diff --git a/wpilibc/Athena/src/AnalogAccelerometer.cpp b/wpilibc/Athena/src/AnalogAccelerometer.cpp
new file mode 100644
index 0000000..5cf41d9
--- /dev/null
+++ b/wpilibc/Athena/src/AnalogAccelerometer.cpp
@@ -0,0 +1,128 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogAccelerometer.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Common function for initializing the accelerometer.
+ */
+void AnalogAccelerometer::InitAccelerometer() {
+  HALReport(HALUsageReporting::kResourceType_Accelerometer,
+            m_analogInput->GetChannel());
+  LiveWindow::GetInstance()->AddSensor("Accelerometer",
+                                       m_analogInput->GetChannel(), this);
+}
+
+/**
+ * Create a new instance of an accelerometer.
+ * The constructor allocates desired analog input.
+ * @param channel The channel number for the analog input the accelerometer is
+ * connected to
+ */
+AnalogAccelerometer::AnalogAccelerometer(int32_t channel) {
+  m_analogInput = std::make_shared<AnalogInput>(channel);
+  InitAccelerometer();
+}
+
+/**
+ * Create a new instance of Accelerometer from an existing AnalogInput.
+ * Make a new instance of accelerometer given an AnalogInput. This is
+ * particularly useful if the port is going to be read as an analog channel as
+ * well as through the Accelerometer class.
+ * @param channel The existing AnalogInput object for the analog input the
+ * accelerometer is connected to
+ */
+AnalogAccelerometer::AnalogAccelerometer(AnalogInput *channel)
+    : m_analogInput(channel, NullDeleter<AnalogInput>()) {
+  if (channel == nullptr) {
+    wpi_setWPIError(NullParameter);
+  } else {
+    InitAccelerometer();
+  }
+}
+
+/**
+ * Create a new instance of Accelerometer from an existing AnalogInput.
+ * Make a new instance of accelerometer given an AnalogInput. This is
+ * particularly useful if the port is going to be read as an analog channel as
+ * well as through the Accelerometer class.
+ * @param channel The existing AnalogInput object for the analog input the
+ * accelerometer is connected to
+ */
+AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
+    : m_analogInput(channel) {
+  if (channel == nullptr) {
+    wpi_setWPIError(NullParameter);
+  } else {
+    InitAccelerometer();
+  }
+}
+
+/**
+ * Return the acceleration in Gs.
+ *
+ * The acceleration is returned units of Gs.
+ *
+ * @return The current acceleration of the sensor in Gs.
+ */
+float AnalogAccelerometer::GetAcceleration() const {
+  return (m_analogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
+}
+
+/**
+ * Set the accelerometer sensitivity.
+ *
+ * This sets the sensitivity of the accelerometer used for calculating the
+ * acceleration.
+ * The sensitivity varies by accelerometer model. There are constants defined
+ * for various models.
+ *
+ * @param sensitivity The sensitivity of accelerometer in Volts per G.
+ */
+void AnalogAccelerometer::SetSensitivity(float sensitivity) {
+  m_voltsPerG = sensitivity;
+}
+
+/**
+ * Set the voltage that corresponds to 0 G.
+ *
+ * The zero G voltage varies by accelerometer model. There are constants defined
+ * for various models.
+ *
+ * @param zero The zero G voltage.
+ */
+void AnalogAccelerometer::SetZero(float zero) { m_zeroGVoltage = zero; }
+
+/**
+ * Get the Acceleration for the PID Source parent.
+ *
+ * @return The current acceleration in Gs.
+ */
+double AnalogAccelerometer::PIDGet() { return GetAcceleration(); }
+
+void AnalogAccelerometer::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutNumber("Value", GetAcceleration());
+  }
+}
+
+void AnalogAccelerometer::StartLiveWindowMode() {}
+
+void AnalogAccelerometer::StopLiveWindowMode() {}
+
+std::string AnalogAccelerometer::GetSmartDashboardType() const {
+  return "Accelerometer";
+}
+
+void AnalogAccelerometer::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> AnalogAccelerometer::GetTable() const { return m_table; }