Fixed Simulation C++ API

Fixed API in the following classes:
 - RobotDrive
 - AnalogGyro

moved some files from Athena the shared that are independant of platform
Renamed Gyro to AnalogGyro
added smart pointer constructors to RobotDrive

Change-Id: If8a1bde5aed77fd60869d1993c302dd519bc8848

wpilibc/simulation/src/AnalogGyro.cpp

@@ -0,0 +1,89 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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 "Timer.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+const uint32_t AnalogGyro::kOversampleBits = 10;
+const uint32_t AnalogGyro::kAverageBits = 0;
+const float AnalogGyro::kSamplesPerSecond = 50.0;
+const float AnalogGyro::kCalibrationSampleTime = 5.0;
+const float AnalogGyro::kDefaultVoltsPerDegreePerSecond = 0.007;
+
+/**
+ * Initialize the gyro.
+ * Calibrate the gyro by running for a number of samples and computing the center value for this
+ * part. Then use the center value as the Accumulator center value for subsequent measurements.
+ * It's important to make sure that the robot is not moving while the centering calculations are
+ * in progress, this is typically done when the robot is first turned on while it's sitting at
+ * rest before the competition starts.
+ */
+void AnalogGyro::InitAnalogGyro(int channel)
+{
+	SetPIDSourceType(PIDSourceType::kDisplacement);
+
+	char buffer[50];
+	int n = sprintf(buffer, "analog/%d", channel);
+	impl = new SimGyro(buffer);
+
+	LiveWindow::GetInstance()->AddSensor("AnalogGyro", channel, this);
+}
+
+/**
+ * AnalogGyro constructor with only a channel..
+ *
+ * @param channel The analog channel the gyro is connected to.
+ */
+AnalogGyro::AnalogGyro(uint32_t channel)
+{
+    InitAnalogGyro(channel);
+}
+
+/**
+ * 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()
+{
+    impl->Reset();
+}
+
+void AnalogGyro::Calibrate(){
+	Reset();
+}
+
+/**
+ * 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 can go beyond 360 degrees. This make algorithms that wouldn't
+ * want to see a discontinuity in the gyro output as it sweeps past 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.
+ */
+float AnalogGyro::GetAngle() const
+{
+    return impl->GetAngle();
+}
+
+
+/**
+ * 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
+{
+    return impl->GetVelocity();
+}