diff --git a/wpilibc/wpilibC++/include/CANJaguar.h b/wpilibc/wpilibC++/include/CANJaguar.h
index 7f66e5d686..78e20503c7 100644
--- a/wpilibc/wpilibC++/include/CANJaguar.h
+++ b/wpilibc/wpilibC++/include/CANJaguar.h
@@ -7,6 +7,7 @@
 
 #include "ErrorBase.h"
 #include "MotorSafety.h"
+#include "Resource.h"
 #include "MotorSafetyHelper.h"
 #include "PIDOutput.h"
 #include "SpeedController.h"
diff --git a/wpilibc/wpilibC++/lib/CANJaguar.cpp b/wpilibc/wpilibC++/lib/CANJaguar.cpp
index 98781074bd..560fbd5173 100644
--- a/wpilibc/wpilibC++/lib/CANJaguar.cpp
+++ b/wpilibc/wpilibC++/lib/CANJaguar.cpp
@@ -32,6 +32,8 @@ static const uint32_t kFullMessageIDMask = (CAN_MSGID_API_M | CAN_MSGID_MFR_M |
 
 static const int32_t kReceiveStatusAttempts = 50;
 
+static Resource *allocated = NULL;
+
 static int32_t sendMessageHelper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t period)
 {
 	static const uint32_t kTrustedMessages[] = {
@@ -236,6 +238,16 @@ CANJaguar::CANJaguar(uint8_t deviceNumber)
 	, m_maxOutputVoltage (kApproxBusVoltage)
 	, m_safetyHelper (NULL)
 {
+	char buf[64];
+	snprintf(buf, 64, "CANJaguar device number %d", m_deviceNumber);
+	Resource::CreateResourceObject(&allocated, 63);
+
+	if (allocated->Allocate(m_deviceNumber-1, buf) == ~0ul)
+	{
+		CloneError(allocated);
+		return;
+	}
+
 	SetPercentMode();
 	InitCANJaguar();
 	ConfigMaxOutputVoltage(kApproxBusVoltage);
@@ -243,6 +255,8 @@ CANJaguar::CANJaguar(uint8_t deviceNumber)
 
 CANJaguar::~CANJaguar()
 {
+	allocated->Free(m_deviceNumber-1);
+
 	int32_t status;
 
 	// Disable periodic setpoints
diff --git a/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
index b011af0ba4..47a1e4853b 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
@@ -67,6 +67,39 @@ protected:
 	}
 };
 
+/**
+ * Tests that allocating the same CANJaguar port as an already allocated port throws a resource already allocated error code.
+ */
+TEST_F(CANJaguarTest, DuplicateAllocationCausesError) {
+	std::cout<<"The following error is an expected part of the test system"<<std::endl;
+	CANJaguar *m_jaguar = new CANJaguar(TestBench::kCANJaguarID);
+	EXPECT_EQ(wpi_error_value_ResourceAlreadyAllocated, m_jaguar->GetError().GetCode()) << "An error should have been returned";
+	//See WPIErrors.h for error code comparison
+	delete m_jaguar;
+}
+
+/**
+ * Tests that allocating a CANJaguar device beyond the range of devices throws a module index out of range error code.
+ */
+TEST_F(CANJaguarTest, OutOfRangeAllocationCausesError) {
+	std::cout<<"The following error is an expected part of the test system"<<std::endl;
+	CANJaguar *m_jaguar = new CANJaguar(64);
+	EXPECT_EQ( wpi_error_value_ModuleIndexOutOfRange, m_jaguar->GetError().GetCode()) << "An error should have been returned";
+	//See WPIErrors.h for error code comparison
+	delete m_jaguar; //This will also return an error
+}
+
+/**
+ * Tests that allocating a negative CANJaguar device throws a module index out of range error code.
+ */
+TEST_F(CANJaguarTest, OutOfRangeNegativeAllocationCausesError) {
+	std::cout<<"The following error is an expected part of the test system"<<std::endl;
+	CANJaguar *m_jaguar = new CANJaguar(0);
+	EXPECT_EQ(wpi_error_value_ModuleIndexOutOfRange, m_jaguar->GetError().GetCode()) << "An error should have been returned";
+	//See WPIErrors.h for error code comparison
+	delete m_jaguar; //This will also return an error
+}
+
 /**
  * Checks the default status data for reasonable values to confirm that we're
  * really getting status data from the Jaguar.