diff --git a/wpilibc/wpilibC++/include/ADXL345_I2C.h b/wpilibc/wpilibC++/include/ADXL345_I2C.h
index 3839c615a2..86fe41c407 100644
--- a/wpilibc/wpilibC++/include/ADXL345_I2C.h
+++ b/wpilibc/wpilibC++/include/ADXL345_I2C.h
@@ -5,6 +5,7 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
+#include "interfaces/Accelerometer.h"
 #include "I2C.h"
 
 /**
@@ -13,7 +14,7 @@
  * This class allows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus.
  * This class assumes the default (not alternate) sensor address of 0x1D (7-bit address).
  */
-class ADXL345_I2C : public I2C
+class ADXL345_I2C : public Accelerometer, public I2C
 {
 protected:
 	static const uint8_t kAddress = 0x1D;
@@ -26,7 +27,6 @@ protected:
 		kDataFormat_FullRes=0x08, kDataFormat_Justify=0x04};
 
 public:
-	enum DataFormat_Range {kRange_2G=0x00, kRange_4G=0x01, kRange_8G=0x02, kRange_16G=0x03};
 	enum Axes {kAxis_X=0x00, kAxis_Y=0x02, kAxis_Z=0x04};
 	struct AllAxes
 	{
@@ -36,8 +36,15 @@ public:
 	};
 
 public:
-	ADXL345_I2C(Port port, DataFormat_Range range=kRange_2G);
+	ADXL345_I2C(Port port, Range range = kRange_2G);
 	virtual ~ADXL345_I2C();
+
+	// Accelerometer interface
+	virtual void SetRange(Range range);
+	virtual double GetX();
+	virtual double GetY();
+	virtual double GetZ();
+
 	virtual double GetAcceleration(Axes axis);
 	virtual AllAxes GetAccelerations();
 
diff --git a/wpilibc/wpilibC++/include/ADXL345_SPI.h b/wpilibc/wpilibC++/include/ADXL345_SPI.h
index be1e26b2e9..4cfc64eff0 100644
--- a/wpilibc/wpilibC++/include/ADXL345_SPI.h
+++ b/wpilibc/wpilibC++/include/ADXL345_SPI.h
@@ -5,6 +5,7 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
+#include "interfaces/Accelerometer.h"
 #include "SensorBase.h"
 #include "SPI.h"
 
@@ -17,7 +18,7 @@ class DigitalOutput;
  * This class allows access to an Analog Devices ADXL345 3-axis accelerometer via SPI.
  * This class assumes the sensor is wired in 4-wire SPI mode.
  */
-class ADXL345_SPI : public SensorBase
+class ADXL345_SPI : public Accelerometer, public SensorBase
 {
 protected:
 	static const uint8_t kPowerCtlRegister = 0x2D;
@@ -30,7 +31,6 @@ protected:
 		kDataFormat_FullRes=0x08, kDataFormat_Justify=0x04};
 
 public:
-	enum DataFormat_Range {kRange_2G=0x00, kRange_4G=0x01, kRange_8G=0x02, kRange_16G=0x03};
 	enum Axes {kAxis_X=0x00, kAxis_Y=0x02, kAxis_Z=0x04};
 	struct AllAxes
 	{
@@ -40,13 +40,20 @@ public:
 	};
 
 public:
-	ADXL345_SPI(SPI::Port port, DataFormat_Range range=kRange_2G);
+	ADXL345_SPI(SPI::Port port, Range range=kRange_2G);
 	virtual ~ADXL345_SPI();
+
+	// Accelerometer interface
+	virtual void SetRange(Range range);
+	virtual double GetX();
+	virtual double GetY();
+	virtual double GetZ();
+
 	virtual double GetAcceleration(Axes axis);
 	virtual AllAxes GetAccelerations();
 
 protected:
-	void Init(DataFormat_Range range);
+	void Init(Range range);
 
 	SPI* m_spi;
 	SPI::Port m_port;
diff --git a/wpilibc/wpilibC++/include/Accelerometer.h b/wpilibc/wpilibC++/include/AnalogAccelerometer.h
similarity index 81%
rename from wpilibc/wpilibC++/include/Accelerometer.h
rename to wpilibc/wpilibC++/include/AnalogAccelerometer.h
index dc3b5feba3..4135101aab 100644
--- a/wpilibc/wpilibC++/include/Accelerometer.h
+++ b/wpilibc/wpilibC++/include/AnalogAccelerometer.h
@@ -11,16 +11,16 @@
 #include "LiveWindow/LiveWindowSendable.h"
 
 /**
- * Handle operation of the accelerometer.
+ * Handle operation of an analog accelerometer.
  * The accelerometer reads acceleration directly through the sensor. Many sensors have
  * multiple axis and can be treated as multiple devices. Each is calibrated by finding
  * the center value over a period of time.
  */
-class Accelerometer : public SensorBase, public PIDSource, public LiveWindowSendable {
+class AnalogAccelerometer : public SensorBase, public PIDSource, public LiveWindowSendable {
 public:
-	explicit Accelerometer(uint32_t channel);
-	explicit Accelerometer(AnalogInput *channel);
-	virtual ~Accelerometer();
+	explicit AnalogAccelerometer(uint32_t channel);
+	explicit AnalogAccelerometer(AnalogInput *channel);
+	virtual ~AnalogAccelerometer();
 
 	float GetAcceleration();
 	void SetSensitivity(float sensitivity);
diff --git a/wpilibc/wpilibC++/include/BuiltInAccelerometer.h b/wpilibc/wpilibC++/include/BuiltInAccelerometer.h
index d065e263be..83780cbaba 100644
--- a/wpilibc/wpilibC++/include/BuiltInAccelerometer.h
+++ b/wpilibc/wpilibC++/include/BuiltInAccelerometer.h
@@ -5,6 +5,7 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
+#include "interfaces/Accelerometer.h"
 #include "SensorBase.h"
 #include "LiveWindow/LiveWindowSendable.h"
 
@@ -13,20 +14,16 @@
  *
  * This class allows access to the RoboRIO's internal accelerometer.
  */
-class BuiltInAccelerometer : public SensorBase, public LiveWindowSendable
+class BuiltInAccelerometer : public Accelerometer, public SensorBase, public LiveWindowSendable
 {
 public:
-	enum Range
-	{
-		kRange_2G = 0x00,
-		kRange_4G = 0x01,
-		kRange_8G = 0x02,
-	};
-
 	BuiltInAccelerometer(Range range = kRange_8G);
-	virtual double GetX() const;
-	virtual double GetY() const;
-	virtual double GetZ() const;
+
+	// Accelerometer interface
+	virtual void SetRange(Range range);
+	virtual double GetX();
+	virtual double GetY();
+	virtual double GetZ();
 
 	virtual std::string GetSmartDashboardType();
 	virtual void InitTable(ITable *subtable);
diff --git a/wpilibc/wpilibC++/include/WPILib.h b/wpilibc/wpilibC++/include/WPILib.h
index bfd4ed9ccd..5877fad29c 100644
--- a/wpilibc/wpilibC++/include/WPILib.h
+++ b/wpilibc/wpilibC++/include/WPILib.h
@@ -10,9 +10,9 @@
 #include "string.h"
 #include <iostream>
 
-#include "Accelerometer.h"
 #include "ADXL345_I2C.h"
 #include "ADXL345_SPI.h"
+#include "AnalogAccelerometer.h"
 #include "AnalogInput.h"
 #include "AnalogOutput.h"
 #include "AnalogPotentiometer.h"
@@ -51,6 +51,7 @@
 #include "GearTooth.h"
 #include "GenericHID.h"
 #include "Gyro.h"
+#include "interfaces/Accelerometer.h"
 #include "interfaces/Potentiometer.h"
 #include "I2C.h"
 #include "IterativeRobot.h"
diff --git a/wpilibc/wpilibC++/include/interfaces/Accelerometer.h b/wpilibc/wpilibC++/include/interfaces/Accelerometer.h
new file mode 100644
index 0000000000..609e9bcffc
--- /dev/null
+++ b/wpilibc/wpilibC++/include/interfaces/Accelerometer.h
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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
+
+/**
+ * Interface for 3-axis accelerometers
+ */
+class Accelerometer
+{
+public:
+	virtual ~Accelerometer() {};
+
+	enum Range
+	{
+		kRange_2G = 0,
+		kRange_4G = 1,
+		kRange_8G = 2,
+		kRange_16G = 3
+	};
+
+	/**
+	 * Common interface for setting the measuring range of an accelerometer.
+	 *
+	 * @param range The maximum acceleration, positive or negative, that the
+	 * accelerometer will measure.  Not all accelerometers support all ranges.
+	 */
+	virtual void SetRange(Range range) = 0;
+
+	/**
+	 * Common interface for getting the x axis acceleration
+	 *
+	 * @return The acceleration along the x axis in g-forces
+	 */
+	virtual double GetX() = 0;
+
+	/**
+	 * Common interface for getting the y axis acceleration
+	 *
+	 * @return The acceleration along the y axis in g-forces
+	 */
+	virtual double GetY() = 0;
+
+	/**
+	 * Common interface for getting the z axis acceleration
+	 *
+	 * @return The acceleration along the z axis in g-forces
+	 */
+	virtual double GetZ() = 0;
+};
diff --git a/wpilibc/wpilibC++/lib/ADXL345_I2C.cpp b/wpilibc/wpilibC++/lib/ADXL345_I2C.cpp
index 4177be63a6..9d6593aed5 100644
--- a/wpilibc/wpilibC++/lib/ADXL345_I2C.cpp
+++ b/wpilibc/wpilibC++/lib/ADXL345_I2C.cpp
@@ -19,7 +19,7 @@ constexpr double ADXL345_I2C::kGsPerLSB;
  *
  * @param range The range (+ or -) that the accelerometer will measure.
  */
-ADXL345_I2C::ADXL345_I2C(Port port, ADXL345_I2C::DataFormat_Range range):
+ADXL345_I2C::ADXL345_I2C(Port port, Range range):
 		I2C(port, kAddress)
 {
 		//m_i2c = new I2C((I2C::Port)port, kAddress);
@@ -27,7 +27,7 @@ ADXL345_I2C::ADXL345_I2C(Port port, ADXL345_I2C::DataFormat_Range range):
 		// Turn on the measurements
 		Write(kPowerCtlRegister, kPowerCtl_Measure);
 		// Specify the data format to read
-		Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
+		SetRange(range);
 
 		HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, 0);
 }
@@ -41,6 +41,30 @@ ADXL345_I2C::~ADXL345_I2C()
 	//m_i2c = NULL;
 }
 
+/** {@inheritdoc} */
+void ADXL345_I2C::SetRange(Range range)
+{
+	Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
+}
+
+/** {@inheritdoc} */
+double ADXL345_I2C::GetX()
+{
+	return GetAcceleration(kAxis_X);
+}
+
+/** {@inheritdoc} */
+double ADXL345_I2C::GetY()
+{
+	return GetAcceleration(kAxis_Y);
+}
+
+/** {@inheritdoc} */
+double ADXL345_I2C::GetZ()
+{
+	return GetAcceleration(kAxis_Z);
+}
+
 /**
  * Get the acceleration of one axis in Gs.
  *
diff --git a/wpilibc/wpilibC++/lib/ADXL345_SPI.cpp b/wpilibc/wpilibC++/lib/ADXL345_SPI.cpp
index fe71ff6bd9..ecc7de6106 100644
--- a/wpilibc/wpilibC++/lib/ADXL345_SPI.cpp
+++ b/wpilibc/wpilibC++/lib/ADXL345_SPI.cpp
@@ -14,7 +14,7 @@ const uint8_t ADXL345_SPI::kDataFormatRegister;
 const uint8_t ADXL345_SPI::kDataRegister;
 constexpr double ADXL345_SPI::kGsPerLSB;
 
-ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::DataFormat_Range range)
+ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
 {
 	m_port = port;
 	Init(range);
@@ -23,7 +23,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::DataFormat_Range range)
 /**
  * Internal common init function.
  */
-void ADXL345_SPI::Init(DataFormat_Range range)
+void ADXL345_SPI::Init(Range range)
 {
 		m_spi = new SPI(m_port);
 		m_spi->SetClockRate(500000);
@@ -37,10 +37,8 @@ void ADXL345_SPI::Init(DataFormat_Range range)
 		commands[0] = kPowerCtlRegister;
 		commands[1] = kPowerCtl_Measure;
 		m_spi->Transaction(commands, commands, 2);
-		// Specify the data format to read
-		commands[0] = kDataFormatRegister;
-		commands[1] = kDataFormat_FullRes| (uint8_t)(range & 0x03);
-		m_spi->Transaction(commands, commands, 2);
+
+		SetRange(range);
 
 		HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_SPI);
 }
@@ -54,6 +52,35 @@ ADXL345_SPI::~ADXL345_SPI()
 	m_spi = NULL;
 }
 
+/** {@inheritdoc} */
+void ADXL345_SPI::SetRange(Range range)
+{
+	uint8_t commands[2];
+	
+	// Specify the data format to read
+	commands[0] = kDataFormatRegister;
+	commands[1] = kDataFormat_FullRes| (uint8_t)(range & 0x03);
+	m_spi->Transaction(commands, commands, 2);
+}
+
+/** {@inheritdoc} */
+double ADXL345_SPI::GetX()
+{
+	return GetAcceleration(kAxis_X);
+}
+
+/** {@inheritdoc} */
+double ADXL345_SPI::GetY()
+{
+	return GetAcceleration(kAxis_Y);
+}
+
+/** {@inheritdoc} */
+double ADXL345_SPI::GetZ()
+{
+	return GetAcceleration(kAxis_Z);
+}
+
 /**
  * Get the acceleration of one axis in Gs.
  *
diff --git a/wpilibc/wpilibC++/lib/Accelerometer.cpp b/wpilibc/wpilibC++/lib/AnalogAccelerometer.cpp
similarity index 78%
rename from wpilibc/wpilibC++/lib/Accelerometer.cpp
rename to wpilibc/wpilibC++/lib/AnalogAccelerometer.cpp
index de82744f7a..ac33ab3034 100644
--- a/wpilibc/wpilibC++/lib/Accelerometer.cpp
+++ b/wpilibc/wpilibC++/lib/AnalogAccelerometer.cpp
@@ -4,7 +4,7 @@
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
 
-#include "Accelerometer.h"
+#include "AnalogAccelerometer.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
@@ -12,7 +12,7 @@
 /**
  * Common function for initializing the accelerometer.
  */
-void Accelerometer::InitAccelerometer()
+void AnalogAccelerometer::InitAccelerometer()
 {
 	m_table = NULL;
 	m_voltsPerG = 1.0;
@@ -26,7 +26,7 @@ void Accelerometer::InitAccelerometer()
  *
  * The constructor allocates desired analog input.
  */
-Accelerometer::Accelerometer(uint32_t channel)
+AnalogAccelerometer::AnalogAccelerometer(uint32_t channel)
 {
 	m_AnalogInput = new AnalogInput(channel);
 	m_allocatedChannel = true;
@@ -39,7 +39,7 @@ Accelerometer::Accelerometer(uint32_t channel)
  * useful if the port is going to be read as an analog channel as well as through
  * the Accelerometer class.
  */
-Accelerometer::Accelerometer(AnalogInput *channel)
+AnalogAccelerometer::AnalogAccelerometer(AnalogInput *channel)
 {
 	if (channel == NULL)
 	{
@@ -56,7 +56,7 @@ Accelerometer::Accelerometer(AnalogInput *channel)
 /**
  * Delete the analog components used for the accelerometer.
  */
-Accelerometer::~Accelerometer()
+AnalogAccelerometer::~AnalogAccelerometer()
 {
 	if (m_allocatedChannel)
 	{
@@ -71,7 +71,7 @@ Accelerometer::~Accelerometer()
  *
  * @return The current acceleration of the sensor in Gs.
  */
-float Accelerometer::GetAcceleration()
+float AnalogAccelerometer::GetAcceleration()
 {
 	return (m_AnalogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
 }
@@ -84,7 +84,7 @@ float Accelerometer::GetAcceleration()
  *
  * @param sensitivity The sensitivity of accelerometer in Volts per G.
  */
-void Accelerometer::SetSensitivity(float sensitivity)
+void AnalogAccelerometer::SetSensitivity(float sensitivity)
 {
 	m_voltsPerG = sensitivity;
 }
@@ -96,7 +96,7 @@ void Accelerometer::SetSensitivity(float sensitivity)
  *
  * @param zero The zero G voltage.
  */
-void Accelerometer::SetZero(float zero)
+void AnalogAccelerometer::SetZero(float zero)
 {
 	m_zeroGVoltage = zero;
 }
@@ -106,32 +106,32 @@ void Accelerometer::SetZero(float zero)
  *
  * @return The current acceleration in Gs.
  */
-double Accelerometer::PIDGet()
+double AnalogAccelerometer::PIDGet()
 {
 	return GetAcceleration();
 }
 
-void Accelerometer::UpdateTable() {
+void AnalogAccelerometer::UpdateTable() {
 	if (m_table != NULL) {
 		m_table->PutNumber("Value", GetAcceleration());
 	}
 }
 
-void Accelerometer::StartLiveWindowMode() {
+void AnalogAccelerometer::StartLiveWindowMode() {
 }
 
-void Accelerometer::StopLiveWindowMode() {
+void AnalogAccelerometer::StopLiveWindowMode() {
 }
 
-std::string Accelerometer::GetSmartDashboardType() {
+std::string AnalogAccelerometer::GetSmartDashboardType() {
 	return "Accelerometer";
 }
 
-void Accelerometer::InitTable(ITable *subTable) {
+void AnalogAccelerometer::InitTable(ITable *subTable) {
 	m_table = subTable;
 	UpdateTable();
 }
 
-ITable * Accelerometer::GetTable() {
+ITable * AnalogAccelerometer::GetTable() {
 	return m_table;
 }
diff --git a/wpilibc/wpilibC++/lib/BuiltInAccelerometer.cpp b/wpilibc/wpilibC++/lib/BuiltInAccelerometer.cpp
index baa69cbe41..3dae5aaf39 100644
--- a/wpilibc/wpilibC++/lib/BuiltInAccelerometer.cpp
+++ b/wpilibc/wpilibC++/lib/BuiltInAccelerometer.cpp
@@ -6,6 +6,7 @@
 
 #include "BuiltInAccelerometer.h"
 #include "HAL/HAL.hpp"
+#include "WPIErrors.h"
 
 /**
  * Constructor.
@@ -14,17 +15,28 @@
 BuiltInAccelerometer::BuiltInAccelerometer(Range range)
 	: m_table(0)
 {
+	SetRange(range);
+
+	HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
+}
+
+/** {@inheritdoc} */
+void BuiltInAccelerometer::SetRange(Range range)
+{
+	if(range == kRange_16G)
+	{
+		wpi_setWPIErrorWithContext(ParameterOutOfRange, "16G range not supported (use k2G, k4G, or k8G)");
+	}
+
 	setAccelerometerActive(false);
 	setAccelerometerRange((AccelerometerRange)range);
 	setAccelerometerActive(true);
-
-	HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
 }
 
 /**
  * @return The acceleration of the RoboRIO along the X axis in g-forces
  */
-double BuiltInAccelerometer::GetX() const
+double BuiltInAccelerometer::GetX()
 {
 	return getAccelerometerX();
 }
@@ -32,7 +44,7 @@ double BuiltInAccelerometer::GetX() const
 /**
  * @return The acceleration of the RoboRIO along the Y axis in g-forces
  */
-double BuiltInAccelerometer::GetY() const
+double BuiltInAccelerometer::GetY()
 {
 	return getAccelerometerY();
 }
@@ -40,7 +52,7 @@ double BuiltInAccelerometer::GetY() const
 /**
  * @return The acceleration of the RoboRIO along the Z axis in g-forces
  */
-double BuiltInAccelerometer::GetZ() const
+double BuiltInAccelerometer::GetZ()
 {
 	return getAccelerometerZ();
 }
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
index 77b645385b..a7c8d0c8f8 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
@@ -9,120 +9,142 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 import edu.wpi.first.wpilibj.communication.UsageReporting;
-
+import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 
 /**
  *
  * @author dtjones
  */
-public class ADXL345_I2C extends SensorBase {
+public class ADXL345_I2C extends SensorBase implements Accelerometer {
 
-    private static final byte kAddress = 0x1D;
-    private static final byte kPowerCtlRegister = 0x2D;
-    private static final byte kDataFormatRegister = 0x31;
-    private static final byte kDataRegister = 0x32;
-    private static final double kGsPerLSB = 0.00390625;
-    private static final byte kPowerCtl_Link = 0x20, kPowerCtl_AutoSleep = 0x10, kPowerCtl_Measure = 0x08, kPowerCtl_Sleep = 0x04;
-    private static final byte kDataFormat_SelfTest = (byte) 0x80, kDataFormat_SPI = 0x40, kDataFormat_IntInvert = 0x20, kDataFormat_FullRes = 0x08, kDataFormat_Justify = 0x04;
+	private static final byte kAddress = 0x1D;
+	private static final byte kPowerCtlRegister = 0x2D;
+	private static final byte kDataFormatRegister = 0x31;
+	private static final byte kDataRegister = 0x32;
+	private static final double kGsPerLSB = 0.00390625;
+	private static final byte kPowerCtl_Link = 0x20, kPowerCtl_AutoSleep = 0x10, kPowerCtl_Measure = 0x08, kPowerCtl_Sleep = 0x04;
+	private static final byte kDataFormat_SelfTest = (byte) 0x80, kDataFormat_SPI = 0x40, kDataFormat_IntInvert = 0x20, kDataFormat_FullRes = 0x08, kDataFormat_Justify = 0x04;
 
-    public static class DataFormat_Range {
+	public static class Axes {
 
-        /**
-         * The integer value representing this enumeration
-         */
-        public final byte value;
-        static final byte k2G_val = 0x00;
-        static final byte k4G_val = 0x01;
-        static final byte k8G_val = 0x02;
-        static final byte k16G_val = 0x03;
-        public static final DataFormat_Range k2G = new DataFormat_Range(k2G_val);
-        public static final DataFormat_Range k4G = new DataFormat_Range(k4G_val);
-        public static final DataFormat_Range k8G = new DataFormat_Range(k8G_val);
-        public static final DataFormat_Range k16G = new DataFormat_Range(k16G_val);
+		/**
+		 * The integer value representing this enumeration
+		 */
+		public final byte value;
+		static final byte kX_val = 0x00;
+		static final byte kY_val = 0x02;
+		static final byte kZ_val = 0x04;
+		public static final Axes kX = new Axes(kX_val);
+		public static final Axes kY = new Axes(kY_val);
+		public static final Axes kZ = new Axes(kZ_val);
 
-        private DataFormat_Range(byte value) {
-            this.value = value;
-        }
-    }
+		private Axes(byte value) {
+			this.value = value;
+		}
+	}
 
-    public static class Axes {
+	public static class AllAxes {
 
-        /**
-         * The integer value representing this enumeration
-         */
-        public final byte value;
-        static final byte kX_val = 0x00;
-        static final byte kY_val = 0x02;
-        static final byte kZ_val = 0x04;
-        public static final Axes kX = new Axes(kX_val);
-        public static final Axes kY = new Axes(kY_val);
-        public static final Axes kZ = new Axes(kZ_val);
+		public double XAxis;
+		public double YAxis;
+		public double ZAxis;
+	}
+	private I2C m_i2c;
 
-        private Axes(byte value) {
-            this.value = value;
-        }
-    }
+	/**
+	 * Constructor.
+	 *
+	 * @param range The range (+ or -) that the accelerometer will measure.
+	 */
+	public ADXL345_I2C(I2C.Port port, Range range) {
+		m_i2c = new I2C(port, kAddress);
 
-    public static class AllAxes {
+		// Turn on the measurements
+		m_i2c.write(kPowerCtlRegister, kPowerCtl_Measure);
 
-        public double XAxis;
-        public double YAxis;
-        public double ZAxis;
-    }
-    private I2C m_i2c;
+		setRange(range);
 
-    /**
-     * Constructor.
-     *
-     * @param range The range (+ or -) that the accelerometer will measure.
-     */
-    public ADXL345_I2C(I2C.Port port, DataFormat_Range range) {
-        m_i2c = new I2C(port, kAddress);
-		
-        // Turn on the measurements
-        m_i2c.write(kPowerCtlRegister, kPowerCtl_Measure);
-        // Specify the data format to read
-        m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | range.value);
+		UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
+	}
 
-        UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
-    }
+	/** {inheritdoc} */
+	@Override
+	public void setRange(Range range) {
+		byte value = 0;
 
-    /**
-     * Get the acceleration of one axis in Gs.
-     *
-     * @param axis The axis to read from.
-     * @return Acceleration of the ADXL345 in Gs.
-     */
-    public double getAcceleration(Axes axis) {
-        byte[] rawAccel = new byte[2];
-        m_i2c.read(kDataRegister + axis.value, rawAccel.length, rawAccel);
+		switch(range) {
+		case k2G:
+			value = 0;
+			break;
+		case k4G:
+			value = 1;
+			break;
+		case k8G:
+			value = 2;
+			break;
+		case k16G:
+			value = 3;
+			break;
+		}
 
-        // Sensor is little endian... swap bytes
-        return accelFromBytes(rawAccel[0], rawAccel[1]);
-    }
+		// Specify the data format to read
+		m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | value);
+	}
 
-    private double accelFromBytes(byte first, byte second) {
-        short tempLow = (short) (first & 0xff);
-        short tempHigh = (short) ((second << 8) & 0xff00);
-        return (tempLow | tempHigh) * kGsPerLSB;
-    }
+	/** {@inheritdoc} */
+	@Override
+	public double getX() {
+		return getAcceleration(Axes.kX);
+	}
 
-    /**
-     * Get the acceleration of all axes in Gs.
-     *
-     * @return Acceleration measured on all axes of the ADXL345 in Gs.
-     */
-    public AllAxes getAccelerations() {
-        AllAxes data = new AllAxes();
-        byte[] rawData = new byte[6];
-        m_i2c.read(kDataRegister, rawData.length, rawData);
+	/** {@inheritdoc} */
+	@Override
+	public double getY() {
+		return getAcceleration(Axes.kY);
+	}
 
-        // Sensor is little endian... swap bytes
-        data.XAxis = accelFromBytes(rawData[0], rawData[1]);
-        data.YAxis = accelFromBytes(rawData[2], rawData[3]);
-        data.ZAxis = accelFromBytes(rawData[4], rawData[5]);
-        return data;
-    }
+	/** {@inheritdoc} */
+	@Override
+	public double getZ() {
+		return getAcceleration(Axes.kZ);
+	}
 
-    // TODO: Support LiveWindow
+	/**
+	 * Get the acceleration of one axis in Gs.
+	 *
+	 * @param axis The axis to read from.
+	 * @return Acceleration of the ADXL345 in Gs.
+	 */
+	public double getAcceleration(Axes axis) {
+		byte[] rawAccel = new byte[2];
+		m_i2c.read(kDataRegister + axis.value, rawAccel.length, rawAccel);
+
+		// Sensor is little endian... swap bytes
+		return accelFromBytes(rawAccel[0], rawAccel[1]);
+	}
+
+	private double accelFromBytes(byte first, byte second) {
+		short tempLow = (short) (first & 0xff);
+		short tempHigh = (short) ((second << 8) & 0xff00);
+		return (tempLow | tempHigh) * kGsPerLSB;
+	}
+
+	/**
+	 * Get the acceleration of all axes in Gs.
+	 *
+	 * @return Acceleration measured on all axes of the ADXL345 in Gs.
+	 */
+	public AllAxes getAccelerations() {
+		AllAxes data = new AllAxes();
+		byte[] rawData = new byte[6];
+		m_i2c.read(kDataRegister, rawData.length, rawData);
+
+		// Sensor is little endian... swap bytes
+		data.XAxis = accelFromBytes(rawData[0], rawData[1]);
+		data.YAxis = accelFromBytes(rawData[2], rawData[3]);
+		data.ZAxis = accelFromBytes(rawData[4], rawData[5]);
+		return data;
+	}
+
+	// TODO: Support LiveWindow
 }
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
index f9e672bb71..ad015e9839 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
@@ -5,143 +5,167 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
+import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 
 /**
  *
  * @author dtjones
  * @author mwills
  */
-public class ADXL345_SPI extends SensorBase {
-    private static final int kPowerCtlRegister = 0x2D;
-    private static final int kDataFormatRegister = 0x31;
-    private static final int kDataRegister = 0x32;
-    private static final double kGsPerLSB = 0.00390625;
-    
-    private static final int kAddress_Read = 0x80;
-    private static final int kAddress_MultiByte = 0x40;
-    
-    private static final int kPowerCtl_Link=0x20;
-    private static final int kPowerCtl_AutoSleep=0x10;
-    private static final int kPowerCtl_Measure=0x08;
-    private static final int kPowerCtl_Sleep=0x04;
-    
-    private static final int kDataFormat_SelfTest=0x80;
-    private static final int kDataFormat_SPI=0x40;
-    private static final int kDataFormat_IntInvert=0x20;
-    private static final int kDataFormat_FullRes=0x08;
-    private static final int kDataFormat_Justify=0x04;
-        
-        
-    public static class DataFormat_Range {
+public class ADXL345_SPI extends SensorBase implements Accelerometer {
+	private static final int kPowerCtlRegister = 0x2D;
+	private static final int kDataFormatRegister = 0x31;
+	private static final int kDataRegister = 0x32;
+	private static final double kGsPerLSB = 0.00390625;
 
-        /**
-         * The integer value representing this enumeration
-         */
-        public final byte value;
-        static final byte k2G_val = 0x00;
-        static final byte k4G_val = 0x01;
-        static final byte k8G_val = 0x02;
-        static final byte k16G_val = 0x03;
-        public static final ADXL345_SPI.DataFormat_Range k2G = new ADXL345_SPI.DataFormat_Range(k2G_val);
-        public static final ADXL345_SPI.DataFormat_Range k4G = new ADXL345_SPI.DataFormat_Range(k4G_val);
-        public static final ADXL345_SPI.DataFormat_Range k8G = new ADXL345_SPI.DataFormat_Range(k8G_val);
-        public static final ADXL345_SPI.DataFormat_Range k16G = new ADXL345_SPI.DataFormat_Range(k16G_val);
+	private static final int kAddress_Read = 0x80;
+	private static final int kAddress_MultiByte = 0x40;
 
-        private DataFormat_Range(byte value) {
-            this.value = value;
-        }
-    }
+	private static final int kPowerCtl_Link=0x20;
+	private static final int kPowerCtl_AutoSleep=0x10;
+	private static final int kPowerCtl_Measure=0x08;
+	private static final int kPowerCtl_Sleep=0x04;
 
-    public static class Axes {
+	private static final int kDataFormat_SelfTest=0x80;
+	private static final int kDataFormat_SPI=0x40;
+	private static final int kDataFormat_IntInvert=0x20;
+	private static final int kDataFormat_FullRes=0x08;
+	private static final int kDataFormat_Justify=0x04;
 
-        /**
-         * The integer value representing this enumeration
-         */
-        public final byte value;
-        static final byte kX_val = 0x00;
-        static final byte kY_val = 0x02;
-        static final byte kZ_val = 0x04;
-        public static final ADXL345_SPI.Axes kX = new ADXL345_SPI.Axes(kX_val);
-        public static final ADXL345_SPI.Axes kY = new ADXL345_SPI.Axes(kY_val);
-        public static final ADXL345_SPI.Axes kZ = new ADXL345_SPI.Axes(kZ_val);
+	public static class Axes {
 
-        private Axes(byte value) {
-            this.value = value;
-        }
-    }
+		/**
+		 * The integer value representing this enumeration
+		 */
+		public final byte value;
+		static final byte kX_val = 0x00;
+		static final byte kY_val = 0x02;
+		static final byte kZ_val = 0x04;
+		public static final ADXL345_SPI.Axes kX = new ADXL345_SPI.Axes(kX_val);
+		public static final ADXL345_SPI.Axes kY = new ADXL345_SPI.Axes(kY_val);
+		public static final ADXL345_SPI.Axes kZ = new ADXL345_SPI.Axes(kZ_val);
 
-    public static class AllAxes {
+		private Axes(byte value) {
+			this.value = value;
+		}
+	}
 
-        public double XAxis;
-        public double YAxis;
-        public double ZAxis;
-    }
-    
-    private SPI m_spi;
-    
-    /**
-     * Constructor. Use this when the device is the first/only device on the bus
-     *
-     * @param clk The clock channel
-     * @param mosi The mosi (output) channel
-     * @param miso The miso (input) channel
-     * @param cs The chip select channel
-     * @param range The range (+ or -) that the accelerometer will measure.
-     */
-    public ADXL345_SPI(SPI.Port port, ADXL345_SPI.DataFormat_Range range) {
-        m_spi = new SPI(port);
-        init(range);
-    }
-    
-    public void free(){
-        m_spi.free();
-    }
-    
-    /**
-     * Set SPI bus parameters, bring device out of sleep and set format
-     * 
-     * @param range The range (+ or -) that the accelerometer will measure.
-     */
-    private void init(ADXL345_SPI.DataFormat_Range range){
+	public static class AllAxes {
+
+		public double XAxis;
+		public double YAxis;
+		public double ZAxis;
+	}
+
+	private SPI m_spi;
+
+	/**
+	 * Constructor. Use this when the device is the first/only device on the bus
+	 *
+	 * @param clk The clock channel
+	 * @param mosi The mosi (output) channel
+	 * @param miso The miso (input) channel
+	 * @param cs The chip select channel
+	 * @param range The range (+ or -) that the accelerometer will measure.
+	 */
+	public ADXL345_SPI(SPI.Port port, Range range) {
+		m_spi = new SPI(port);
+		init(range);
+	}
+
+	public void free(){
+		m_spi.free();
+	}
+
+	/**
+	 * Set SPI bus parameters, bring device out of sleep and set format
+	 *
+	 * @param range The range (+ or -) that the accelerometer will measure.
+	 */
+	private void init(Range range){
 		m_spi.setClockRate(500000);
-        m_spi.setMSBFirst();
+		m_spi.setMSBFirst();
 		m_spi.setSampleDataOnFalling();
 		m_spi.setClockActiveLow();
 		m_spi.setChipSelectActiveHigh();
 
-        // Turn on the measurements
+		// Turn on the measurements
 		byte[] commands = new byte[2];
 		commands[0] = kPowerCtlRegister;
 		commands[1] = kPowerCtl_Measure;
-        m_spi.write(commands, 2);
-        // Specify the data format to read
-		commands[0] = kDataFormatRegister;
-		commands[1] = (byte)(kDataFormat_FullRes | range.value);
-        m_spi.write(commands, 2);
-    }
+		m_spi.write(commands, 2);
 
-    /**
-     * Get the acceleration of one axis in Gs.
-     *
-     * @param axis The axis to read from.
-     * @return Acceleration of the ADXL345 in Gs.
-     */
-    public double getAcceleration(ADXL345_SPI.Axes axis) {
+        setRange(range);
+	}
+
+	/** {inheritdoc} */
+	@Override
+	public void setRange(Range range) {
+		byte value = 0;
+
+		switch(range) {
+		case k2G:
+			value = 0;
+			break;
+		case k4G:
+			value = 1;
+			break;
+		case k8G:
+			value = 2;
+			break;
+		case k16G:
+			value = 3;
+			break;
+		}
+
+		// Specify the data format to read
+		byte[] commands = new byte[]{
+			kDataFormatRegister,
+			(byte)(kDataFormat_FullRes | value)
+		};
+		m_spi.write(commands, commands.length);
+	}
+
+	/** {@inheritdoc} */
+	@Override
+	public double getX() {
+		return getAcceleration(Axes.kX);
+	}
+
+	/** {@inheritdoc} */
+	@Override
+	public double getY() {
+		return getAcceleration(Axes.kY);
+	}
+
+	/** {@inheritdoc} */
+	@Override
+	public double getZ() {
+		return getAcceleration(Axes.kZ);
+	}
+
+	/**
+	 * Get the acceleration of one axis in Gs.
+	 *
+	 * @param axis The axis to read from.
+	 * @return Acceleration of the ADXL345 in Gs.
+	 */
+	public double getAcceleration(ADXL345_SPI.Axes axis) {
 		byte[] transferBuffer = new byte[3];
 		transferBuffer[0] = (byte)((kAddress_Read | kAddress_MultiByte | kDataRegister) + axis.value);
-        m_spi.transaction(transferBuffer, transferBuffer, 3);
+		m_spi.transaction(transferBuffer, transferBuffer, 3);
 		//Sensor is little endian... swap bytes
 		int rawAccel = transferBuffer[2] << 8 | transferBuffer[1];
 		return rawAccel * kGsPerLSB;
-    }
+	}
 
-    /**
-     * Get the acceleration of all axes in Gs.
-     *
-     * @return Acceleration measured on all axes of the ADXL345 in Gs.
-     */
-    public ADXL345_SPI.AllAxes getAccelerations() {
-        ADXL345_SPI.AllAxes data = new ADXL345_SPI.AllAxes();
+	/**
+	 * Get the acceleration of all axes in Gs.
+	 *
+	 * @return Acceleration measured on all axes of the ADXL345 in Gs.
+	 */
+	public ADXL345_SPI.AllAxes getAccelerations() {
+		ADXL345_SPI.AllAxes data = new ADXL345_SPI.AllAxes();
 		byte dataBuffer[] = new byte[7];
 		int[] rawData = new int[3];
 		if (m_spi != null)
@@ -161,5 +185,5 @@ public class ADXL345_SPI extends SensorBase {
 			data.ZAxis = rawData[2] * kGsPerLSB;
 		}
 		return data;
-    }
-}
\ No newline at end of file
+	}
+}
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
similarity index 94%
rename from wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java
rename to wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
index 846a1b8cd1..efe54039bb 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
@@ -16,12 +16,12 @@ import edu.wpi.first.wpilibj.tables.ITable;
 
 
 /**
- * Handle operation of the accelerometer.
+ * Handle operation of an analog accelerometer.
  * The accelerometer reads acceleration directly through the sensor. Many sensors have
  * multiple axis and can be treated as multiple devices. Each is calibrated by finding
  * the center value over a period of time.
  */
-public class Accelerometer extends SensorBase implements PIDSource, ISensor, LiveWindowSendable {
+public class AnalogAccelerometer extends SensorBase implements PIDSource, ISensor, LiveWindowSendable {
 
     private AnalogInput m_analogChannel;
     private double m_voltsPerG = 1.0;
@@ -42,7 +42,7 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
      * The constructor allocates desired analog channel.
      * @param channel the port that the accelerometer is on
      */
-    public Accelerometer(final int channel) {
+    public AnalogAccelerometer(final int channel) {
         m_allocatedChannel = true;
         m_analogChannel = new AnalogInput(channel);
         initAccelerometer();
@@ -55,7 +55,7 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
      * the Accelerometer class.
      * @param channel an already initialized analog channel
      */
-    public Accelerometer(AnalogInput channel) {
+    public AnalogAccelerometer(AnalogInput channel) {
         m_allocatedChannel = false;
         if (channel == null)
             throw new NullPointerException("Analog Channel given was null");
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
index bcc173fb28..1ac056e8d0 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
@@ -4,6 +4,7 @@
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
+import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.hal.AccelerometerJNI;
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 import edu.wpi.first.wpilibj.communication.UsageReporting;
@@ -17,15 +18,28 @@ import edu.wpi.first.wpilibj.tables.ITable;
  *
  * This class allows access to the RoboRIO's internal accelerometer.
  */
-public class BuiltInAccelerometer implements ISensor, LiveWindowSendable
+public class BuiltInAccelerometer implements Accelerometer, ISensor, LiveWindowSendable
 {
-	public enum Range { k2G, k4G, k8G }
-
 	/**
 	 * Constructor.
 	 * @param range The range the accelerometer will measure
 	 */
 	public BuiltInAccelerometer(Range range) {
+		setRange(range);
+		UsageReporting.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
+	}
+
+	/**
+	 * Constructor.
+	 * The accelerometer will measure +/-8 g-forces
+	 */
+	public BuiltInAccelerometer() {
+		this(Range.k8G);
+	}
+
+	/** {inheritdoc} */
+	@Override
+	public void setRange(Range range) {
 		AccelerometerJNI.setAccelerometerActive(false);
 
 		switch(range) {
@@ -38,24 +52,17 @@ public class BuiltInAccelerometer implements ISensor, LiveWindowSendable
 		case k8G:
 			AccelerometerJNI.setAccelerometerRange(2);
 			break;
+		case k16G:
+			throw new RuntimeException("16G range not supported (use k2G, k4G, or k8G)");
 		}
 
 		AccelerometerJNI.setAccelerometerActive(true);
-
-		UsageReporting.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
-	}
-
-	/**
-	 * Constructor.
-	 * The accelerometer will measure +/-8 g-forces
-	 */
-	public BuiltInAccelerometer() {
-		this(Range.k8G);
 	}
 
 	/**
 	 * @return The acceleration of the RoboRIO along the X axis in g-forces
 	 */
+	@Override
 	public double getX() {
 		return AccelerometerJNI.getAccelerometerX();
 	}
@@ -63,6 +70,7 @@ public class BuiltInAccelerometer implements ISensor, LiveWindowSendable
 	/**
 	 * @return The acceleration of the RoboRIO along the Y axis in g-forces
 	 */
+	@Override
 	public double getY() {
 		return AccelerometerJNI.getAccelerometerY();
 	}
@@ -70,6 +78,7 @@ public class BuiltInAccelerometer implements ISensor, LiveWindowSendable
 	/**
 	 * @return The acceleration of the RoboRIO along the Z axis in g-forces
 	 */
+	@Override
 	public double getZ() {
 		return AccelerometerJNI.getAccelerometerZ();
 	}
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
new file mode 100644
index 0000000000..0eb4c182ef
--- /dev/null
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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.  */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.interfaces;
+
+/**
+ * Interface for 3-axis accelerometers
+ */
+public interface Accelerometer {
+	public enum Range
+	{
+		k2G,
+		k4G,
+		k8G,
+		k16G
+	}
+
+	/**
+	 * Common interface for setting the measuring range of an accelerometer.
+	 *
+	 * @param range The maximum acceleration, positive or negative, that the
+	 * accelerometer will measure.  Not all accelerometers support all ranges.
+	 */
+	public void setRange(Range range);
+
+	/**
+	 * Common interface for getting the x axis acceleration
+	 *
+	 * @return The acceleration along the x axis in g-forces
+	 */
+	public double getX();
+
+	/**
+	 * Common interface for getting the y axis acceleration
+	 *
+	 * @return The acceleration along the y axis in g-forces
+	 */
+	public double getY();
+
+	/**
+	 * Common interface for getting the z axis acceleration
+	 *
+	 * @return The acceleration along the z axis in g-forces
+	 */
+	public double getZ();
+}