diff --git a/wpilibc/athena/src/AnalogGyro.cpp b/wpilibc/athena/src/AnalogGyro.cpp
new file mode 100644
index 0000000..d3e2cc6
--- /dev/null
+++ b/wpilibc/athena/src/AnalogGyro.cpp
@@ -0,0 +1,284 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogGyro.h"
+#include "HAL/AnalogGyro.h"
+
+#include <climits>
+
+#include "AnalogInput.h"
+#include "HAL/Errors.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "Timer.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+const int AnalogGyro::kOversampleBits;
+const int AnalogGyro::kAverageBits;
+constexpr double AnalogGyro::kSamplesPerSecond;
+constexpr double AnalogGyro::kCalibrationSampleTime;
+constexpr double AnalogGyro::kDefaultVoltsPerDegreePerSecond;
+
+/**
+ * Gyro constructor using the Analog Input channel number.
+ *
+ * @param channel The analog channel the gyro is connected to. Gyros can only
+ *                be used on on-board Analog Inputs 0-1.
+ */
+AnalogGyro::AnalogGyro(int channel)
+    : AnalogGyro(std::make_shared<AnalogInput>(channel)) {}
+
+/**
+ * Gyro constructor with a precreated AnalogInput object.
+ *
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this
+ * constructor.
+ *
+ * Gyros can only be used on on-board channels 0-1.
+ *
+ * @param channel A pointer to the AnalogInput object that the gyro is
+ *                connected to.
+ */
+AnalogGyro::AnalogGyro(AnalogInput* channel)
+    : AnalogGyro(
+          std::shared_ptr<AnalogInput>(channel, NullDeleter<AnalogInput>())) {}
+
+/**
+ * Gyro constructor with a precreated AnalogInput object.
+ *
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this
+ * constructor.
+ *
+ * @param channel A pointer to the AnalogInput object that the gyro is
+ *                connected to.
+ */
+AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
+    : m_analog(channel) {
+  if (channel == nullptr) {
+    wpi_setWPIError(NullParameter);
+  } else {
+    InitGyro();
+    Calibrate();
+  }
+}
+
+/**
+ * Gyro constructor using the Analog Input channel number with parameters for
+ * presetting the center and offset values. Bypasses calibration.
+ *
+ * @param channel The analog channel the gyro is connected to. Gyros can only
+ *                be used on on-board Analog Inputs 0-1.
+ * @param center  Preset uncalibrated value to use as the accumulator center
+ *                value.
+ * @param offset  Preset uncalibrated value to use as the gyro offset.
+ */
+AnalogGyro::AnalogGyro(int channel, int center, double offset) {
+  m_analog = std::make_shared<AnalogInput>(channel);
+  InitGyro();
+  int32_t status = 0;
+  HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
+                              offset, center, &status);
+  if (status != 0) {
+    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+    m_gyroHandle = HAL_kInvalidHandle;
+    return;
+  }
+  Reset();
+}
+
+/**
+ * Gyro constructor with a precreated AnalogInput object and calibrated
+ * parameters.
+ *
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this
+ * constructor.
+ *
+ * @param channel A pointer to the AnalogInput object that the gyro is
+ *                connected to.
+ */
+AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
+                       double offset)
+    : m_analog(channel) {
+  if (channel == nullptr) {
+    wpi_setWPIError(NullParameter);
+  } else {
+    InitGyro();
+    int32_t status = 0;
+    HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
+                                offset, center, &status);
+    if (status != 0) {
+      wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+      m_gyroHandle = HAL_kInvalidHandle;
+      return;
+    }
+    Reset();
+  }
+}
+
+/**
+ * AnalogGyro Destructor
+ *
+ */
+AnalogGyro::~AnalogGyro() { HAL_FreeAnalogGyro(m_gyroHandle); }
+
+/**
+ * Reset the gyro.
+ *
+ * Resets the gyro to a heading of zero. This can be used if there is
+ * significant drift in the gyro and it needs to be recalibrated after it has
+ * been running.
+ */
+void AnalogGyro::Reset() {
+  if (StatusIsFatal()) return;
+  int32_t status = 0;
+  HAL_ResetAnalogGyro(m_gyroHandle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Initialize the gyro.  Calibration is handled by Calibrate().
+ */
+void AnalogGyro::InitGyro() {
+  if (StatusIsFatal()) return;
+  if (m_gyroHandle == HAL_kInvalidHandle) {
+    int32_t status = 0;
+    m_gyroHandle = HAL_InitializeAnalogGyro(m_analog->m_port, &status);
+    if (status == PARAMETER_OUT_OF_RANGE) {
+      wpi_setWPIErrorWithContext(ParameterOutOfRange,
+                                 " channel (must be accumulator channel)");
+      m_analog = nullptr;
+      m_gyroHandle = HAL_kInvalidHandle;
+      return;
+    }
+    if (status != 0) {
+      wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+      m_analog = nullptr;
+      m_gyroHandle = HAL_kInvalidHandle;
+      return;
+    }
+  }
+
+  int32_t status = 0;
+  HAL_SetupAnalogGyro(m_gyroHandle, &status);
+  if (status != 0) {
+    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+    m_analog = nullptr;
+    m_gyroHandle = HAL_kInvalidHandle;
+    return;
+  }
+
+  HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
+  LiveWindow::GetInstance()->AddSensor("AnalogGyro", m_analog->GetChannel(),
+                                       this);
+}
+
+void AnalogGyro::Calibrate() {
+  if (StatusIsFatal()) return;
+  int32_t status = 0;
+  HAL_CalibrateAnalogGyro(m_gyroHandle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Return the actual angle in degrees that the robot is currently facing.
+ *
+ * The angle is based on the current accumulator value corrected by the
+ * oversampling rate, the gyro type and the A/D calibration values.
+ * The angle is continuous, that is it will continue from 360->361 degrees. This
+ * allows algorithms that wouldn't want to see a discontinuity in the gyro
+ * output as it sweeps from 360 to 0 on the second time around.
+ *
+ * @return the current heading of the robot in degrees. This heading is based on
+ *         integration of the returned rate from the gyro.
+ */
+double AnalogGyro::GetAngle() const {
+  if (StatusIsFatal()) return 0.0;
+  int32_t status = 0;
+  double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return value;
+}
+
+/**
+ * Return the rate of rotation of the gyro
+ *
+ * The rate is based on the most recent reading of the gyro analog value
+ *
+ * @return the current rate in degrees per second
+ */
+double AnalogGyro::GetRate() const {
+  if (StatusIsFatal()) return 0.0;
+  int32_t status = 0;
+  double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return value;
+}
+
+/**
+ * Return the gyro offset value. If run after calibration,
+ * the offset value can be used as a preset later.
+ *
+ * @return the current offset value
+ */
+double AnalogGyro::GetOffset() const {
+  if (StatusIsFatal()) return 0.0;
+  int32_t status = 0;
+  double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return value;
+}
+
+/**
+ * Return the gyro center value. If run after calibration,
+ * the center value can be used as a preset later.
+ *
+ * @return the current center value
+ */
+int AnalogGyro::GetCenter() const {
+  if (StatusIsFatal()) return 0;
+  int32_t status = 0;
+  int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return value;
+}
+
+/**
+ * Set the gyro sensitivity.
+ *
+ * This takes the number of volts/degree/second sensitivity of the gyro and uses
+ * it in subsequent calculations to allow the code to work with multiple gyros.
+ * This value is typically found in the gyro datasheet.
+ *
+ * @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
+ */
+void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) {
+  int32_t status = 0;
+  HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
+                                           voltsPerDegreePerSecond, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the size of the neutral zone.
+ *
+ * Any voltage from the gyro less than this amount from the center is
+ * considered stationary.  Setting a deadband will decrease the amount of drift
+ * when the gyro isn't rotating, but will make it less accurate.
+ *
+ * @param volts The size of the deadband in volts
+ */
+void AnalogGyro::SetDeadband(double volts) {
+  if (StatusIsFatal()) return;
+  int32_t status = 0;
+  HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}