diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java
index e77ecf0812..ac82afa7e8 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java
@@ -10,8 +10,62 @@ import edu.wpi.first.wpilibj.SpeedController;
 /** Interface for motor controlling devices. */
 @SuppressWarnings("removal")
 public interface MotorController extends SpeedController {
+  /**
+   * Common interface for setting the speed of a motor controller.
+   *
+   * @param speed The speed to set. Value should be between -1.0 and 1.0.
+   */
+  @Override
+  void set(double speed);
+
+  /**
+   * Sets the voltage output of the MotorController. Compensates for the current bus voltage to
+   * ensure that the desired voltage is output even if the battery voltage is below 12V - highly
+   * useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward
+   * calculation).
+   *
+   * <p>NOTE: This function *must* be called regularly in order for voltage compensation to work
+   * properly - unlike the ordinary set function, it is not "set it and forget it."
+   *
+   * @param outputVolts The voltage to output.
+   */
   @Override
   default void setVoltage(double outputVolts) {
     set(outputVolts / RobotController.getBatteryVoltage());
   }
+
+  /**
+   * Common interface for getting the current set speed of a motor controller.
+   *
+   * @return The current set speed. Value is between -1.0 and 1.0.
+   */
+  @Override
+  double get();
+
+  /**
+   * Common interface for inverting direction of a motor controller.
+   *
+   * @param isInverted The state of inversion true is inverted.
+   */
+  @Override
+  void setInverted(boolean isInverted);
+
+  /**
+   * Common interface for returning if a motor controller is in the inverted state or not.
+   *
+   * @return isInverted The state of the inversion true is inverted.
+   */
+  @Override
+  boolean getInverted();
+
+  /** Disable the motor controller. */
+  @Override
+  void disable();
+
+  /**
+   * Stops motor movement. Motor can be moved again by calling set without having to re-enable the
+   * motor.
+   */
+  @Override
+  void stopMotor();
 }