diff --git a/wpilibc/athena/include/ADXL345_I2C.h b/wpilibc/athena/include/ADXL345_I2C.h
index d57e6bfc28..495c598e70 100644
--- a/wpilibc/athena/include/ADXL345_I2C.h
+++ b/wpilibc/athena/include/ADXL345_I2C.h
@@ -21,9 +21,7 @@
  * This class assumes the default (not alternate) sensor address of 0x1D (7-bit
  * address).
  */
-class ADXL345_I2C : public Accelerometer,
-                    public I2C,
-                    public LiveWindowSendable {
+class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
  protected:
   static const uint8_t kAddress = 0x1D;
   static const uint8_t kPowerCtlRegister = 0x2D;
@@ -53,7 +51,7 @@ class ADXL345_I2C : public Accelerometer,
   };
 
  public:
-  explicit ADXL345_I2C(Port port, Range range = kRange_2G,
+  explicit ADXL345_I2C(I2C::Port port, Range range = kRange_2G,
                        int deviceAddress = kAddress);
   virtual ~ADXL345_I2C() = default;
 
@@ -76,6 +74,9 @@ class ADXL345_I2C : public Accelerometer,
   virtual void StartLiveWindowMode() override {}
   virtual void StopLiveWindowMode() override {}
 
+ protected:
+  I2C m_i2c;
+
  private:
   std::shared_ptr<ITable> m_table;
 };
diff --git a/wpilibc/athena/include/ADXL345_SPI.h b/wpilibc/athena/include/ADXL345_SPI.h
index 5c4e29fb96..9427f2805c 100644
--- a/wpilibc/athena/include/ADXL345_SPI.h
+++ b/wpilibc/athena/include/ADXL345_SPI.h
@@ -24,9 +24,7 @@ class DigitalOutput;
  * via SPI.
  * This class assumes the sensor is wired in 4-wire SPI mode.
  */
-class ADXL345_SPI : public Accelerometer,
-                    protected SPI,
-                    public LiveWindowSendable {
+class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
  protected:
   static const uint8_t kPowerCtlRegister = 0x2D;
   static const uint8_t kDataFormatRegister = 0x31;
@@ -78,6 +76,9 @@ class ADXL345_SPI : public Accelerometer,
   virtual void StartLiveWindowMode() override {}
   virtual void StopLiveWindowMode() override {}
 
+ protected:
+  SPI m_spi;
+
  private:
   std::shared_ptr<ITable> m_table;
 };
diff --git a/wpilibc/athena/src/ADXL345_I2C.cpp b/wpilibc/athena/src/ADXL345_I2C.cpp
index 5ecb91743b..67efa55ad9 100644
--- a/wpilibc/athena/src/ADXL345_I2C.cpp
+++ b/wpilibc/athena/src/ADXL345_I2C.cpp
@@ -23,10 +23,10 @@ constexpr double ADXL345_I2C::kGsPerLSB;
  * @param range         The range (+ or -) that the accelerometer will measure
  * @param deviceAddress The I2C address of the accelerometer (0x1D or 0x53)
  */
-ADXL345_I2C::ADXL345_I2C(Port port, Range range, int deviceAddress)
-    : I2C(port, deviceAddress) {
+ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
+    : m_i2c(port, deviceAddress) {
   // Turn on the measurements
-  Write(kPowerCtlRegister, kPowerCtl_Measure);
+  m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
   // Specify the data format to read
   SetRange(range);
 
@@ -36,7 +36,7 @@ ADXL345_I2C::ADXL345_I2C(Port port, Range range, int deviceAddress)
 }
 
 void ADXL345_I2C::SetRange(Range range) {
-  Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
+  m_i2c.Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
 }
 
 double ADXL345_I2C::GetX() { return GetAcceleration(kAxis_X); }
@@ -53,7 +53,8 @@ double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); }
  */
 double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
   int16_t rawAccel = 0;
-  Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel), (uint8_t*)&rawAccel);
+  m_i2c.Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel),
+             (uint8_t*)&rawAccel);
   return rawAccel * kGsPerLSB;
 }
 
@@ -66,7 +67,7 @@ double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
 ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
   AllAxes data = AllAxes();
   int16_t rawData[3];
-  Read(kDataRegister, sizeof(rawData), (uint8_t*)rawData);
+  m_i2c.Read(kDataRegister, sizeof(rawData), (uint8_t*)rawData);
 
   data.XAxis = rawData[0] * kGsPerLSB;
   data.YAxis = rawData[1] * kGsPerLSB;
diff --git a/wpilibc/athena/src/ADXL345_SPI.cpp b/wpilibc/athena/src/ADXL345_SPI.cpp
index 5d9d6ee0da..e77586ab13 100644
--- a/wpilibc/athena/src/ADXL345_SPI.cpp
+++ b/wpilibc/athena/src/ADXL345_SPI.cpp
@@ -22,18 +22,19 @@ constexpr double ADXL345_SPI::kGsPerLSB;
  * @param port  The SPI port the accelerometer is attached to
  * @param range The range (+ or -) that the accelerometer will measure
  */
-ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range) : SPI(port) {
-  SetClockRate(500000);
-  SetMSBFirst();
-  SetSampleDataOnFalling();
-  SetClockActiveLow();
-  SetChipSelectActiveHigh();
+ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
+    : m_spi(port) {
+  m_spi.SetClockRate(500000);
+  m_spi.SetMSBFirst();
+  m_spi.SetSampleDataOnFalling();
+  m_spi.SetClockActiveLow();
+  m_spi.SetChipSelectActiveHigh();
 
   uint8_t commands[2];
   // Turn on the measurements
   commands[0] = kPowerCtlRegister;
   commands[1] = kPowerCtl_Measure;
-  Transaction(commands, commands, 2);
+  m_spi.Transaction(commands, commands, 2);
 
   SetRange(range);
 
@@ -49,7 +50,7 @@ void ADXL345_SPI::SetRange(Range range) {
   // Specify the data format to read
   commands[0] = kDataFormatRegister;
   commands[1] = kDataFormat_FullRes | (uint8_t)(range & 0x03);
-  Transaction(commands, commands, 2);
+  m_spi.Transaction(commands, commands, 2);
 }
 
 double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
@@ -69,7 +70,7 @@ double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) {
   uint8_t command[3] = {0, 0, 0};
   command[0] =
       (kAddress_Read | kAddress_MultiByte | kDataRegister) + (uint8_t)axis;
-  Transaction(command, buffer, 3);
+  m_spi.Transaction(command, buffer, 3);
 
   // Sensor is little endian... swap bytes
   int16_t rawAccel = buffer[2] << 8 | buffer[1];
@@ -89,7 +90,7 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
 
   // Select the data address.
   dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
-  Transaction(dataBuffer, dataBuffer, 7);
+  m_spi.Transaction(dataBuffer, dataBuffer, 7);
 
   for (int32_t i = 0; i < 3; i++) {
     // Sensor is little endian... swap bytes
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
index 183c6f095c..94559307f3 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
@@ -66,7 +66,7 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer, LiveWindow
     public double ZAxis;
   }
 
-  private I2C m_i2c;
+  protected I2C m_i2c;
 
   /**
    * Constructs the ADXL345 Accelerometer with I2C address 0x1D.
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
index 6d0ba88c9a..3e2162eae7 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
@@ -69,7 +69,7 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer, LiveWindow
     public double ZAxis;
   }
 
-  private SPI m_spi;
+  protected SPI m_spi;
 
   /**
    * Constructor.