diff --git a/wpilibc/Athena/src/GyroBase.cpp b/wpilibc/Athena/src/GyroBase.cpp
new file mode 100644
index 0000000..4cc9056
--- /dev/null
+++ b/wpilibc/Athena/src/GyroBase.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "GyroBase.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Get the PIDOutput for the PIDSource base object. Can be set to return
+ * angle or rate using SetPIDSourceType(). Defaults to angle.
+ *
+ * @return The PIDOutput (angle or rate, defaults to angle)
+ */
+double GyroBase::PIDGet() {
+  switch (GetPIDSourceType()) {
+    case PIDSourceType::kRate:
+      return GetRate();
+    case PIDSourceType::kDisplacement:
+      return GetAngle();
+    default:
+      return 0;
+  }
+}
+
+void GyroBase::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutNumber("Value", GetAngle());
+  }
+}
+
+void GyroBase::StartLiveWindowMode() {}
+
+void GyroBase::StopLiveWindowMode() {}
+
+std::string GyroBase::GetSmartDashboardType() const { return "Gyro"; }
+
+void GyroBase::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> GyroBase::GetTable() const { return m_table; }