon() = default;
+  DEFAULT_MOVE_CONSTRUCTOR(CANTalon);
+  virtual ~CANTalon();
 
   // PIDOutput interface
   virtual void PIDWrite(float output) override;
@@ -204,4 +205,6 @@ class CANTalon : public MotorSafety,
   // LiveWindow stuff.
   std::shared_ptr<ITable> m_table;
   bool m_isInverted;
+
+  HasBeenMoved m_hasBeenMoved;
 };
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index 2b303e86ce..9b267eceaa 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -43,6 +43,11 @@ CANTalon::CANTalon(int deviceNumber, int controlPeriodMs)
   m_impl->SetProfileSlotSelect(m_profile);
 }
 
+CANTalon::~CANTalon() {
+  if (m_hasBeenMoved) return;
+  Disable();
+}
+
 /**
 * Write out the PID value as seen in the PIDOutput base object.
 *
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 0fc1190f00..4485ee541d 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
@@ -144,6 +144,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface
   }
 
   public void delete() {
+    disable();
     m_impl.delete();
   }