diff --git a/wpilibc/sim/include/AnalogGyro.h b/wpilibc/sim/include/AnalogGyro.h
new file mode 100644
index 0000000..1d08d4c
--- /dev/null
+++ b/wpilibc/sim/include/AnalogGyro.h
@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include "GyroBase.h"
+#include "simulation/SimGyro.h"
+
+namespace frc {
+
+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 int kOversampleBits;
+  static const int kAverageBits;
+  static const double kSamplesPerSecond;
+  static const double kCalibrationSampleTime;
+  static const double kDefaultVoltsPerDegreePerSecond;
+
+  explicit AnalogGyro(int channel);
+  virtual ~AnalogGyro() = default;
+  double GetAngle() const;
+  void Calibrate() override;
+  double GetRate() const;
+  void Reset();
+
+ private:
+  void InitAnalogGyro(int channel);
+
+  SimGyro* impl;
+
+  std::shared_ptr<ITable> m_table;
+};
+
+}  // namespace frc