diff --git a/wpilibc/simulation/include/AnalogGyro.h b/wpilibc/simulation/include/AnalogGyro.h
new file mode 100644
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+++ b/wpilibc/simulation/include/AnalogGyro.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "GyroBase.h"
+#include "simulation/SimGyro.h"
+
+#include <memory>
+
+class AnalogInput;
+class AnalogModule;
+
+/**
+ * Use a rate gyro to return the robots heading relative to a starting position.
+ * The AnalogGyro class tracks the robots heading based on the starting position. As the robot
+ * rotates the new heading is computed by integrating the rate of rotation returned
+ * by the sensor. When the class is instantiated, it does a short calibration routine
+ * where it samples the gyro while at rest to determine the default offset. This is
+ * subtracted from each sample to determine the heading. This gyro class must be used
+ * with a channel that is assigned one of the Analog accumulators from the FPGA. See
+ * AnalogInput for the current accumulator assignments.
+ */
+class AnalogGyro : public GyroBase
+{
+public:
+	static const uint32_t kOversampleBits;
+	static const uint32_t kAverageBits;
+	static const float kSamplesPerSecond;
+	static const float kCalibrationSampleTime;
+	static const float kDefaultVoltsPerDegreePerSecond;
+
+	explicit AnalogGyro(uint32_t channel);
+	virtual ~AnalogGyro() = default;
+	float GetAngle() const;
+	void Calibrate() override;
+	double GetRate() const;
+	void Reset();
+
+private:
+	void InitAnalogGyro(int channel);
+
+	SimGyro* impl;
+
+	std::shared_ptr<ITable> m_table;
+};