diff --git a/firmware/controllers/system/DcMotor.cpp b/firmware/controllers/system/DcMotor.cpp
new file mode 100644
index 0000000000..3ef1e0b89a
--- /dev/null
+++ b/firmware/controllers/system/DcMotor.cpp
@@ -0,0 +1,52 @@
+/**
+ *  @file	DcMotor.cpp
+ *  @author Matthew Kennedy, (c) 2018
+ */
+#include "DcMotor.h"
+
+TwoPinDcMotor::TwoPinDcMotor(SimplePwm* pwm, OutputPin* dir1, OutputPin* dir2)
+    : m_dir1(dir1)
+    , m_dir2(dir2)
+    , m_pwm(pwm)
+{
+
+}
+
+void TwoPinDcMotor::Set(float duty)
+{
+    bool dir;
+
+    if(duty < 0)
+    {
+        dir = false;
+        duty = -duty;
+    }
+    else
+    {
+        dir = true;
+    }
+
+    // Clamp
+    if(duty > 0.95f)
+    {
+        duty = 0.95f;
+    }
+    // Disable for very small duty
+    else if (duty < 0.01f)
+    {
+        duty = 0.0f;
+    }
+
+    if(duty < 0.01f)
+    {
+        m_dir1->setValue(false);
+        m_dir2->setValue(false);
+    }
+    else
+    {
+        m_dir1->setValue(dir);
+        m_dir2->setValue(!dir);
+    }
+
+    m_pwm->setSimplePwmDutyCycle(duty);
+}
diff --git a/firmware/controllers/system/DcMotor.h b/firmware/controllers/system/DcMotor.h
new file mode 100644
index 0000000000..79efa96b81
--- /dev/null
+++ b/firmware/controllers/system/DcMotor.h
@@ -0,0 +1,25 @@
+/**
+ *  @file	DcMotor.h
+ *  @author Matthew Kennedy, (c) 2018
+ */
+#pragma once
+
+#include "pwm_generator_logic.h"
+
+class DcMotor
+{
+public:
+    virtual void Set(float duty) = 0;
+};
+
+class TwoPinDcMotor : public DcMotor
+{
+private:
+    OutputPin* const m_dir1;
+    OutputPin* const m_dir2;
+    SimplePwm* const m_pwm;
+public:
+    TwoPinDcMotor(SimplePwm* pwm, OutputPin* dir1, OutputPin* dir2);
+
+    virtual void Set(float duty) override;
+};
diff --git a/firmware/controllers/system/system.mk b/firmware/controllers/system/system.mk
index bffc2e5385..20b90ca958 100644
--- a/firmware/controllers/system/system.mk
+++ b/firmware/controllers/system/system.mk
@@ -5,4 +5,5 @@ SYSTEMSRC_CPP =	$(PROJECT_DIR)/controllers/system/pwm_generator_logic.cpp \
 	$(PROJECT_DIR)/controllers/system/signal_executor_sleep.cpp \
 	$(PROJECT_DIR)/controllers/system/event_queue.cpp \
 	$(PROJECT_DIR)/controllers/system/efiGpio.cpp \
+	$(PROJECT_DIR)/controllers/system/DcMotor.cpp \
 	$(PROJECT_DIR)/controllers/system/SingleTimerExecutor.cpp
\ No newline at end of file