diff --git a/src/main/resources/PaletteDescription.yaml b/src/main/resources/PaletteDescription.yaml
index d6b25e2..9612781 100644
--- a/src/main/resources/PaletteDescription.yaml
+++ b/src/main/resources/PaletteDescription.yaml
@@ -586,7 +586,7 @@ Palette:
         properties:
           - !ChoicesProperty
             name: Type
-            choices: ["Victor", "Jaguar", "Talon", "VictorSP", "TalonSRX"]
+            choices: ["Victor", "Jaguar", "Talon", "VictorSP", "TalonSRX", "CAN TalonSRX"]
             default: "Talon"
           #PWMOutput("Output")
 
@@ -601,6 +601,16 @@ Palette:
             choices: ["2", "3", "4", "5", "6", "7", "8", "9", "10", "11", "12", "13", "14", "15", "16", "17", "18", "19", "20"]
             default: "2"
       - !Component
+        name: CAN TalonSRX
+        type: PIDOutput
+        help: A speed controller that allows you to set the speed of a motor using CAN.
+        properties:
+          - !ChoicesProperty
+            name: CAN ID
+            validators: [CANID]
+            choices: ["2", "3", "4", "5", "6", "7", "8", "9", "10", "11", "12", "13", "14", "15", "16", "17", "18", "19", "20"]
+            default: "2"
+      - !Component
         name: Servo
         type: Actuator
         help: A controllable motor; typically has a limited rotation.
diff --git a/src/main/resources/export/cpp/ExportDescription.yaml b/src/main/resources/export/cpp/ExportDescription.yaml
index ebeda6c..7ff4c09 100644
--- a/src/main/resources/export/cpp/ExportDescription.yaml
+++ b/src/main/resources/export/cpp/ExportDescription.yaml
@@ -244,6 +244,10 @@ Instructions:
     Defaults: "Component,None"
     ClassName: "CANJaguar"
     Construction: "#variable($Name) = new ${ClassName}($CAN_ID);"
+  CAN TalonSRX:
+    Defaults: "Component,None"
+    ClassName: "CANTalon"
+    Construction: "#variable($Name) = new ${ClassName}($CAN_ID);"
   Servo:
     Defaults: "PWMOutput,Component,None"
     ClassName: "Servo"
diff --git a/src/main/resources/export/java/ExportDescription.yaml b/src/main/resources/export/java/ExportDescription.yaml
index c4908a6..0704b76 100644
--- a/src/main/resources/export/java/ExportDescription.yaml
+++ b/src/main/resources/export/java/ExportDescription.yaml
@@ -259,6 +259,11 @@ Instructions:
     ClassName: "CANJaguar"
     Import: "import edu.wpi.first.wpilibj.can.*;"
     Construction: "#variable($Name) = new CANJaguar($CAN_ID);"
+  CAN TalonSRX:
+    Defaults: "Component,None"
+    ClassName: "CANTalon"
+    Import: "import edu.wpi.first.wpilibj.can.*;"
+    Construction: "#variable($Name) = new CANTalon($CAN_ID);"
   Servo:
     Defaults: "PWMOutput,Component,None"
     ClassName: "Servo"