diff --git a/hal/include/HAL/CAN.hpp b/hal/include/HAL/CAN.hpp
new file mode 100644
index 0000000000..80b589ceee
--- /dev/null
+++ b/hal/include/HAL/CAN.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <stdint.h>
+#include "NetworkCommunication/CANSessionMux.h"
+
+void canTxSend(uint32_t arbID, uint8_t length, int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
+
+void canTxPackInt8 (uint32_t arbID, uint8_t offset, uint8_t  value);
+void canTxPackInt16(uint32_t arbID, uint8_t offset, uint16_t value);
+void canTxPackInt32(uint32_t arbID, uint8_t offset, uint32_t value);
+void canTxPackFXP16(uint32_t arbID, uint8_t offset, double   value);
+void canTxPackFXP32(uint32_t arbID, uint8_t offset, double   value);
+
+uint8_t  canTxUnpackInt8 (uint32_t arbID, uint8_t offset);
+uint32_t canTxUnpackInt32(uint32_t arbID, uint8_t offset);
+uint16_t canTxUnpackInt16(uint32_t arbID, uint8_t offset);
+double   canTxUnpackFXP16(uint32_t arbID, uint8_t offset);
+double   canTxUnpackFXP32(uint32_t arbID, uint8_t offset);
+
+bool canRxReceive(uint32_t arbID);
+
+uint8_t  canRxUnpackInt8 (uint32_t arbID, uint8_t offset);
+uint16_t canRxUnpackInt16(uint32_t arbID, uint8_t offset);
+uint32_t canRxUnpackInt32(uint32_t arbID, uint8_t offset);
+double   canRxUnpackFXP16(uint32_t arbID, uint8_t offset);
+double   canRxUnpackFXP32(uint32_t arbID, uint8_t offset);
diff --git a/hal/include/HAL/HAL.hpp b/hal/include/HAL/HAL.hpp
index 05a18cdfe9..b3771fb422 100644
--- a/hal/include/HAL/HAL.hpp
+++ b/hal/include/HAL/HAL.hpp
@@ -14,6 +14,7 @@
 
 #include "Accelerometer.hpp"
 #include "Analog.hpp"
+#include "CAN.hpp"
 #include "Compressor.hpp"
 #include "Digital.hpp"
 #include "Solenoid.hpp"
diff --git a/hal/lib/Athena/CAN.cpp b/hal/lib/Athena/CAN.cpp
new file mode 100644
index 0000000000..c524996b7b
--- /dev/null
+++ b/hal/lib/Athena/CAN.cpp
@@ -0,0 +1,232 @@
+#include "HAL/CAN.hpp"
+#include <map>
+
+struct CANMessage
+{
+	uint8_t data[8];
+};
+
+static std::map<uint32_t, CANMessage> outgoingMessages;
+static std::map<uint32_t, CANMessage> incomingMessages;
+
+static const uint32_t kFullMessageIDMask = 0x1fffffff;
+
+/**
+ * Gets the data from the outgoing hashmap and calls
+ * CANSessionMux...sendMessage.
+ */
+void canTxSend(uint32_t arbID, uint8_t length, int32_t period)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	int32_t status;
+
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(
+		arbID, message.data, length, period, &status);
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time an single byte field changes in a message.data,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackInt8(uint32_t arbID, uint8_t offset, uint8_t value)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	message.data[offset] = value;
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time a short integer field changes in a message.data,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackInt16(uint32_t arbID, uint8_t offset, uint16_t value)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	*(uint16_t *)(message.data + offset) = value;
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time a long integer field changes in a message.data,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackInt32(uint32_t arbID, uint8_t offset, uint32_t value)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	*(uint32_t *)(message.data + offset) = value;
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time an 8.8 fixed point field changes in a message,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackFXP16(uint32_t arbID, uint8_t offset, double value)
+{
+	int16_t raw = value * 255.0;
+
+	canTxPackInt16(arbID, offset, raw);
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time a 16.16 fixed point field changes in a message,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackFXP32(uint32_t arbID, uint8_t offset, double value)
+{
+	int32_t raw = value * 65535.0;
+
+	canTxPackInt32(arbID, offset, raw);
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+uint8_t canTxUnpackInt8(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	return message.data[offset];
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+uint16_t canTxUnpackInt16(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	return *reinterpret_cast<uint16_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+uint32_t canTxUnpackInt32(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	return *reinterpret_cast<uint32_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+double canTxUnpackFXP16(uint32_t arbID, uint8_t offset)
+{
+	int16_t raw = canTxUnpackInt16(arbID, offset);
+
+	return raw / 255.0;
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+double canTxUnpackFXP32(uint32_t arbID, uint8_t offset)
+{
+	int32_t raw = canTxUnpackInt32(arbID, offset);
+
+	return raw / 65535.0;
+}
+
+/**
+ * Get data from CANSessionMux (if it's available) and put it in the incoming
+ * hashmap.
+ *
+ * @return true if there's new data.  Otherwise, the last received value should
+ * still be in the hashmap.
+ */
+bool canRxReceive(uint32_t arbID)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	uint8_t length;
+	uint32_t timestamp;
+	int32_t status;
+
+	FRC_NetworkCommunication_CANSessionMux_receiveMessage(
+		&arbID, kFullMessageIDMask, message.data, &length, &timestamp, &status);
+
+	return status != ERR_CANSessionMux_MessageNotFound;
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+uint8_t canRxUnpackInt8(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	return message.data[offset];
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+uint16_t canRxUnpackInt16(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	return *reinterpret_cast<uint16_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+uint32_t canRxUnpackInt32(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	return *reinterpret_cast<uint32_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+double canRxUnpackFXP16(uint32_t arbID, uint8_t offset)
+{
+	int16_t raw = canRxUnpackInt16(arbID, offset);
+
+	return raw / 255.0;
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+double canRxUnpackFXP32(uint32_t arbID, uint8_t offset)
+{
+	int32_t raw = canRxUnpackInt32(arbID, offset);
+
+	return raw / 65535.0;
+}
diff --git a/hal/lib/Athena/HAL.cpp b/hal/lib/Athena/HAL.cpp
index 125bf79f1b..8512c1ae86 100644
--- a/hal/lib/Athena/HAL.cpp
+++ b/hal/lib/Athena/HAL.cpp
@@ -8,7 +8,6 @@
 #include "NetworkCommunication/FRCComm.h"
 #include "NetworkCommunication/UsageReporting.h"
 #include "NetworkCommunication/LoadOut.h"
-#include "NetworkCommunication/CANSessionMux.h"
 #include <fstream>
 #include <iostream>
 #include <unistd.h>
diff --git a/hal/lib/Athena/ctre/CanTalonSRX.cpp b/hal/lib/Athena/ctre/CanTalonSRX.cpp
deleted file mode 100644
index befaddfde0..0000000000
--- a/hal/lib/Athena/ctre/CanTalonSRX.cpp
+++ /dev/null
@@ -1,608 +0,0 @@
-/**
- * auto generated using spreadsheet and WpiClassGen.csproj
- * @link https://docs.google.com/spreadsheets/d/1OU_ZV7fZLGYUQ-Uhc8sVAmUmWTlT8XBFYK8lfjg_tac/edit#gid=1766046967
- */
-#include "CanTalonSRX.h"
-#include "NetworkCommunication/CANSessionMux.h"	//CAN Comm
-#include <string.h> // memset
-#include <unistd.h> // usleep
-
-#define STATUS_1  		0x02041400
-#define STATUS_2  		0x02041440
-#define STATUS_3  		0x02041480
-#define STATUS_4  		0x020414C0
-#define STATUS_5  		0x02041500
-#define STATUS_6  		0x02041540
-#define STATUS_7  		0x02041580
-
-#define CONTROL_1 			0x02040000
-
-#define EXPECTED_RESPONSE_TIMEOUT_MS	(200)
-#define GET_STATUS1() CtreCanNode::recMsg<TALON_Status_1_General_10ms_t		> rx = GetRx<TALON_Status_1_General_10ms_t>(STATUS_1	  | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS2() CtreCanNode::recMsg<TALON_Status_2_Feedback_20ms_t	> rx = GetRx<TALON_Status_2_Feedback_20ms_t>(STATUS_2	  | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS3() CtreCanNode::recMsg<TALON_Status_3_Enc_100ms_t		> rx = GetRx<TALON_Status_3_Enc_100ms_t>(STATUS_3		  | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS4() CtreCanNode::recMsg<TALON_Status_4_AinTempVbat_100ms_t> rx = GetRx<TALON_Status_4_AinTempVbat_100ms_t>(STATUS_4 | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS5() CtreCanNode::recMsg<TALON_Status_5_Startup_OneShot_t	> rx = GetRx<TALON_Status_5_Startup_OneShot_t>(STATUS_5	  | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS6() CtreCanNode::recMsg<TALON_Status_6_Eol_t				> rx = GetRx<TALON_Status_6_Eol_t>(STATUS_6				  | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS7() CtreCanNode::recMsg<TALON_Status_7_Debug_200ms_t		> rx = GetRx<TALON_Status_7_Debug_200ms_t>(STATUS_7		  | GetDeviceNumber(), EXPECTED_RESPONSE_TIMEOUT_MS)
-
-/* encoder/decoders */
-/** control */
-typedef struct _TALON_Control_1_General_10ms_t {
-	unsigned TokenH:8;
-	unsigned TokenL:8;
-	unsigned Demand24H:8;
-	unsigned Demand24M:8;
-	unsigned Demand24L:8;
-	unsigned CloseLoopCellSelect:1;
-	unsigned SelectlFeedbackDevice:4;
-	unsigned LimitSwitchEn:3;
-	unsigned RevEncoderPosAndVel:1;
-	unsigned RevMotDuringCloseLoopEn:1;
-	unsigned BrakeType:2;
-	unsigned ModeSelect:4;
-	unsigned RampThrottle:8;
-} TALON_Control_1_General_10ms_t ;
-typedef struct _TALON_Control_2_Rates_OneShot_t {
-	unsigned Status1Ms:8;
-	unsigned Status2Ms:8;
-	unsigned Status3Ms:8;
-	unsigned Status4Ms:8;
-} TALON_Control_2_Rates_OneShot_t ;
-typedef struct _TALON_Control_3_ClearFlags_OneShot_t {
-	unsigned ZeroFeedbackSensor:1;
-	unsigned ClearStickyFaults:1;
-} TALON_Control_3_ClearFlags_OneShot_t ;
-
-/** status */
-typedef struct _TALON_Status_1_General_10ms_t {
-	unsigned CloseLoopErrH:8;
-	unsigned CloseLoopErrM:8;
-	unsigned CloseLoopErrL:8;
-	unsigned Throttle_h3:3;
-	unsigned Fault_RevSoftLim:1;
-	unsigned Fault_ForSoftLim:1;
-	unsigned TokLocked:1;
-	unsigned LimitSwitchClosedRev:1;
-	unsigned LimitSwitchClosedFor:1;
-	unsigned Throttle_l8:8;
-	unsigned ModeSelect_h1:1;
-	unsigned SelectlFeedbackDevice:4;
-	unsigned LimitSwitchEn:3;
-	unsigned Fault_HardwareFailure:1;
-	unsigned Fault_RevLim:1;
-	unsigned Fault_ForLim:1;
-	unsigned Fault_UnderVoltage:1;
-	unsigned Fault_OverTemp:1;
-	unsigned ModeSelect_b3:3;
-	unsigned TokenSeed:8;
-} TALON_Status_1_General_10ms_t ;
-typedef struct _TALON_Status_2_Feedback_20ms_t {
-	unsigned SensorPositionH:8;
-	unsigned SensorPositionM:8;
-	unsigned SensorPositionL:8;
-	unsigned SensorVelocityH:8;
-	unsigned SensorVelocityL:8;
-	unsigned Current_h8:8;
-	unsigned StckyFault_RevSoftLim:1;
-	unsigned StckyFault_ForSoftLim:1;
-	unsigned StckyFault_RevLim:1;
-	unsigned StckyFault_ForLim:1;
-	unsigned StckyFault_UnderVoltage:1;
-	unsigned StckyFault_OverTemp:1;
-	unsigned Current_l2:2;
-	unsigned reserved:6;
-	unsigned CloseLoopCellSelect:1;
-	unsigned BrakeIsEnabled:1;
-} TALON_Status_2_Feedback_20ms_t ;
-typedef struct _TALON_Status_3_Enc_100ms_t {
-	unsigned EncPositionH:8;
-	unsigned EncPositionM:8;
-	unsigned EncPositionL:8;
-	unsigned EncVelH:8;
-	unsigned EncVelL:8;
-	unsigned EncIndexRiseEventsH:8;
-	unsigned EncIndexRiseEventsL:8;
-	unsigned reserved:5;
-	unsigned QuadIdxpin:1;
-	unsigned QuadBpin:1;
-	unsigned QuadApin:1;
-} TALON_Status_3_Enc_100ms_t ;
-typedef struct _TALON_Status_4_AinTempVbat_100ms_t {
-	unsigned AnalogInWithOvH:8;
-	unsigned AnalogInWithOvM:8;
-	unsigned AnalogInWithOvL:8;
-	unsigned AnalogInVelH:8;
-	unsigned AnalogInVelL:8;
-	unsigned Temp:8;
-	unsigned BatteryV:8;
-	unsigned reserved:8;
-} TALON_Status_4_AinTempVbat_100ms_t ;
-typedef struct _TALON_Status_5_Startup_OneShot_t {
-	unsigned ResetCountH:8;
-	unsigned ResetCountL:8;
-	unsigned ResetFlagsH:8;
-	unsigned ResetFlagsL:8;
-	unsigned FirmVersH:8;
-	unsigned FirmVersL:8;
-} TALON_Status_5_Startup_OneShot_t ;
-typedef struct _TALON_Status_6_Eol_t {
-	unsigned currentAdcUncal_h2:2;
-	unsigned reserved1:5;
-	unsigned SpiCsPin_GadgeteerPin6:1;
-	unsigned currentAdcUncal_l8:8;
-	unsigned tempAdcUncal_h2:2;
-	unsigned reserved2:6;
-	unsigned tempAdcUncal_l8:8;
-	unsigned vbatAdcUncal_h2:2;
-	unsigned reserved3:6;
-	unsigned vbatAdcUncal_l8:8;
-	unsigned analogAdcUncal_h2:2;
-	unsigned reserved4:6;
-	unsigned analogAdcUncal_l8:8;
-} TALON_Status_6_Eol_t ;
-typedef struct _TALON_Status_7_Debug_200ms_t {
-	unsigned TokenizationFails_h8:8;
-	unsigned TokenizationFails_l8:8;
-	unsigned LastFailedToken_h8:8;
-	unsigned LastFailedToken_l8:8;
-	unsigned TokenizationSucceses_h8:8;
-	unsigned TokenizationSucceses_l8:8;
-} TALON_Status_7_Debug_200ms_t ;
-typedef struct _TALON_Config_SetGains0_1_t {
-	unsigned PH:8;
-	unsigned PM:8;
-	unsigned PL:8;
-	unsigned IH:8;
-	unsigned IM:8;
-	unsigned IL:8;
-	unsigned IZoneH:8;
-	unsigned IZoneL:8;
-} TALON_Config_SetGains0_1_t ;
-typedef struct _TALON_Config_SetGains0_2_t {
-	unsigned DH:8;
-	unsigned DM:8;
-	unsigned DL:8;
-	unsigned FH:8;
-	unsigned FM:8;
-	unsigned FL:8;
-	unsigned RampRateH:8;
-	unsigned RampRateL:8;
-} TALON_Config_SetGains0_2_t ;
-typedef struct _TALON_Config_SetGains1_1_t {
-	unsigned PH:8;
-	unsigned PM:8;
-	unsigned PL:8;
-	unsigned IH:8;
-	unsigned IM:8;
-	unsigned IL:8;
-	unsigned IZoneH:8;
-	unsigned IZoneL:8;
-} TALON_Config_SetGains1_1_t ;
-typedef struct _TALON_Config_SetGains1_2_t {
-	unsigned DH:8;
-	unsigned DM:8;
-	unsigned DL:8;
-	unsigned FH:8;
-	unsigned FM:8;
-	unsigned FL:8;
-	unsigned RampRateH:8;
-	unsigned RampRateL:8;
-} TALON_Config_SetGains1_2_t ;
-typedef struct _TALON_Config_SetSoftLimits_t {
-	unsigned LimitFH:8;
-	unsigned LimitFMH:8;
-	unsigned LimitFML:8;
-	unsigned LimitFL:8;
-	unsigned LimitRH:8;
-	unsigned LimitRMH:8;
-	unsigned LimitRML:8;
-	unsigned LimitRL:8;
-} TALON_Config_SetSoftLimits_t ;
-typedef struct _TALON_Param_Request_t {
-	unsigned ParamEnum:8;
-} TALON_Param_Request_t ;
-typedef struct _TALON_Param_Response_t {
-	unsigned ParamEnum:8;
-	unsigned ParamValueH:8;
-	unsigned ParamValueMH:8;
-	unsigned ParamValueML:8;
-	unsigned ParamValueL:8;
-} TALON_Param_Response_t ;
-
-
-CanTalonSRX::CanTalonSRX(UINT8 deviceNumber): CtreCanNode(deviceNumber)
-{
-	RegisterRx(STATUS_1 | deviceNumber );
-	RegisterRx(STATUS_2 | deviceNumber );
-	RegisterRx(STATUS_3 | deviceNumber );
-	RegisterRx(STATUS_4 | deviceNumber );
-	RegisterRx(STATUS_5 | deviceNumber );
-	RegisterRx(STATUS_6 | deviceNumber );
-	RegisterRx(STATUS_7 | deviceNumber );
-	RegisterTx(CONTROL_1 | deviceNumber, 10);
-}
-/* CanTalonSRX D'tor
- */
-CanTalonSRX::~CanTalonSRX()
-{
-}
-void CanTalonSRX::Set(double value)
-{
-	if(value > 1)
-		value = 1;
-	else if(value < -1)
-		value = -1;
-	value *= 1023;
-	SetDemand24(value); /* must be within [-1023,1023] */
-}
-/*------------------------ auto generated ----------------------*/
-
-CTR_Code CanTalonSRX::GetFault_OverTemp(int &param)
-{
-	GET_STATUS1();
-	param = rx->Fault_OverTemp;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetFault_UnderVoltage(int &param)
-{
-	GET_STATUS1();
-	param = rx->Fault_UnderVoltage;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetFault_ForLim(int &param)
-{
-	GET_STATUS1();
-	param = rx->Fault_ForLim;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetFault_RevLim(int &param)
-{
-	GET_STATUS1();
-	param = rx->Fault_RevLim;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetFault_HardwareFailure(int &param)
-{
-	GET_STATUS1();
-	param = rx->Fault_HardwareFailure;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetFault_ForSoftLim(int &param)
-{
-	GET_STATUS1();
-	param = rx->Fault_ForSoftLim;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetFault_RevSoftLim(int &param)
-{
-	GET_STATUS1();
-	param = rx->Fault_RevSoftLim;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetStckyFault_OverTemp(int &param)
-{
-	GET_STATUS2();
-	param = rx->StckyFault_OverTemp;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetStckyFault_UnderVoltage(int &param)
-{
-	GET_STATUS2();
-	param = rx->StckyFault_UnderVoltage;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetStckyFault_ForLim(int &param)
-{
-	GET_STATUS2();
-	param = rx->StckyFault_ForLim;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetStckyFault_RevLim(int &param)
-{
-	GET_STATUS2();
-	param = rx->StckyFault_RevLim;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetStckyFault_ForSoftLim(int &param)
-{
-	GET_STATUS2();
-	param = rx->StckyFault_ForSoftLim;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetStckyFault_RevSoftLim(int &param)
-{
-	GET_STATUS2();
-	param = rx->StckyFault_RevSoftLim;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetAppliedThrottle11(int &param)
-{
-	GET_STATUS1();
-	uint32_t raw = 0;
-	raw |= rx->Throttle_h3;
-	raw <<= 8;
-	raw |= rx->Throttle_l8;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetCloseLoopErr(int &param)
-{
-	GET_STATUS1();
-	uint32_t raw = 0;
-	raw |= rx->CloseLoopErrH;
-	raw <<= 16;
-	raw |= rx->CloseLoopErrM;
-	raw <<= 8;
-	raw |= rx->CloseLoopErrL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetSelectlFeedbackDevice(int &param)
-{
-	GET_STATUS1();
-	param = rx->SelectlFeedbackDevice;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetModeSelect(int &param)
-{
-	GET_STATUS1();
-	uint32_t raw = 0;
-	raw |= rx->ModeSelect_h1;
-	raw <<= 3;
-	raw |= rx->ModeSelect_b3;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetLimitSwitchEn(int &param)
-{
-	GET_STATUS1();
-	param = rx->LimitSwitchEn;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetLimitSwitchClosedFor(int &param)
-{
-	GET_STATUS1();
-	param = rx->LimitSwitchClosedFor;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetLimitSwitchClosedRev(int &param)
-{
-	GET_STATUS1();
-	param = rx->LimitSwitchClosedRev;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetCloseLoopCellSelect(int &param)
-{
-	GET_STATUS2();
-	param = rx->CloseLoopCellSelect;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetSensorPosition(int &param)
-{
-	GET_STATUS2();
-	uint32_t raw = 0;
-	raw |= rx->SensorPositionH;
-	raw <<= 16;
-	raw |= rx->SensorPositionM;
-	raw <<= 8;
-	raw |= rx->SensorPositionL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetSensorVelocity(int &param)
-{
-	GET_STATUS2();
-	uint32_t raw = 0;
-	raw |= rx->SensorVelocityH;
-	raw <<= 8;
-	raw |= rx->SensorVelocityL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetCurrent(double &param)
-{
-	GET_STATUS2();
-	uint32_t raw = 0;
-	raw |= rx->Current_h8;
-	raw <<= 2;
-	raw |= rx->Current_l2;
-	param = (double)raw * 0.125 + 0;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetBrakeIsEnabled(int &param)
-{
-	GET_STATUS2();
-	param = rx->BrakeIsEnabled;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetEncPosition(int &param)
-{
-	GET_STATUS3();
-	uint32_t raw = 0;
-	raw |= rx->EncPositionH;
-	raw <<= 16;
-	raw |= rx->EncPositionM;
-	raw <<= 8;
-	raw |= rx->EncPositionL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetEncVel(int &param)
-{
-	GET_STATUS3();
-	uint32_t raw = 0;
-	raw |= rx->EncVelH;
-	raw <<= 8;
-	raw |= rx->EncVelL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetEncIndexRiseEvents(int &param)
-{
-	GET_STATUS3();
-	uint32_t raw = 0;
-	raw |= rx->EncIndexRiseEventsH;
-	raw <<= 8;
-	raw |= rx->EncIndexRiseEventsL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetQuadApin(int &param)
-{
-	GET_STATUS3();
-	param = rx->QuadApin;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetQuadBpin(int &param)
-{
-	GET_STATUS3();
-	param = rx->QuadBpin;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetQuadIdxpin(int &param)
-{
-	GET_STATUS3();
-	param = rx->QuadIdxpin;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetAnalogInWithOv(int &param)
-{
-	GET_STATUS4();
-	uint32_t raw = 0;
-	raw |= rx->AnalogInWithOvH;
-	raw <<= 16;
-	raw |= rx->AnalogInWithOvM;
-	raw <<= 8;
-	raw |= rx->AnalogInWithOvL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetAnalogInVel(int &param)
-{
-	GET_STATUS4();
-	uint32_t raw = 0;
-	raw |= rx->AnalogInVelH;
-	raw <<= 8;
-	raw |= rx->AnalogInVelL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetTemp(double &param)
-{
-	GET_STATUS4();
-	uint32_t raw = rx->Temp;
-	param = (double)raw * 0.6451612903 + -50;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetBatteryV(double &param)
-{
-	GET_STATUS4();
-	uint32_t raw = rx->BatteryV;
-	param = (double)raw * 0.05 + 4;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetResetCount(int &param)
-{
-	GET_STATUS5();
-	uint32_t raw = 0;
-	raw |= rx->ResetCountH;
-	raw <<= 8;
-	raw |= rx->ResetCountL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetResetFlags(int &param)
-{
-	GET_STATUS5();
-	uint32_t raw = 0;
-	raw |= rx->ResetFlagsH;
-	raw <<= 8;
-	raw |= rx->ResetFlagsL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::GetFirmVers(int &param)
-{
-	GET_STATUS5();
-	uint32_t raw = 0;
-	raw |= rx->FirmVersH;
-	raw <<= 8;
-	raw |= rx->FirmVersL;
-	param = (int)raw;
-	return rx.err;
-}
-CTR_Code CanTalonSRX::SetDemand24(int param)
-{
-	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
-	if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
-	toFill->Demand24H = param>>16;
-	toFill->Demand24M = param>>8;
-	toFill->Demand24L = param>>0;
-	FlushTx(toFill);
-	return CTR_OKAY;
-}
-CTR_Code CanTalonSRX::SetLimitSwitchEn(int param)
-{
-	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
-	if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
-	toFill->LimitSwitchEn = param;
-	FlushTx(toFill);
-	return CTR_OKAY;
-}
-CTR_Code CanTalonSRX::SetSelectlFeedbackDevice(int param)
-{
-	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
-	if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
-	toFill->SelectlFeedbackDevice = param;
-	FlushTx(toFill);
-	return CTR_OKAY;
-}
-CTR_Code CanTalonSRX::SetRevMotDuringCloseLoopEn(int param)
-{
-	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
-	if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
-	toFill->RevMotDuringCloseLoopEn = param;
-	FlushTx(toFill);
-	return CTR_OKAY;
-}
-CTR_Code CanTalonSRX::SetBrakeType(int param)
-{
-	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
-	if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
-	toFill->BrakeType = param;
-	FlushTx(toFill);
-	return CTR_OKAY;
-}
-CTR_Code CanTalonSRX::SetModeSelect(int param)
-{
-	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
-	if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
-	toFill->ModeSelect = param;
-	FlushTx(toFill);
-	return CTR_OKAY;
-}
-CTR_Code CanTalonSRX::SetCloseLoopCellSelect(int param)
-{
-	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
-	if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
-	toFill->CloseLoopCellSelect = param;
-	FlushTx(toFill);
-	return CTR_OKAY;
-}
-CTR_Code CanTalonSRX::SetRampThrottle(int param)
-{
-	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
-	if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
-	toFill->RampThrottle = param;
-	FlushTx(toFill);
-	return CTR_OKAY;
-}
-CTR_Code CanTalonSRX::SetRevEncoderPosAndVel(int param)
-{
-	CtreCanNode::txTask<TALON_Control_1_General_10ms_t> toFill = GetTx<TALON_Control_1_General_10ms_t>(CONTROL_1 | GetDeviceNumber());
-	if (toFill.IsEmpty()) return CTR_UnexpectedArbId;
-	toFill->RevEncoderPosAndVel = param;
-	FlushTx(toFill);
-	return CTR_OKAY;
-}
diff --git a/hal/lib/Athena/ctre/CanTalonSRX.h b/hal/lib/Athena/ctre/CanTalonSRX.h
deleted file mode 100644
index 549d04dec8..0000000000
--- a/hal/lib/Athena/ctre/CanTalonSRX.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/**
- * auto generated using spreadsheet and WpiClassGen.csproj
- * @link https://docs.google.com/spreadsheets/d/1OU_ZV7fZLGYUQ-Uhc8sVAmUmWTlT8XBFYK8lfjg_tac/edit#gid=1766046967
- */
-#ifndef CanTalonSRX_H_
-#define CanTalonSRX_H_
-#include "ctre.h"				//BIT Defines + Typedefs
-#include "CtreCanNode.h"
-#include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
-class CanTalonSRX : public CtreCanNode
-{
-public:
-    CanTalonSRX(UINT8 deviceNumber=0);
-    ~CanTalonSRX();
-    void Set(double value);
-
-    /*------------------------ auto generated ----------------------*/
-	CTR_Code GetFault_OverTemp(int &param);
-	CTR_Code GetFault_UnderVoltage(int &param);
-	CTR_Code GetFault_ForLim(int &param);
-	CTR_Code GetFault_RevLim(int &param);
-	CTR_Code GetFault_HardwareFailure(int &param);
-	CTR_Code GetFault_ForSoftLim(int &param);
-	CTR_Code GetFault_RevSoftLim(int &param);
-	CTR_Code GetStckyFault_OverTemp(int &param);
-	CTR_Code GetStckyFault_UnderVoltage(int &param);
-	CTR_Code GetStckyFault_ForLim(int &param);
-	CTR_Code GetStckyFault_RevLim(int &param);
-	CTR_Code GetStckyFault_ForSoftLim(int &param);
-	CTR_Code GetStckyFault_RevSoftLim(int &param);
-	CTR_Code GetAppliedThrottle11(int &param);
-	CTR_Code GetCloseLoopErr(int &param);
-	CTR_Code GetSelectlFeedbackDevice(int &param);
-	CTR_Code GetModeSelect(int &param);
-	CTR_Code GetLimitSwitchEn(int &param);
-	CTR_Code GetLimitSwitchClosedFor(int &param);
-	CTR_Code GetLimitSwitchClosedRev(int &param);
-	CTR_Code GetCloseLoopCellSelect(int &param);
-	CTR_Code GetSensorPosition(int &param);
-	CTR_Code GetSensorVelocity(int &param);
-	CTR_Code GetCurrent(double &param);
-	CTR_Code GetBrakeIsEnabled(int &param);
-	CTR_Code GetEncPosition(int &param);
-	CTR_Code GetEncVel(int &param);
-	CTR_Code GetEncIndexRiseEvents(int &param);
-	CTR_Code GetQuadApin(int &param);
-	CTR_Code GetQuadBpin(int &param);
-	CTR_Code GetQuadIdxpin(int &param);
-	CTR_Code GetAnalogInWithOv(int &param);
-	CTR_Code GetAnalogInVel(int &param);
-	CTR_Code GetTemp(double &param);
-	CTR_Code GetBatteryV(double &param);
-	CTR_Code GetResetCount(int &param);
-	CTR_Code GetResetFlags(int &param);
-	CTR_Code GetFirmVers(int &param);
-	CTR_Code SetDemand24(int param);
-	CTR_Code SetLimitSwitchEn(int param);
-	CTR_Code SetSelectlFeedbackDevice(int param);
-	CTR_Code SetRevMotDuringCloseLoopEn(int param);
-	CTR_Code SetBrakeType(int param);
-	CTR_Code SetModeSelect(int param);
-	CTR_Code SetCloseLoopCellSelect(int param);
-	CTR_Code SetRampThrottle(int param);
-	CTR_Code SetRevEncoderPosAndVel(int param);
-};
-#endif
-
diff --git a/hal/lib/Athena/ctre/CtreCanNode.cpp b/hal/lib/Athena/ctre/CtreCanNode.cpp
index b2e3620284..30a31a024a 100644
--- a/hal/lib/Athena/ctre/CtreCanNode.cpp
+++ b/hal/lib/Athena/ctre/CtreCanNode.cpp
@@ -1,101 +1,98 @@
-#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
-
-#include "CtreCanNode.h"
-#include "NetworkCommunication/CANSessionMux.h"
-#include <string.h> // memset
-#include <unistd.h> // usleep
-
-static const UINT32 kFullMessageIDMask = 0x1fffffff;
-
-CtreCanNode::CtreCanNode(UINT8 deviceNumber)
-{
-	_deviceNumber = deviceNumber;
-}
-CtreCanNode::~CtreCanNode()
-{
-}
-void CtreCanNode::RegisterRx(uint32_t arbId)
-{
-	/* no need to do anything, we just use new API to poll last received message */
-}
-void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
-{
-	int32_t status = 0;
-
-	txJob_t job = {0};
-	job.arbId = arbId;
-	job.periodMs = periodMs;
-	_txJobs[arbId] = job;
-	FRC_NetworkCommunication_CANSessionMux_sendMessage(	job.arbId,
-														job.toSend,
-														8,
-														job.periodMs,
-														&status);
-}
-timespec diff(const timespec & start, const timespec & end)
-{
-	timespec temp;
-	if ((end.tv_nsec-start.tv_nsec)<0) {
-		temp.tv_sec = end.tv_sec-start.tv_sec-1;
-		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
-	} else {
-		temp.tv_sec = end.tv_sec-start.tv_sec;
-		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
-	}
-	return temp;
-}
-CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
-{
-	CTR_Code retval = CTR_OKAY;
-	int32_t status = 0;
-	uint8_t len = 0;
-	uint32_t timeStamp;
-	/* cap timeout at 999ms */
-	if(timeoutMs > 999)
-		timeoutMs = 999;
-	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
-	if(status == 0){
-		/* fresh update */
-		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
-		clock_gettime(2,&r.time); 			/* fill in time */
-		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
-	}else{
-		/* did not get the message */
-		rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
-		if(i == _rxRxEvents.end()){
-			/* we've never gotten this mesage */
-			retval = CTR_RxTimeout;
-			/* fill caller's buffer with zeros */
-			memset(dataBytes,0,8);
-		}else{
-			/* we've gotten this message before but not recently */
-			memcpy(dataBytes,i->second.bytes,8);
-			/* get the time now */
-			struct timespec temp;
-			clock_gettime(2,&temp); /* get now */
-			/* how long has it been? */
-			temp = diff(i->second.time,temp); /* temp = now - last */
-			if(temp.tv_sec > 0){
-				retval = CTR_RxTimeout;
-			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
-				retval = CTR_RxTimeout;
-			}else {
-				/* our last update was recent enough */
-			}
-		}
-	}
-
-	return retval;
-}
-void CtreCanNode::FlushTx(uint32_t arbId)
-{
-	int32_t status = 0;
-	txJobs_t::iterator iter = _txJobs.find(arbId);
-	if(iter != _txJobs.end())
-		FRC_NetworkCommunication_CANSessionMux_sendMessage(	iter->second.arbId,
-															iter->second.toSend,
-															8,
-															iter->second.periodMs,
-															&status);
-}
-
+#include "CtreCanNode.h"
+#include "NetworkCommunication/CANSessionMux.h"
+#include <string.h> // memset
+#include <unistd.h> // usleep
+
+static const UINT32 kFullMessageIDMask = 0x1fffffff;
+
+CtreCanNode::CtreCanNode(UINT8 deviceNumber)
+{
+	_deviceNumber = deviceNumber;
+}
+CtreCanNode::~CtreCanNode()
+{
+}
+void CtreCanNode::RegisterRx(uint32_t arbId)
+{
+	/* no need to do anything, we just use new API to poll last received message */
+}
+void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
+{
+	int32_t status = 0;
+
+	txJob_t job;
+	job.arbId = arbId;
+	job.periodMs = periodMs;
+	_txJobs[arbId] = job;
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(	job.arbId,
+														job.toSend,
+														8,
+														job.periodMs,
+														&status);
+}
+timespec diff(const timespec & start, const timespec & end)
+{
+	timespec temp;
+	if ((end.tv_nsec-start.tv_nsec)<0) {
+		temp.tv_sec = end.tv_sec-start.tv_sec-1;
+		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
+	} else {
+		temp.tv_sec = end.tv_sec-start.tv_sec;
+		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
+	}
+	return temp;
+}
+CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
+{
+	CTR_Code retval = CTR_OKAY;
+	int32_t status = 0;
+	uint8_t len = 0;
+	uint32_t timeStamp;
+	/* cap timeout at 999ms */
+	if(timeoutMs > 999)
+		timeoutMs = 999;
+	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
+	if(status == 0){
+		/* fresh update */
+		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
+		clock_gettime(2,&r.time); 			/* fill in time */
+		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
+	}else{
+		/* did not get the message */
+		rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
+		if(i == _rxRxEvents.end()){
+			/* we've never gotten this mesage */
+			retval = CTR_RxTimeout;
+			/* fill caller's buffer with zeros */
+			memset(dataBytes,0,8);
+		}else{
+			/* we've gotten this message before but not recently */
+			memcpy(dataBytes,i->second.bytes,8);
+			/* get the time now */
+			struct timespec temp;
+			clock_gettime(2,&temp); /* get now */
+			/* how long has it been? */
+			temp = diff(i->second.time,temp); /* temp = now - last */
+			if(temp.tv_sec > 0){
+				retval = CTR_RxTimeout;
+			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
+				retval = CTR_RxTimeout;
+			}else {
+				/* our last update was recent enough */
+			}
+		}
+	}
+
+	return retval;
+}
+void CtreCanNode::FlushTx(uint32_t arbId)
+{
+	int32_t status = 0;
+	txJobs_t::iterator iter = _txJobs.find(arbId);
+	if(iter != _txJobs.end())
+		FRC_NetworkCommunication_CANSessionMux_sendMessage(	iter->second.arbId,
+															iter->second.toSend,
+															8,
+															iter->second.periodMs,
+															&status);
+}
diff --git a/hal/lib/Athena/ctre/CtreCanNode.h b/hal/lib/Athena/ctre/CtreCanNode.h
index 7a2d69054e..263fcdb2fd 100644
--- a/hal/lib/Athena/ctre/CtreCanNode.h
+++ b/hal/lib/Athena/ctre/CtreCanNode.h
@@ -1,116 +1,121 @@
-#ifndef CtreCanNode_H_
-#define CtreCanNode_H_
-#include "ctre.h"				//BIT Defines + Typedefs
-#include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
-#include <pthread.h>
-#include <map>
-#include <string.h> // memcpy
-#include <sys/time.h>
-class CtreCanNode
-{
-public:
-	CtreCanNode(UINT8 deviceNumber);
-    ~CtreCanNode();
-
-	UINT8 GetDeviceNumber()
-	{
-		return _deviceNumber;
-	}
-protected:
-
-
-	template <typename T> class txTask{
-		public:
-			uint32_t arbId;
-			T * toSend;
-			T * operator -> ()
-			{
-				return toSend;
-			}
-			T & operator*()
-			{
-				return *toSend;
-			}
-			bool IsEmpty()
-			{
-				if(toSend == 0)
-					return true;
-				return false;
-			}
-	};
-	template <typename T> class recMsg{
-		public:
-			uint32_t arbId;
-			uint8_t bytes[8];
-			CTR_Code err;
-			T * operator -> ()
-			{
-				return (T *)bytes;
-			}
-			T & operator*()
-			{
-				return *(T *)bytes;
-			}
-	};
-	UINT8 _deviceNumber;
-	void RegisterRx(uint32_t arbId);
-	void RegisterTx(uint32_t arbId, uint32_t periodMs);
-
-	CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
-	void FlushTx(uint32_t arbId);
-
-	template<typename T> txTask<T> GetTx(uint32_t arbId)
-	{
-		txTask<T> retval = {0, nullptr};
-		txJobs_t::iterator i = _txJobs.find(arbId);
-		if(i != _txJobs.end()){
-			retval.arbId = i->second.arbId;
-			retval.toSend = (T*)i->second.toSend;
-		}
-		return retval;
-	}
-	template<class T> void FlushTx(T & par)
-	{
-		FlushTx(par.arbId);
-	}
-
-	template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
-	{
-		recMsg<T> retval;
-		retval.err = GetRx(arbId,retval.bytes, timeoutMs);
-		return retval;
-	}
-
-private:
-
-	class txJob_t {
-		public:
-			uint32_t arbId;
-			uint8_t toSend[8];
-			uint32_t periodMs;
-	};
-
-	class rxEvent_t{
-		public:
-			uint8_t bytes[8];
-			struct timespec time;
-			rxEvent_t()
-			{
-				bytes[0] = 0;
-				bytes[1] = 0;
-				bytes[2] = 0;
-				bytes[3] = 0;
-				bytes[4] = 0;
-				bytes[5] = 0;
-				bytes[6] = 0;
-				bytes[7] = 0;
-			}
-	};
-
-	typedef std::map<uint32_t,txJob_t> txJobs_t;
-	txJobs_t _txJobs;
-
-	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
-	rxRxEvents_t _rxRxEvents;
-};
-#endif
+#ifndef CtreCanNode_H_
+#define CtreCanNode_H_
+#include "ctre.h"				//BIT Defines + Typedefs
+#include "NetworkCommunication/CANSessionMux.h" 	//CAN Comm
+#include <pthread.h>
+#include <map>
+#include <string.h> // memcpy
+#include <sys/time.h>
+class CtreCanNode
+{
+public:
+	CtreCanNode(UINT8 deviceNumber);
+    ~CtreCanNode();
+
+	UINT8 GetDeviceNumber()
+	{
+		return _deviceNumber;
+	}
+protected:
+
+
+	template <typename T> class txTask{
+		public:
+			uint32_t arbId;
+			T * toSend;
+			T * operator -> ()
+			{
+				return toSend;
+			}
+			T & operator*()
+			{
+				return *toSend;
+			}
+			bool IsEmpty()
+			{
+				if(toSend == 0)
+					return true;
+				return false;
+			}
+	};
+	template <typename T> class recMsg{
+		public:
+			uint32_t arbId;
+			uint8_t bytes[8];
+			CTR_Code err;
+			T * operator -> ()
+			{
+				return (T *)bytes;
+			}
+			T & operator*()
+			{
+				return *(T *)bytes;
+			}
+	};
+	UINT8 _deviceNumber;
+	void RegisterRx(uint32_t arbId);
+	void RegisterTx(uint32_t arbId, uint32_t periodMs);
+
+	CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
+	void FlushTx(uint32_t arbId);
+
+	template<typename T> txTask<T> GetTx(uint32_t arbId)
+	{
+		txTask<T> retval = {0};
+		txJobs_t::iterator i = _txJobs.find(arbId);
+		if(i != _txJobs.end()){
+			retval.arbId = i->second.arbId;
+			retval.toSend = (T*)i->second.toSend;
+		}
+		return retval;
+	}
+	template<class T> void FlushTx(T & par)
+	{
+		FlushTx(par.arbId);
+	}
+
+	template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
+	{
+		recMsg<T> retval;
+		retval.err = GetRx(arbId,retval.bytes, timeoutMs);
+		return retval;
+	}
+
+private:
+
+	class txJob_t {
+		public:
+			uint32_t arbId;
+			uint8_t toSend[8];
+			uint32_t periodMs;
+			txJob_t() : arbId(0),periodMs(0)
+			{
+				for(unsigned i=0;i<sizeof(toSend);++i)
+					toSend[i] = 0;
+			}
+	};
+
+	class rxEvent_t{
+		public:
+			uint8_t bytes[8];
+			struct timespec time;
+			rxEvent_t()
+			{
+				bytes[0] = 0;
+				bytes[1] = 0;
+				bytes[2] = 0;
+				bytes[3] = 0;
+				bytes[4] = 0;
+				bytes[5] = 0;
+				bytes[6] = 0;
+				bytes[7] = 0;
+			}
+	};
+
+	typedef std::map<uint32_t,txJob_t> txJobs_t;
+	txJobs_t _txJobs;
+
+	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
+	rxRxEvents_t _rxRxEvents;
+};
+#endif
diff --git a/test-scripts/config.sh b/test-scripts/config.sh
index 01a639e8ce..522870dd4f 100755
--- a/test-scripts/config.sh
+++ b/test-scripts/config.sh
@@ -21,7 +21,7 @@ DEFAULT_DESTINATION_TEST_RESULTS_DIR=${DEFAULT_DESTINATION_DIR}/testResults
 # C++ test variables
 DEFAULT_CPP_TEST_NAME=FRCUserProgram
 DEFAULT_CPP_TEST_ARGS="--gtest_color=yes"
-DEFAULT_LOCAL_CPP_TEST_FILE=../build/wpilibc/wpilibC++IntegrationTests/FRCUserProgram
+DEFAULT_LOCAL_CPP_TEST_FILE=../cmake/target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram
 CPP_REPORT=cppreport.xml
 DEFAULT_LOCAL_CPP_TEST_RESULT=${DEFAULT_LOCAL_TEST_RESULTS_DIR}/${CPP_REPORT}
 DEFAULT_DESTINATION_CPP_TEST_RESULTS=${DEFAULT_DESTINATION_TEST_RESULTS_DIR}/${CPP_REPORT}
diff --git a/wpilibc/wpilibC++Devices/include/CANJaguar.h b/wpilibc/wpilibC++Devices/include/CANJaguar.h
index 4296869d57..289977d614 100644
--- a/wpilibc/wpilibC++Devices/include/CANJaguar.h
+++ b/wpilibc/wpilibC++Devices/include/CANJaguar.h
@@ -10,7 +10,7 @@
 #include "Resource.h"
 #include "MotorSafetyHelper.h"
 #include "PIDOutput.h"
-#include "CANSpeedController.h"
+#include "SpeedController.h"
 #include "HAL/Semaphore.hpp"
 #include "HAL/HAL.hpp"
 #include "LiveWindow/LiveWindowSendable.h"
@@ -23,7 +23,7 @@
  * Luminary Micro Jaguar Speed Control
  */
 class CANJaguar : public MotorSafety,
-					public CANSpeedController,
+					public SpeedController,
 					public ErrorBase,
 					public LiveWindowSendable,
 					public ITableListener
@@ -41,11 +41,40 @@ public:
 	/** Sets a potentiometer as the position reference only. <br> Passed as the "tag" when setting the control mode. */
 	static const struct PotentiometerStruct {} Potentiometer;
 
+	typedef enum {kPercentVbus, kCurrent, kSpeed, kPosition, kVoltage} ControlMode;
+	typedef enum {kCurrentFault = 1, kTemperatureFault = 2, kBusVoltageFault = 4, kGateDriverFault = 8} Faults;
+	typedef enum {kForwardLimit = 1, kReverseLimit = 2} Limits;
+	typedef enum {
+					kNeutralMode_Jumper = 0, /** Use the NeutralMode that is set by the jumper wire on the CAN device */
+					kNeutralMode_Brake = 1,  /** Stop the motor's rotation by applying a force. */
+					kNeutralMode_Coast = 2   /** Do not attempt to stop the motor. Instead allow it to coast to a stop without applying resistance. */
+				} NeutralMode;
+	typedef enum {
+				/**
+				 * Disables the soft position limits and only uses the limit switches to limit rotation.
+				 * @see CANJaguar#GetForwardLimitOK()
+				 * @see CANJaguar#GetReverseLimitOK()
+				 *
+				 */
+					kLimitMode_SwitchInputsOnly = 0,
+				/**
+				 * Enables the soft position limits on the Jaguar.
+				 * These will be used in addition to the limit switches. This does not disable the behavior
+				 * of the limit switch input.
+				 * @see CANJaguar#ConfigSoftPositionLimits(double, double)
+				 */
+					kLimitMode_SoftPositionLimits = 1
+				} LimitMode;
+
 	explicit CANJaguar(uint8_t deviceNumber);
 	virtual ~CANJaguar();
 
 	uint8_t getDeviceNumber() const;
-	uint8_t GetHardwareVersion();
+
+	// SpeedController interface
+	virtual float Get();
+	virtual void Set(float value, uint8_t syncGroup=0);
+	virtual void Disable();
 
 	// PIDOutput interface
 	virtual void PIDWrite(float output);
@@ -75,42 +104,39 @@ public:
 	void SetVoltageMode(QuadEncoderStruct, uint16_t codesPerRev);
 	void SetVoltageMode(PotentiometerStruct);
 
-	// CANSpeedController interface
-	virtual float Get() override;
-	virtual void Set(float value, uint8_t syncGroup=0) override;
-	virtual void Disable() override;
-	virtual void SetP(double p) override;
-	virtual void SetI(double i) override;
-	virtual void SetD(double d) override;
-	virtual void SetPID(double p, double i, double d) override;
-	virtual double GetP() override;
-	virtual double GetI() override;
-	virtual double GetD() override;
-	virtual float GetBusVoltage() override;
-	virtual float GetOutputVoltage() override;
-	virtual float GetOutputCurrent() override;
-	virtual float GetTemperature() override;
-	virtual double GetPosition() override;
-	virtual double GetSpeed() override;
-	virtual bool GetForwardLimitOK() override;
-	virtual bool GetReverseLimitOK() override;
-	virtual uint16_t GetFaults() override;
-	virtual void SetVoltageRampRate(double rampRate) override;
-	virtual uint32_t GetFirmwareVersion() override;
-	virtual void ConfigNeutralMode(NeutralMode mode) override;
-	virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
-	virtual void ConfigPotentiometerTurns(uint16_t turns) override;
-	virtual void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition) override;
-	virtual void DisableSoftPositionLimits() override;
-	virtual void ConfigLimitMode(LimitMode mode) override;
-	virtual void ConfigForwardLimit(double forwardLimitPosition) override;
-	virtual void ConfigReverseLimit(double reverseLimitPosition) override;
-	virtual void ConfigMaxOutputVoltage(double voltage) override;
-	virtual void ConfigFaultTime(float faultTime) override;
-	virtual void SetControlMode(ControlMode mode) override;
-	virtual ControlMode GetControlMode() override;
+	// Other Accessors
+	void SetP(double p);
+	void SetI(double i);
+	void SetD(double d);
+	void SetPID(double p, double i, double d);
+	double GetP();
+	double GetI();
+	double GetD();
+	float GetBusVoltage();
+	float GetOutputVoltage();
+	float GetOutputCurrent();
+	float GetTemperature();
+	double GetPosition();
+	double GetSpeed();
+	bool GetForwardLimitOK();
+	bool GetReverseLimitOK();
+	uint16_t GetFaults();
+	void SetVoltageRampRate(double rampRate);
+	virtual uint32_t GetFirmwareVersion();
+	uint8_t GetHardwareVersion();
+	void ConfigNeutralMode(NeutralMode mode);
+	void ConfigEncoderCodesPerRev(uint16_t codesPerRev);
+	void ConfigPotentiometerTurns(uint16_t turns);
+	void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition);
+	void DisableSoftPositionLimits();
+	void ConfigLimitMode(LimitMode mode);
+	void ConfigForwardLimit(double forwardLimitPosition);
+	void ConfigReverseLimit(double reverseLimitPosition);
+	void ConfigMaxOutputVoltage(double voltage);
+	void ConfigFaultTime(float faultTime);
+	ControlMode GetControlMode();
 
- 	static void UpdateSyncGroup(uint8_t syncGroup);
+	static void UpdateSyncGroup(uint8_t syncGroup);
 
 	void SetExpiration(float timeout);
 	float GetExpiration();
@@ -123,6 +149,9 @@ public:
 
 protected:
 	// Control mode helpers
+
+	void ChangeControlMode(ControlMode controlMode);
+
 	void SetSpeedReference(uint8_t reference);
 	uint8_t GetSpeedReference();
 
diff --git a/wpilibc/wpilibC++Devices/include/CANSpeedController.h b/wpilibc/wpilibC++Devices/include/CANSpeedController.h
deleted file mode 100644
index 96033ca79a..0000000000
--- a/wpilibc/wpilibC++Devices/include/CANSpeedController.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2014. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "SpeedController.h"
-
-/**
- * Interface for "smart" CAN-based speed controllers.
- * @see CANJaguar
- * @see CANTalon
- */
-class CANSpeedController : public SpeedController
-{
-public:
-	enum ControlMode {
-		kPercentVbus=0,
-    // TODO(james): Handle kFollower in CANJaguar.
-    kFollower=1, // Only supported on Talon SRX.
-		kVoltage=2,
-		kPosition=3,
-		kSpeed=4,
-		kCurrent=5,
-    kDisabled=15
-	};
-
-	enum Faults {
-		kCurrentFault = 1,
-		kTemperatureFault = 2,
-		kBusVoltageFault = 4,
-		kGateDriverFault = 8
-	};
-
-	enum Limits {
-		kForwardLimit = 1,
-		kReverseLimit = 2
-	};
-
-	enum NeutralMode {
-		/** Use the NeutralMode that is set by the jumper wire on the CAN device */
-		kNeutralMode_Jumper = 0,
-		/** Stop the motor's rotation by applying a force. */
-		kNeutralMode_Brake = 1,
-		/** Do not attempt to stop the motor. Instead allow it to coast to a stop without applying resistance. */
-		kNeutralMode_Coast = 2
-	};
-
-	enum LimitMode {
-		/** Only use switches for limits */
-		kLimitMode_SwitchInputsOnly = 0,
-		/** Use both switches and soft limits */
-		kLimitMode_SoftPositionLimits = 1
-	};
-
-	virtual float Get() = 0;
-	virtual void Set(float value, uint8_t syncGroup=0) = 0;
-	virtual void Disable() = 0;
-	virtual void SetP(double p) = 0;
-	virtual void SetI(double i) = 0;
-	virtual void SetD(double d) = 0;
-	virtual void SetPID(double p, double i, double d) = 0;
-	virtual double GetP() = 0;
-	virtual double GetI() = 0;
-	virtual double GetD() = 0;
-	virtual float GetBusVoltage() = 0;
-	virtual float GetOutputVoltage() = 0;
-	virtual float GetOutputCurrent() = 0;
-	virtual float GetTemperature() = 0;
-	virtual double GetPosition() = 0;
-	virtual double GetSpeed() = 0;
-	virtual bool GetForwardLimitOK() = 0;
-	virtual bool GetReverseLimitOK() = 0;
-	virtual uint16_t GetFaults() = 0;
-	virtual void SetVoltageRampRate(double rampRate) = 0;
-	virtual uint32_t GetFirmwareVersion() = 0;
-	virtual void ConfigNeutralMode(NeutralMode mode) = 0;
-	virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
-	virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
-	virtual void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition) = 0;
-	virtual void DisableSoftPositionLimits() = 0;
-	virtual void ConfigLimitMode(LimitMode mode) = 0;
-	virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
-	virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
-	virtual void ConfigMaxOutputVoltage(double voltage) = 0;
-	virtual void ConfigFaultTime(float faultTime) = 0;
-	virtual void SetControlMode(ControlMode mode) = 0;
-	virtual ControlMode GetControlMode() = 0;
-};
diff --git a/wpilibc/wpilibC++Devices/include/CANTalon.h b/wpilibc/wpilibC++Devices/include/CANTalon.h
deleted file mode 100644
index b51263903e..0000000000
--- a/wpilibc/wpilibC++Devices/include/CANTalon.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2014. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "SafePWM.h"
-#include "CANSpeedController.h"
-#include "PIDOutput.h"
-#include "MotorSafetyHelper.h"
-
-class CanTalonSRX;
-
-/**
- * CTRE Talon SRX Speed Controller
- */
-class CANTalon : public MotorSafety,
-                 public CANSpeedController,
-                 public ErrorBase
-{
-public:
-	explicit CANTalon(uint8_t deviceNumber);
-	virtual ~CANTalon();
-
-	// PIDController interface
-	virtual void PIDWrite(float output) override;
-
-	// MotorSafety interface
-	virtual void SetExpiration(float timeout) override;
-	virtual float GetExpiration() override;
-	virtual bool IsAlive() override;
-	virtual void StopMotor() override;
-	virtual void SetSafetyEnabled(bool enabled) override;
-	virtual bool IsSafetyEnabled() override;
-	virtual void GetDescription(char *desc) override;
-
-	// CANSpeedController interface
-	virtual float Get() override;
-	virtual void Set(float value, uint8_t syncGroup=0) override;
-	virtual void Disable() override;
-  virtual void EnableControl();
-	virtual void SetP(double p) override;
-	virtual void SetI(double i) override;
-	virtual void SetD(double d) override;
-	virtual void SetPID(double p, double i, double d) override;
-	virtual double GetP() override;
-	virtual double GetI() override;
-	virtual double GetD() override;
-	virtual float GetBusVoltage() override;
-	virtual float GetOutputVoltage() override;
-	virtual float GetOutputCurrent() override;
-	virtual float GetTemperature() override;
-	virtual double GetPosition() override;
-	virtual double GetSpeed() override;
-	virtual bool GetForwardLimitOK() override;
-	virtual bool GetReverseLimitOK() override;
-	virtual uint16_t GetFaults() override;
-	virtual void SetVoltageRampRate(double rampRate) override;
-	virtual uint32_t GetFirmwareVersion() override;
-	virtual void ConfigNeutralMode(NeutralMode mode) override;
-	virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
-	virtual void ConfigPotentiometerTurns(uint16_t turns) override;
-	virtual void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition) override;
-	virtual void DisableSoftPositionLimits() override;
-	virtual void ConfigLimitMode(LimitMode mode) override;
-	virtual void ConfigForwardLimit(double forwardLimitPosition) override;
-	virtual void ConfigReverseLimit(double reverseLimitPosition) override;
-	virtual void ConfigMaxOutputVoltage(double voltage) override;
-	virtual void ConfigFaultTime(float faultTime) override;
-	virtual void SetControlMode(ControlMode mode) override;
-	virtual ControlMode GetControlMode() override;
-
-private:
-	uint8_t m_deviceNumber;
-	CanTalonSRX *m_impl;
-	MotorSafetyHelper *m_safetyHelper;
-
-  bool m_controlEnabled;
-  ControlMode m_controlMode;
-};
diff --git a/wpilibc/wpilibC++Devices/include/WPILib.h b/wpilibc/wpilibC++Devices/include/WPILib.h
index dabdd2d057..6f75749d7a 100644
--- a/wpilibc/wpilibC++Devices/include/WPILib.h
+++ b/wpilibc/wpilibC++Devices/include/WPILib.h
@@ -23,7 +23,6 @@
 #include "Buttons/JoystickButton.h"
 #include "Buttons/NetworkButton.h"
 #include "CANJaguar.h"
-#include "CANTalon.h"
 #include "Commands/Command.h"
 #include "Commands/CommandGroup.h"
 #include "Commands/PIDCommand.h"
diff --git a/wpilibc/wpilibC++Devices/include/ctre/CanTalonSRX.h b/wpilibc/wpilibC++Devices/include/ctre/CanTalonSRX.h
deleted file mode 100644
index 549d04dec8..0000000000
--- a/wpilibc/wpilibC++Devices/include/ctre/CanTalonSRX.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/**
- * auto generated using spreadsheet and WpiClassGen.csproj
- * @link https://docs.google.com/spreadsheets/d/1OU_ZV7fZLGYUQ-Uhc8sVAmUmWTlT8XBFYK8lfjg_tac/edit#gid=1766046967
- */
-#ifndef CanTalonSRX_H_
-#define CanTalonSRX_H_
-#include "ctre.h"				//BIT Defines + Typedefs
-#include "CtreCanNode.h"
-#include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
-class CanTalonSRX : public CtreCanNode
-{
-public:
-    CanTalonSRX(UINT8 deviceNumber=0);
-    ~CanTalonSRX();
-    void Set(double value);
-
-    /*------------------------ auto generated ----------------------*/
-	CTR_Code GetFault_OverTemp(int &param);
-	CTR_Code GetFault_UnderVoltage(int &param);
-	CTR_Code GetFault_ForLim(int &param);
-	CTR_Code GetFault_RevLim(int &param);
-	CTR_Code GetFault_HardwareFailure(int &param);
-	CTR_Code GetFault_ForSoftLim(int &param);
-	CTR_Code GetFault_RevSoftLim(int &param);
-	CTR_Code GetStckyFault_OverTemp(int &param);
-	CTR_Code GetStckyFault_UnderVoltage(int &param);
-	CTR_Code GetStckyFault_ForLim(int &param);
-	CTR_Code GetStckyFault_RevLim(int &param);
-	CTR_Code GetStckyFault_ForSoftLim(int &param);
-	CTR_Code GetStckyFault_RevSoftLim(int &param);
-	CTR_Code GetAppliedThrottle11(int &param);
-	CTR_Code GetCloseLoopErr(int &param);
-	CTR_Code GetSelectlFeedbackDevice(int &param);
-	CTR_Code GetModeSelect(int &param);
-	CTR_Code GetLimitSwitchEn(int &param);
-	CTR_Code GetLimitSwitchClosedFor(int &param);
-	CTR_Code GetLimitSwitchClosedRev(int &param);
-	CTR_Code GetCloseLoopCellSelect(int &param);
-	CTR_Code GetSensorPosition(int &param);
-	CTR_Code GetSensorVelocity(int &param);
-	CTR_Code GetCurrent(double &param);
-	CTR_Code GetBrakeIsEnabled(int &param);
-	CTR_Code GetEncPosition(int &param);
-	CTR_Code GetEncVel(int &param);
-	CTR_Code GetEncIndexRiseEvents(int &param);
-	CTR_Code GetQuadApin(int &param);
-	CTR_Code GetQuadBpin(int &param);
-	CTR_Code GetQuadIdxpin(int &param);
-	CTR_Code GetAnalogInWithOv(int &param);
-	CTR_Code GetAnalogInVel(int &param);
-	CTR_Code GetTemp(double &param);
-	CTR_Code GetBatteryV(double &param);
-	CTR_Code GetResetCount(int &param);
-	CTR_Code GetResetFlags(int &param);
-	CTR_Code GetFirmVers(int &param);
-	CTR_Code SetDemand24(int param);
-	CTR_Code SetLimitSwitchEn(int param);
-	CTR_Code SetSelectlFeedbackDevice(int param);
-	CTR_Code SetRevMotDuringCloseLoopEn(int param);
-	CTR_Code SetBrakeType(int param);
-	CTR_Code SetModeSelect(int param);
-	CTR_Code SetCloseLoopCellSelect(int param);
-	CTR_Code SetRampThrottle(int param);
-	CTR_Code SetRevEncoderPosAndVel(int param);
-};
-#endif
-
diff --git a/wpilibc/wpilibC++Devices/include/ctre/CtreCanNode.h b/wpilibc/wpilibC++Devices/include/ctre/CtreCanNode.h
deleted file mode 100644
index 59e09398f0..0000000000
--- a/wpilibc/wpilibC++Devices/include/ctre/CtreCanNode.h
+++ /dev/null
@@ -1,116 +0,0 @@
-#ifndef CtreCanNode_H_
-#define CtreCanNode_H_
-#include "ctre.h"				//BIT Defines + Typedefs
-#include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
-#include <pthread.h>
-#include <map>
-#include <string.h> // memcpy
-#include <sys/time.h>
-class CtreCanNode
-{
-public:
-	CtreCanNode(UINT8 deviceNumber);
-    ~CtreCanNode();
-
-	UINT8 GetDeviceNumber()
-	{
-		return _deviceNumber;
-	}
-protected:
-
-
-	template <typename T> class txTask{
-		public:
-			uint32_t arbId;
-			T * toSend;
-			T * operator -> ()
-			{
-				return toSend;
-			}
-			T & operator*()
-			{
-				return *toSend;
-			}
-			bool IsEmpty()
-			{
-				if(toSend == 0)
-					return true;
-				return false;
-			}
-	};
-	template <typename T> class recMsg{
-		public:
-			uint32_t arbId;
-			uint8_t bytes[8];
-			CTR_Code err;
-			T * operator -> ()
-			{
-				return (T *)bytes;
-			}
-			T & operator*()
-			{
-				return *(T *)bytes;
-			}
-	};
-	UINT8 _deviceNumber;
-	void RegisterRx(uint32_t arbId);
-	void RegisterTx(uint32_t arbId, uint32_t periodMs);
-
-	CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
-	void FlushTx(uint32_t arbId);
-
-	template<typename T> txTask<T> GetTx(uint32_t arbId)
-	{
-		txTask<T> retval = {0};
-		txJobs_t::iterator i = _txJobs.find(arbId);
-		if(i != _txJobs.end()){
-			retval.arbId = i->second.arbId;
-			retval.toSend = (T*)i->second.toSend;
-		}
-		return retval;
-	}
-	template<class T> void FlushTx(T & par)
-	{
-		FlushTx(par.arbId);
-	}
-
-	template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
-	{
-		recMsg<T> retval;
-		retval.err = GetRx(arbId,retval.bytes, timeoutMs);
-		return retval;
-	}
-
-private:
-
-	class txJob_t {
-		public:
-			uint32_t arbId;
-			uint8_t toSend[8];
-			uint32_t periodMs;
-	};
-
-	class rxEvent_t{
-		public:
-			uint8_t bytes[8];
-			struct timespec time;
-			rxEvent_t()
-			{
-				bytes[0] = 0;
-				bytes[1] = 0;
-				bytes[2] = 0;
-				bytes[3] = 0;
-				bytes[4] = 0;
-				bytes[5] = 0;
-				bytes[6] = 0;
-				bytes[7] = 0;
-			}
-	};
-
-	typedef std::map<uint32_t,txJob_t> txJobs_t;
-	txJobs_t _txJobs;
-
-	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
-	rxRxEvents_t _rxRxEvents;
-};
-#endif
diff --git a/wpilibc/wpilibC++Devices/include/ctre/ctre.h b/wpilibc/wpilibC++Devices/include/ctre/ctre.h
deleted file mode 100644
index 49dc2f6cf3..0000000000
--- a/wpilibc/wpilibC++Devices/include/ctre/ctre.h
+++ /dev/null
@@ -1,60 +0,0 @@
-#ifndef GLOBAL_H
-#define GLOBAL_H
-
-//Bit Defines
-#define BIT0 0x01
-#define BIT1 0x02
-#define BIT2 0x04
-#define BIT3 0x08
-#define BIT4 0x10
-#define BIT5 0x20
-#define BIT6 0x40
-#define BIT7 0x80
-#define BIT8  0x0100
-#define BIT9  0x0200
-#define BIT10 0x0400
-#define BIT11 0x0800
-#define BIT12 0x1000
-#define BIT13 0x2000
-#define BIT14 0x4000
-#define BIT15 0x8000
-
-//Signed
-typedef	signed char	INT8;
-typedef	signed short	INT16;
-typedef	signed int	INT32;
-typedef	signed long long INT64;
-
-//Unsigned
-typedef	unsigned char	UINT8;
-typedef	unsigned short	UINT16;
-typedef	unsigned int	UINT32;
-typedef	unsigned long long UINT64;
-
-//Other
-typedef	unsigned char	UCHAR;
-typedef unsigned short	USHORT;
-typedef	unsigned int	UINT;
-typedef unsigned long	ULONG;
-
-typedef enum {
-		CTR_OKAY,				//No Error - Function executed as expected
-		CTR_RxTimeout,			/*
-								 *	Receive Timeout
-								 *
-								 *		No module-specific CAN frames have been received in
-								 *	the last 50ms. Function returns the latest received data
-								 *	but may be STALE DATA.
-								 */
-		CTR_TxTimeout,			/*
-								 *	Transmission Timeout
-								 *
-								 *		No module-specific CAN frames were transmitted in
-								 *	the last 50ms. Parameters passed in by the user are loaded
-								 *	for next transmission but have not sent.
-								 */
-		CTR_InvalidParamValue,
-		CTR_UnexpectedArbId,
-}CTR_Code;
-
-#endif
diff --git a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
index ced623a4fa..86f10d936d 100644
--- a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp
@@ -343,7 +343,6 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup)
 			}
 			break;
 		default:
-		  wpi_setWPIErrorWithContext(IncompatibleMode, "The Jaguar only supports Current, Voltage, Position, Speed, and Percent (throttle) modes.");
 			return;
 		}
 		if (syncGroup != 0)
@@ -1159,9 +1158,6 @@ void CANJaguar::SetP(double p)
 		dataSize = packFXP16_16(dataBuffer, p);
 		sendMessage(LM_API_ICTRL_PC, dataBuffer, dataSize);
 		break;
-  default:
-		wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
-    break;
 	}
 
 	m_p = p;
@@ -1196,9 +1192,6 @@ void CANJaguar::SetI(double i)
 		dataSize = packFXP16_16(dataBuffer, i);
 		sendMessage(LM_API_ICTRL_IC, dataBuffer, dataSize);
 		break;
-  default:
-		wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
-    break;
 	}
 
 	m_i = i;
@@ -1233,9 +1226,6 @@ void CANJaguar::SetD(double d)
 		dataSize = packFXP16_16(dataBuffer, d);
 		sendMessage(LM_API_ICTRL_DC, dataBuffer, dataSize);
 		break;
-  default:
-		wpi_setWPIErrorWithContext(IncompatibleMode, "PID constants only apply in Speed, Position, and Current mode");
-    return;
 	}
 
 	m_d = d;
@@ -1323,9 +1313,6 @@ void CANJaguar::EnableControl(double encoderInitialPosition)
 	case kVoltage:
 		sendMessage(LM_API_VCOMP_T_EN, dataBuffer, dataSize);
 		break;
-  default:
-		wpi_setWPIErrorWithContext(IncompatibleMode, "The Jaguar only supports Current, Voltage, Position, Speed, and Percent (throttle) modes.");
-    break;
 	}
 
 	m_controlEnabled = true;
@@ -1366,7 +1353,7 @@ void CANJaguar::DisableControl()
  */
 void CANJaguar::SetPercentMode()
 {
-	SetControlMode(kPercentVbus);
+	ChangeControlMode(kPercentVbus);
 	SetPositionReference(LM_REF_NONE);
 	SetSpeedReference(LM_REF_NONE);
 }
@@ -1381,7 +1368,7 @@ void CANJaguar::SetPercentMode()
  */
 void CANJaguar::SetPercentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
 {
-	SetControlMode(kPercentVbus);
+	ChangeControlMode(kPercentVbus);
 	SetPositionReference(LM_REF_NONE);
 	SetSpeedReference(LM_REF_ENCODER);
 	ConfigEncoderCodesPerRev(codesPerRev);
@@ -1397,7 +1384,7 @@ void CANJaguar::SetPercentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
  */
 void CANJaguar::SetPercentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev)
 {
-	SetControlMode(kPercentVbus);
+	ChangeControlMode(kPercentVbus);
 	SetPositionReference(LM_REF_ENCODER);
 	SetSpeedReference(LM_REF_QUAD_ENCODER);
 	ConfigEncoderCodesPerRev(codesPerRev);
@@ -1412,7 +1399,7 @@ void CANJaguar::SetPercentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRe
 */
 void CANJaguar::SetPercentMode(CANJaguar::PotentiometerStruct)
 {
-	SetControlMode(kPercentVbus);
+	ChangeControlMode(kPercentVbus);
 	SetPositionReference(LM_REF_POT);
 	SetSpeedReference(LM_REF_NONE);
 	ConfigPotentiometerTurns(1);
@@ -1428,7 +1415,7 @@ void CANJaguar::SetPercentMode(CANJaguar::PotentiometerStruct)
  */
 void CANJaguar::SetCurrentMode(double p, double i, double d)
 {
-	SetControlMode(kCurrent);
+	ChangeControlMode(kCurrent);
 	SetPositionReference(LM_REF_NONE);
 	SetSpeedReference(LM_REF_NONE);
 	SetPID(p, i, d);
@@ -1446,7 +1433,7 @@ void CANJaguar::SetCurrentMode(double p, double i, double d)
 */
 void CANJaguar::SetCurrentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, double p, double i, double d)
 {
-	SetControlMode(kCurrent);
+	ChangeControlMode(kCurrent);
 	SetPositionReference(LM_REF_NONE);
 	SetSpeedReference(LM_REF_NONE);
 	ConfigEncoderCodesPerRev(codesPerRev);
@@ -1465,7 +1452,7 @@ void CANJaguar::SetCurrentMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, d
 */
 void CANJaguar::SetCurrentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d)
 {
-	SetControlMode(kCurrent);
+	ChangeControlMode(kCurrent);
 	SetPositionReference(LM_REF_ENCODER);
 	SetSpeedReference(LM_REF_QUAD_ENCODER);
 	ConfigEncoderCodesPerRev(codesPerRev);
@@ -1484,7 +1471,7 @@ void CANJaguar::SetCurrentMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRe
 */
 void CANJaguar::SetCurrentMode(CANJaguar::PotentiometerStruct, double p, double i, double d)
 {
-	SetControlMode(kCurrent);
+	ChangeControlMode(kCurrent);
 	SetPositionReference(LM_REF_POT);
 	SetSpeedReference(LM_REF_NONE);
 	ConfigPotentiometerTurns(1);
@@ -1504,7 +1491,7 @@ void CANJaguar::SetCurrentMode(CANJaguar::PotentiometerStruct, double p, double
  */
 void CANJaguar::SetSpeedMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, double p, double i, double d)
 {
-	SetControlMode(kSpeed);
+	ChangeControlMode(kSpeed);
 	SetPositionReference(LM_REF_NONE);
 	SetSpeedReference(LM_REF_ENCODER);
 	ConfigEncoderCodesPerRev(codesPerRev);
@@ -1523,7 +1510,7 @@ void CANJaguar::SetSpeedMode(CANJaguar::EncoderStruct, uint16_t codesPerRev, dou
 */
 void CANJaguar::SetSpeedMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d)
 {
-	SetControlMode(kSpeed);
+	ChangeControlMode(kSpeed);
 	SetPositionReference(LM_REF_ENCODER);
 	SetSpeedReference(LM_REF_QUAD_ENCODER);
 	ConfigEncoderCodesPerRev(codesPerRev);
@@ -1543,7 +1530,7 @@ void CANJaguar::SetSpeedMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev,
  */
 void CANJaguar::SetPositionMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d)
 {
-	SetControlMode(kPosition);
+	ChangeControlMode(kPosition);
 	SetPositionReference(LM_REF_ENCODER);
 	ConfigEncoderCodesPerRev(codesPerRev);
 	SetPID(p, i, d);
@@ -1558,7 +1545,7 @@ void CANJaguar::SetPositionMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerR
 */
 void CANJaguar::SetPositionMode(CANJaguar::PotentiometerStruct, double p, double i, double d)
 {
-	SetControlMode(kPosition);
+	ChangeControlMode(kPosition);
 	SetPositionReference(LM_REF_POT);
 	ConfigPotentiometerTurns(1);
 	SetPID(p, i, d);
@@ -1570,7 +1557,7 @@ void CANJaguar::SetPositionMode(CANJaguar::PotentiometerStruct, double p, double
 */
 void CANJaguar::SetVoltageMode()
 {
-	SetControlMode(kVoltage);
+	ChangeControlMode(kVoltage);
 	SetPositionReference(LM_REF_NONE);
 	SetSpeedReference(LM_REF_NONE);
 }
@@ -1585,7 +1572,7 @@ void CANJaguar::SetVoltageMode()
 */
 void CANJaguar::SetVoltageMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
 {
-	SetControlMode(kVoltage);
+	ChangeControlMode(kVoltage);
 	SetPositionReference(LM_REF_NONE);
 	SetSpeedReference(LM_REF_ENCODER);
 	ConfigEncoderCodesPerRev(codesPerRev);
@@ -1601,7 +1588,7 @@ void CANJaguar::SetVoltageMode(CANJaguar::EncoderStruct, uint16_t codesPerRev)
 */
 void CANJaguar::SetVoltageMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRev)
 {
-	SetControlMode(kVoltage);
+	ChangeControlMode(kVoltage);
 	SetPositionReference(LM_REF_ENCODER);
 	SetSpeedReference(LM_REF_QUAD_ENCODER);
 	ConfigEncoderCodesPerRev(codesPerRev);
@@ -1616,7 +1603,7 @@ void CANJaguar::SetVoltageMode(CANJaguar::QuadEncoderStruct, uint16_t codesPerRe
 */
 void CANJaguar::SetVoltageMode(CANJaguar::PotentiometerStruct)
 {
-	SetControlMode(kVoltage);
+	ChangeControlMode(kVoltage);
 	SetPositionReference(LM_REF_POT);
 	SetSpeedReference(LM_REF_NONE);
 	ConfigPotentiometerTurns(1);
@@ -1631,7 +1618,7 @@ void CANJaguar::SetVoltageMode(CANJaguar::PotentiometerStruct)
  *
  * @param controlMode The new mode.
  */
-void CANJaguar::SetControlMode(ControlMode controlMode)
+void CANJaguar::ChangeControlMode(ControlMode controlMode)
 {
 	// Disable the previous mode
 	DisableControl();
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
deleted file mode 100644
index 53fa117d36..0000000000
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ /dev/null
@@ -1,462 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2014. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-
-#include "CANTalon.h"
-#include "WPIErrors.h"
-#include "ctre/CanTalonSRX.h"
-
-/**
- * The CANTalon object is currently incomplete. As of Nov 14 2014, we only know
- * for sure that sending a throttle and checking basic values (eg current,
- * temperature) work.
- */
-
-/**
- * Constructor for the CANTalon device.
- * @param deviceNumber The CAN ID of the Talon SRX
- */
-CANTalon::CANTalon(uint8_t deviceNumber)
-	: m_deviceNumber(deviceNumber)
-	, m_impl(new CanTalonSRX(deviceNumber))
-	, m_safetyHelper(new MotorSafetyHelper(this))
-  , m_controlEnabled(false)
-  , m_controlMode(kPercentVbus)
-{
-}
-
-CANTalon::~CANTalon() {
-	delete m_impl;
-	delete m_safetyHelper;
-}
-
-/**
-* Write out the PID value as seen in the PIDOutput base object.
-*
-* @deprecated Call Set instead.
-*
-* @param output Write out the PercentVbus value as was computed by the PIDController
-*/
-void CANTalon::PIDWrite(float output)
-{
-	if (GetControlMode() == kPercentVbus)
-	{
-		Set(output);
-	}
-	else
-	{
-		wpi_setWPIErrorWithContext(IncompatibleMode, "PID only supported in PercentVbus mode");
-	}
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-float CANTalon::Get()
-{
-  return 0.0f;
-}
-
-/**
- * Sets the output set-point value.
- */
-void CANTalon::Set(float value, uint8_t syncGroup)
-{
-  if(m_controlEnabled) {
-    CTR_Code status;
-    switch(GetControlMode()) {
-      case kPercentVbus:
-        {
-          m_impl->Set(value);
-          status = CTR_OKAY;
-        }
-        break;
-      case kFollower:
-        {
-          status = m_impl->SetDemand24((int)value);
-        }
-        break;
-      case kVoltage:
-        {
-          // Voltage is an 8.8 fixed point number.
-          int volts = int(value * 256);
-          status = m_impl->SetDemand24(volts);
-        }
-      default:
-        // TODO: Add support for other modes. Need to figure out what format
-        // SetDemand24 needs.
-        break;
-    }
-    if (status != CTR_OKAY) {
-      wpi_setErrorWithContext(status, getHALErrorMessage(status));
-    }
-  }
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::Disable()
-{
-  // Until Modes other than throttle work, just disable by setting throttle to 0.0.
-  m_impl->Set(0.0); // TODO when firmware is updated, remove this.
-  //m_impl->SetModeSelect(kDisabled); // TODO when firmware is updated, uncomment this.
-  m_controlEnabled = false;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::EnableControl() {
-  SetControlMode(m_controlMode);
-  m_controlEnabled = true;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::SetP(double p)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::SetI(double i)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::SetD(double d)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::SetPID(double p, double i, double d)
-{
-	SetP(p);
-	SetI(i);
-	SetD(d);
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-double CANTalon::GetP()
-{
-	// TODO
-	return 0.0;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-double CANTalon::GetI()
-{
-	// TODO
-	return 0.0;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-double CANTalon::GetD()
-{
-	// TODO
-	return 0.0;
-}
-
-/**
- * Returns the voltage coming in from the battery.
- *
- * @return The input voltage in vols.
- */
-float CANTalon::GetBusVoltage()
-{
-  double voltage;
-  CTR_Code status = m_impl->GetBatteryV(voltage);
-	if(status != CTR_OKAY) {
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-  return voltage;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-float CANTalon::GetOutputVoltage()
-{
-  int throttle11;
-  CTR_Code status = m_impl->GetAppliedThrottle11(throttle11);
-  float voltage = GetBusVoltage() * float(throttle11) / 1023.0;
-	if(status != CTR_OKAY) {
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-	return voltage;
-}
-
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-float CANTalon::GetOutputCurrent()
-{
-  double current;
-
-  CTR_Code status = m_impl->GetCurrent(current);
-	if(status != CTR_OKAY) {
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-
-	return current;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-float CANTalon::GetTemperature()
-{
-  double temp;
-
-  CTR_Code status = m_impl->GetTemp(temp);
-	if(temp != CTR_OKAY) {
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-	return temp;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- *
- * @return The position of the sensor currently providing feedback.
- */
-double CANTalon::GetPosition()
-{
-  int postition;
-  // TODO convert from int to appropriate units (or at least document it).
-
-  CTR_Code status = m_impl->GetSensorPosition(postition);
-	if(status != CTR_OKAY) {
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-	return (double)postition;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- *
- * @returns The speed of the sensor currently providing feedback.
- */
-double CANTalon::GetSpeed()
-{
-  int speed;
-  // TODO convert from int to appropriate units (or at least document it).
-
-  CTR_Code status = m_impl->GetSensorVelocity(speed);
-	if(status != CTR_OKAY) {
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-	return (double)speed;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-bool CANTalon::GetForwardLimitOK()
-{
-	// TODO
-	return false;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-bool CANTalon::GetReverseLimitOK()
-{
-	// TODO
-	return false;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-uint16_t CANTalon::GetFaults()
-{
-	// TODO
-	return 0;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::SetVoltageRampRate(double rampRate)
-{
-	// TODO
-}
-
-/**
- * @return The version of the firmware running on the Talon
- */
-uint32_t CANTalon::GetFirmwareVersion()
-{
-	int firmwareVersion;
-
-	CTR_Code status = m_impl->GetFirmVers(firmwareVersion);
-	if(status != CTR_OKAY) {
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-
-	return firmwareVersion;
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::ConfigNeutralMode(NeutralMode mode)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::ConfigEncoderCodesPerRev(uint16_t codesPerRev)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::ConfigPotentiometerTurns(uint16_t turns)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::DisableSoftPositionLimits()
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::ConfigLimitMode(LimitMode mode)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::ConfigForwardLimit(double forwardLimitPosition)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::ConfigReverseLimit(double reverseLimitPosition)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- * Does this exist on the Talon?
- */
-void CANTalon::ConfigMaxOutputVoltage(double voltage)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- * Does this exist on the Talon?
- */
-void CANTalon::ConfigFaultTime(float faultTime)
-{
-	// TODO
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
-{
-  m_controlMode = mode;
-  CTR_Code status = m_impl->SetModeSelect((int)mode);
-	if(status != CTR_OKAY) {
-		wpi_setErrorWithContext(status, getHALErrorMessage(status));
-	}
-}
-
-/**
- * TODO documentation (see CANJaguar.cpp)
- */
-CANSpeedController::ControlMode CANTalon::GetControlMode()
-{
-  return m_controlMode;
-}
-
-void CANTalon::SetExpiration(float timeout)
-{
-	m_safetyHelper->SetExpiration(timeout);
-}
-
-float CANTalon::GetExpiration()
-{
-	return m_safetyHelper->GetExpiration();
-}
-
-bool CANTalon::IsAlive()
-{
-	return m_safetyHelper->IsAlive();
-}
-
-bool CANTalon::IsSafetyEnabled()
-{
-	return m_safetyHelper->IsSafetyEnabled();
-}
-
-void CANTalon::SetSafetyEnabled(bool enabled)
-{
-	m_safetyHelper->SetSafetyEnabled(enabled);
-}
-
-void CANTalon::GetDescription(char *desc)
-{
-	sprintf(desc, "CANTalon ID %d", m_deviceNumber);
-}
-
-/**
- * Common interface for stopping the motor
- * Part of the MotorSafety interface
- *
- * @deprecated Call Disable instead.
-*/
-void CANTalon::StopMotor()
-{
-  Disable();
-}
diff --git a/wpilibc/wpilibC++IntegrationTests/src/CANTalonTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/CANTalonTest.cpp
deleted file mode 100644
index bc106d1c36..0000000000
--- a/wpilibc/wpilibC++IntegrationTests/src/CANTalonTest.cpp
+++ /dev/null
@@ -1,21 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2014. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-
-#include "WPILib.h"
-#include "gtest/gtest.h"
-#include "TestBench.h"
-
-TEST(CANTalonTest, QuickTest) {
-	CANTalon talon(0);
-  talon.SetControlMode(CANTalon::kPercentVbus);
-  talon.EnableControl();
-  talon.Set(1.0);
-  Wait(0.25);
-  EXPECT_GT(talon.GetOutputCurrent(), 4.0);
-
-  talon.Set(0.0);
-  talon.Disable();
-}