diff --git a/wpilibc/simulation/include/Gyro.h b/wpilibc/simulation/include/Gyro.h
new file mode 100644
index 0000000..7e4e40a
--- /dev/null
+++ b/wpilibc/simulation/include/Gyro.h
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* 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.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "SensorBase.h"
+#include "PIDSource.h"
+#include "LiveWindow/LiveWindowSendable.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 Gyro 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 Gyro : public SensorBase, public PIDSource, public LiveWindowSendable
+{
+public:
+	static const uint32_t kOversampleBits;
+	static const uint32_t kAverageBits;
+	static const float kSamplesPerSecond;
+	static const float kCalibrationSampleTime;
+	static const float kDefaultVoltsPerDegreePerSecond;
+
+	explicit Gyro(uint32_t channel);
+	virtual ~Gyro() = default;
+	virtual float GetAngle() const;
+	virtual double GetRate() const;
+	virtual void Reset();
+
+	// PIDSource interface
+	void SetPIDSourceType(PIDSourceType pidSource) override;
+	double PIDGet() override;
+
+	void UpdateTable() override;
+	void StartLiveWindowMode() override;
+	void StopLiveWindowMode() override;
+	std::string GetSmartDashboardType() const override;
+	void InitTable(std::shared_ptr<ITable> subTable) override;
+	std::shared_ptr<ITable> GetTable() const override;
+
+private:
+	void InitGyro(int channel);
+
+	SimGyro* impl;
+
+	std::shared_ptr<ITable> m_table;
+};