diff --git a/simulation/halsim_adx_gyro_accelerometer/build.gradle b/simulation/halsim_adx_gyro_accelerometer/build.gradle
index a65f70280c..7d3c3d4f9d 100644
--- a/simulation/halsim_adx_gyro_accelerometer/build.gradle
+++ b/simulation/halsim_adx_gyro_accelerometer/build.gradle
@@ -1,14 +1,35 @@
-description = "A simulation library for the ADXL345 I2C and SPI Accelerometer, ADXL362 SPI Accelerometer, and ADXRS450 SPI Gyro"
+apply plugin: 'cpp'
+apply plugin: 'google-test-test-suite'
+apply plugin: 'visual-studio'
+apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: SingleNativeBuild
+apply plugin: ExtraTasks
 
 ext {
-    includeWpiutil = true
-    pluginName = 'halsim_adx_gyro_accelerometer'
+    nativeName = 'halsim_adx_gyro_accelerometer'
 }
 
-apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
-
+apply from: "${rootDir}/shared/config.gradle"
 
 if (!project.hasProperty('onlyAthena')) {
+
+    ext {
+        sharedCvConfigs = [halsim_adx_gyro_accelerometerTest: []]
+        staticCvConfigs = [:]
+        useJava = false
+        useCpp = true
+    }
+    apply from: "${rootDir}/shared/opencv.gradle"
+
+    ext {
+        staticGtestConfigs = [:]
+    }
+    staticGtestConfigs["${nativeName}Test"] = []
+    apply from: "${rootDir}/shared/googletest.gradle"
+
+    project(':').libraryBuild.dependsOn build
+
+
     model {
         exportsConfigs {
             halsim_adx_gyro_accelerometer(ExportsConfig) {
@@ -22,5 +43,142 @@ if (!project.hasProperty('onlyAthena')) {
                                      '_TI5?AVfailure']
             }
         }
+        components {
+            "${nativeName}Base"(NativeLibrarySpec) {
+                sources {
+                    cpp {
+                        source {
+                            srcDirs = ['src/main/native/cpp']
+                            include '**/*.cpp'
+                        }
+                        exportedHeaders {
+                            srcDirs 'src/main/native/include'
+                        }
+                    }
+                }
+                binaries.all {
+                    if (it instanceof SharedLibraryBinarySpec) {
+                        it.buildable = false
+                        return
+                    }
+                    if (it.targetPlatform.architecture.name == 'athena') {
+                        it.buildable = false
+                        return
+                    }
+                    lib project: ':hal', library: 'hal', linkage: 'shared'
+                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                }
+            }
+            "${nativeName}"(NativeLibrarySpec) {
+                sources {
+                    cpp {
+                        source {
+                            srcDirs "${rootDir}/shared/singlelib"
+                            include '**/*.cpp'
+                        }
+                        exportedHeaders {
+                            srcDirs 'src/main/native/include'
+                        }
+                    }
+                }
+                binaries.all {
+                    if (it.targetPlatform.architecture.name == 'athena') {
+                        it.buildable = false
+                        return
+                    }
+                    lib project: ':hal', library: 'hal', linkage: 'shared'
+                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                }
+            }
+            // By default, a development executable will be generated. This is to help the case of
+            // testing specific functionality of the library.
+            "${nativeName}Dev"(NativeExecutableSpec) {
+                sources {
+                    cpp {
+                        source {
+                            srcDirs 'src/dev/native/cpp'
+                            include '**/*.cpp'
+                            lib library: "${nativeName}"
+                        }
+                        exportedHeaders {
+                            srcDirs 'src/dev/native/include'
+                        }
+                    }
+                }
+                binaries.all {
+                    if (it.targetPlatform.architecture.name == 'athena') {
+                        it.buildable = false
+                        return
+                    }
+                }
+            }
+        }
+        binaries {
+            withType(GoogleTestTestSuiteBinarySpec) {
+                lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+                lib project: ':cscore', library: 'cscore', linkage: 'shared'
+                lib project: ':hal', library: 'hal', linkage: 'shared'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
+                lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
+                project(':ni-libraries').addNiLibrariesToLinker(it)
+                lib library: nativeName, linkage: 'shared'
+            }
+        }
+    }
+
+    apply from: "publish.gradle"
+}
+
+model {
+
+    testSuites {
+        if (!project.hasProperty('onlyAthena')) {
+            "${nativeName}Test"(GoogleTestTestSuiteSpec) {
+                for(NativeComponentSpec c : $.components) {
+                    if (c.name == nativeName) {
+                        testing c
+                        break
+                    }
+                }
+                sources {
+                    cpp {
+                        source {
+                            srcDirs 'src/test/native/cpp'
+                            include '**/*.cpp'
+                        }
+                        exportedHeaders {
+                            srcDirs 'src/test/native/include', 'src/main/native/cpp'
+                        }
+                    }
+                }
+            }
+        }
+    }
+    tasks {
+        def c = $.components
+        project.tasks.create('runCpp', Exec) {
+            def found = false
+            c.each {
+                if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
+                    it.binaries.each {
+                        if (!found) {
+                            def arch = it.targetPlatform.architecture.name
+                            if (arch == 'x86-64' || arch == 'x86') {
+                                dependsOn it.tasks.install
+								commandLine it.tasks.install.runScriptFile.get().asFile.toString()
+
+                                found = true
+                            }
+                        }
+                    }
+                }
+            }
+        }
     }
 }
+
+tasks.withType(RunTestExecutable) {
+    args "--gtest_output=xml:test_detail.xml"
+    outputs.dir outputDir
+}
diff --git a/simulation/halsim_adx_gyro_accelerometer/publish.gradle b/simulation/halsim_adx_gyro_accelerometer/publish.gradle
new file mode 100644
index 0000000000..d292bb72d7
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/publish.gradle
@@ -0,0 +1,80 @@
+apply plugin: 'maven-publish'
+
+def pubVersion = ''
+if (project.hasProperty("publishVersion")) {
+    pubVersion = project.publishVersion
+} else {
+    pubVersion = WPILibVersion.version
+}
+
+def baseArtifactId = nativeName
+def artifactGroupId = 'edu.wpi.first.halsim'
+def zipBaseName = "_GROUP_edu_wpi_first_halsim_ID_${nativeName}_CLS"
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+task cppSourcesZip(type: Zip) {
+    destinationDir = outputsFolder
+    baseName = zipBaseName
+    classifier = "sources"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/cpp') {
+        into '/'
+    }
+}
+
+task cppHeadersZip(type: Zip) {
+    destinationDir = outputsFolder
+    baseName = zipBaseName
+    classifier = "headers"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/include') {
+        into '/'
+    }
+}
+
+build.dependsOn cppSourcesZip
+build.dependsOn cppHeadersZip
+
+addTaskToCopyAllOutputs(cppSourcesZip)
+addTaskToCopyAllOutputs(cppHeadersZip)
+
+model {
+    publishing {
+        def halsim_adx_gyro_accelerometerTaskList = createComponentZipTasks($.components, nativeName, zipBaseName, Zip, project, includeStandardZipFormat)
+        def allTask
+        if (!project.hasProperty('jenkinsBuild')) {
+            allTask = createAllCombined(halsim_adx_gyro_accelerometerTaskList, nativeName, zipBaseName, Zip, project)
+        }
+
+
+
+        publications {
+            cpp(MavenPublication) {
+                halsim_adx_gyro_accelerometerTaskList.each {
+                    artifact it
+                }
+
+                if (!project.hasProperty('jenkinsBuild')) {
+                    artifact allTask
+                }
+
+                artifact cppHeadersZip
+                artifact cppSourcesZip
+
+
+                artifactId = baseArtifactId
+                groupId artifactGroupId
+                version pubVersion
+            }
+        }
+    }
+}
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp
index a432901fd6..aa5886180f 100644
--- a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp
@@ -5,9 +5,8 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include "ADXL345_I2C.h"
 #include "ADXL345_I2CAccelerometerData.h"
-#include "Talon.h"
+#include "frc/ADXL345_I2C.h"
 #include "gtest/gtest.h"
 
 class ADXL345_I2CAccelerometerTest
@@ -44,4 +43,5 @@ TEST_P(ADXL345_I2CAccelerometerTest, TestAccelerometer) {
 
 INSTANTIATE_TEST_CASE_P(ADXL345_I2CAccelerometerTest,
                         ADXL345_I2CAccelerometerTest,
-                        ::testing::Values(frc::I2C::kOnboard, frc::I2C::kMXP));
+                        ::testing::Values(frc::I2C::kOnboard,
+                                          frc::I2C::kMXP), );
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp
index 1a437d7527..548240d106 100644
--- a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp
@@ -5,9 +5,8 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include "ADXL345_SPI.h"
 #include "ADXL345_SpiAccelerometerData.h"
-#include "Talon.h"
+#include "frc/ADXL345_SPI.h"
 #include "gtest/gtest.h"
 
 class ADXL345_SpiAccelerometerTest
@@ -46,4 +45,4 @@ INSTANTIATE_TEST_CASE_P(
     ADXL345_SpiAccelerometerTest, ADXL345_SpiAccelerometerTest,
     ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
                       frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
-                      frc::SPI::kMXP));
+                      frc::SPI::kMXP), );
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp
index 6e445ffc1f..67efd18b22 100644
--- a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp
@@ -5,9 +5,8 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include "ADXL362.h"
 #include "ADXL362_SpiAccelerometerData.h"
-#include "Talon.h"
+#include "frc/ADXL362.h"
 #include "gtest/gtest.h"
 
 class ADXL362_SpiAccelerometerTest
@@ -46,4 +45,4 @@ INSTANTIATE_TEST_CASE_P(
     ADXL362_SpiAccelerometerTest, ADXL362_SpiAccelerometerTest,
     ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
                       frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
-                      frc::SPI::kMXP));
+                      frc::SPI::kMXP), );
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp
index ebb42fa297..3a99ee45c7 100644
--- a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp
@@ -5,9 +5,8 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include "ADXRS450_Gyro.h"
 #include "ADXRS450_SpiGyroWrapperData.h"
-#include "Talon.h"
+#include "frc/ADXRS450_Gyro.h"
 #include "gtest/gtest.h"
 
 class ADXRS450_SpiGyroWrapperTest
@@ -33,4 +32,4 @@ INSTANTIATE_TEST_CASE_P(
     ADXRS450_SpiGyroWrapperTest, ADXRS450_SpiGyroWrapperTest,
     ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
                       frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
-                      frc::SPI::kMXP));
+                      frc::SPI::kMXP), );
diff --git a/simulation/lowfi_simulation/build.gradle b/simulation/lowfi_simulation/build.gradle
index 83f45d7d94..50e0002f18 100644
--- a/simulation/lowfi_simulation/build.gradle
+++ b/simulation/lowfi_simulation/build.gradle
@@ -49,7 +49,7 @@ if (!project.hasProperty('onlyAthena')) {
                 sources {
                     cpp {
                         source {
-                            srcDirs = ['src/main/native/cpp', "$buildDir/generated/cpp"]
+                            srcDirs = ['src/main/native/cpp']
                             include '**/*.cpp'
                         }
                         exportedHeaders {
@@ -68,7 +68,7 @@ if (!project.hasProperty('onlyAthena')) {
                     }
                     lib project: ':hal', library: 'hal', linkage: 'shared'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                    project(':ni-libraries').addNiLibrariesToLinker(it)
+                    lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
                 }
             }
             "${nativeName}"(NativeLibrarySpec) {
@@ -90,7 +90,7 @@ if (!project.hasProperty('onlyAthena')) {
                     }
                     lib project: ':hal', library: 'hal', linkage: 'shared'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                    project(':ni-libraries').addNiLibrariesToLinker(it)
+                    lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
                 }
             }
             // By default, a development executable will be generated. This is to help the case of
@@ -101,7 +101,7 @@ if (!project.hasProperty('onlyAthena')) {
                         source {
                             srcDirs 'src/dev/native/cpp'
                             include '**/*.cpp'
-                            lib library: 'lowfi_sim'
+                            lib library: "${nativeName}"
                         }
                         exportedHeaders {
                             srcDirs 'src/dev/native/include'
@@ -115,7 +115,6 @@ if (!project.hasProperty('onlyAthena')) {
                     }
                     lib project: ':hal', library: 'hal', linkage: 'shared'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                    project(':ni-libraries').addNiLibrariesToLinker(it)
                 }
             }
         }
@@ -127,7 +126,7 @@ if (!project.hasProperty('onlyAthena')) {
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                 lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
-                project(':ni-libraries').addNiLibrariesToLinker(it)
+                lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
                 lib library: nativeName, linkage: 'shared'
             }
         }
@@ -172,6 +171,7 @@ model {
                             def arch = it.targetPlatform.architecture.name
                             if (arch == 'x86-64' || arch == 'x86') {
                                 dependsOn it.tasks.install
+								commandLine it.tasks.install.runScriptFile.get().asFile.toString()
 
                                 found = true
                             }
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp
new file mode 100644
index 0000000000..50ed3361e8
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+ADXLThreeAxisAccelerometerSim::ADXLThreeAxisAccelerometerSim(
+    hal::ThreeAxisAccelerometerData& accelerometerWrapper)
+    : m_accelerometerWrapper(accelerometerWrapper),
+      m_xWrapper(std::function<void(double)>(
+                     std::bind(&hal::ThreeAxisAccelerometerData::SetX,
+                               &m_accelerometerWrapper, std::placeholders::_1)),
+                 std::function<double(void)>(
+                     std::bind(&hal::ThreeAxisAccelerometerData::GetX,
+                               &m_accelerometerWrapper))),
+
+      m_yWrapper(std::function<void(double)>(
+                     std::bind(&hal::ThreeAxisAccelerometerData::SetY,
+                               &m_accelerometerWrapper, std::placeholders::_1)),
+                 std::function<double(void)>(
+                     std::bind(&hal::ThreeAxisAccelerometerData::GetY,
+                               &m_accelerometerWrapper))),
+
+      m_zWrapper(std::function<void(double)>(
+                     std::bind(&hal::ThreeAxisAccelerometerData::SetZ,
+                               &m_accelerometerWrapper, std::placeholders::_1)),
+                 std::function<double(void)>(
+                     std::bind(&hal::ThreeAxisAccelerometerData::GetZ,
+                               &m_accelerometerWrapper))) {}
+
+AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetXWrapper() {
+  return m_xWrapper;
+}
+
+AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetYWrapper() {
+  return m_yWrapper;
+}
+
+AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetZWrapper() {
+  return m_zWrapper;
+}
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp
new file mode 100644
index 0000000000..1f02a41a74
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+ADXRS450_SpiGyroSim::ADXRS450_SpiGyroSim(int spiPort)
+    : m_gyroWrapper(spiPort) {}
+
+void ADXRS450_SpiGyroSim::SetAngle(double angle) {
+  m_gyroWrapper.SetAngle(angle);
+}
+
+double ADXRS450_SpiGyroSim::GetAngle() { return m_gyroWrapper.GetAngle(); }
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp
new file mode 100644
index 0000000000..b31e011c2d
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "lowfisim/wpisimulators/WpiAnalogGyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+WpiAnalogGyroSim::WpiAnalogGyroSim(int index) : m_gyroSimulator(index) {}
+
+void WpiAnalogGyroSim::SetAngle(double angle) {
+  m_gyroSimulator.SetAngle(angle);
+}
+
+double WpiAnalogGyroSim::GetAngle() { return m_gyroSimulator.GetAngle(); }
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h
new file mode 100644
index 0000000000..17b16f39a7
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h
@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class AccelerometerSim {
+ public:
+  virtual double GetAcceleration() = 0;
+  virtual void SetAcceleration(double acceleration) = 0;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h
new file mode 100644
index 0000000000..41a44c4eac
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h
@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class GyroSim {
+ public:
+  virtual void SetAngle(double angle) = 0;
+  virtual double GetAngle() = 0;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h
new file mode 100644
index 0000000000..9c8ef09078
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 <functional>
+
+#include "lowfisim/AccelerometerSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimpleAccelerometerSim : public AccelerometerSim {
+ public:
+  SimpleAccelerometerSim(const std::function<void(double)>& setterFunction,
+                         const std::function<double(void)>& getterFunction)
+      : m_setAccelerationFunction(setterFunction),
+        m_getAccelerationFunction(getterFunction) {}
+  double GetAcceleration() override { return m_getAccelerationFunction(); }
+
+  void SetAcceleration(double acceleration) override {
+    m_setAccelerationFunction(acceleration);
+  }
+
+ private:
+  std::function<void(double)> m_setAccelerationFunction;
+  std::function<double(void)> m_getAccelerationFunction;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleGyroSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleGyroSim.h
new file mode 100644
index 0000000000..ea69247adb
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleGyroSim.h
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 <functional>
+
+#include "lowfisim/GyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimpleGyroSim : public GyroSim {
+ public:
+  SimpleGyroSim(std::function<void(double)>& setterFunction,
+                std::function<double(void)>& getterFunction)
+      : m_setAngleFunction(setterFunction),
+        m_getAngleFunction(getterFunction) {}
+  double GetAngle() override { return m_getAngleFunction(); }
+
+  void SetAngle(double angle) override { m_setAngleFunction(angle); }
+
+ private:
+  std::function<void(double)> m_setAngleFunction;
+  std::function<double(void)> m_getAngleFunction;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h
new file mode 100644
index 0000000000..0b63f2e737
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "ThreeAxisAccelerometerData.h"
+#include "lowfisim/SimpleAccelerometerSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class ADXLThreeAxisAccelerometerSim {
+ public:
+  ADXLThreeAxisAccelerometerSim(
+      hal::ThreeAxisAccelerometerData& accelerometerWrapper);
+
+  AccelerometerSim& GetXWrapper();
+  AccelerometerSim& GetYWrapper();
+  AccelerometerSim& GetZWrapper();
+
+ protected:
+  hal::ThreeAxisAccelerometerData& m_accelerometerWrapper;
+  SimpleAccelerometerSim m_xWrapper;
+  SimpleAccelerometerSim m_yWrapper;
+  SimpleAccelerometerSim m_zWrapper;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h
new file mode 100644
index 0000000000..989602e3e1
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "ADXRS450_SpiGyroWrapperData.h"
+#include "lowfisim/GyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class ADXRS450_SpiGyroSim : public GyroSim {
+ public:
+  explicit ADXRS450_SpiGyroSim(int spiPort);
+
+  void SetAngle(double angle) override;
+  double GetAngle() override;
+
+ protected:
+  hal::ADXRS450_SpiGyroWrapper m_gyroWrapper;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h
new file mode 100644
index 0000000000..37c3c3ca7f
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "lowfisim/GyroSim.h"
+#include "simulation/AnalogGyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class WpiAnalogGyroSim : public GyroSim {
+ public:
+  explicit WpiAnalogGyroSim(int index);
+
+  void SetAngle(double angle) override;
+  double GetAngle() override;
+
+ protected:
+  frc::sim::AnalogGyroSim m_gyroSimulator;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp
new file mode 100644
index 0000000000..c55dc7c2b6
--- /dev/null
+++ b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp
@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "ADXL345_I2CAccelerometerData.h"
+#include "frc/ADXL345_I2C.h"
+#include "gtest/gtest.h"
+#include "lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h"
+
+TEST(AccelerometerTests, TestADXL345_I2CAccelerometerWrapper) {
+  const double EPSILON = 1 / 256.0;
+
+  frc::I2C::Port port = frc::I2C::kOnboard;
+
+  frc::ADXL345_I2C accel{port};
+
+  EXPECT_NEAR(0, accel.GetX(), EPSILON);
+  EXPECT_NEAR(0, accel.GetY(), EPSILON);
+  EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+
+  hal::ADXL345_I2CData rawAdxSim(port);
+  frc::sim::lowfi::ADXLThreeAxisAccelerometerSim accelerometerSim(rawAdxSim);
+  frc::sim::lowfi::AccelerometerSim& xWrapper = accelerometerSim.GetXWrapper();
+  frc::sim::lowfi::AccelerometerSim& yWrapper = accelerometerSim.GetYWrapper();
+  frc::sim::lowfi::AccelerometerSim& zWrapper = accelerometerSim.GetZWrapper();
+
+  xWrapper.SetAcceleration(1.45);
+  EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
+  EXPECT_NEAR(0, accel.GetY(), EPSILON);
+  EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+  EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
+  EXPECT_NEAR(0, yWrapper.GetAcceleration(), EPSILON);
+  EXPECT_NEAR(0, zWrapper.GetAcceleration(), EPSILON);
+
+  yWrapper.SetAcceleration(-.67);
+  EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
+  EXPECT_NEAR(-.67, accel.GetY(), EPSILON);
+  EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+  EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
+  EXPECT_NEAR(-.67, yWrapper.GetAcceleration(), EPSILON);
+  EXPECT_NEAR(0, zWrapper.GetAcceleration(), EPSILON);
+
+  zWrapper.SetAcceleration(2.42);
+  EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
+  EXPECT_NEAR(-.67, accel.GetY(), EPSILON);
+  EXPECT_NEAR(2.42, accel.GetZ(), EPSILON);
+  EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
+  EXPECT_NEAR(-.67, yWrapper.GetAcceleration(), EPSILON);
+  EXPECT_NEAR(2.42, zWrapper.GetAcceleration(), EPSILON);
+}
diff --git a/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp
new file mode 100644
index 0000000000..ac1f12d4be
--- /dev/null
+++ b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "ADXRS450_SpiGyroWrapperData.h"
+#include "frc/ADXRS450_Gyro.h"
+#include "frc/AnalogGyro.h"
+#include "gtest/gtest.h"
+#include "lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h"
+#include "lowfisim/wpisimulators/WpiAnalogGyroSim.h"
+
+void TestGyro(frc::sim::lowfi::GyroSim& sim, frc::Gyro& gyro) {
+  const double EPSILON = .00001;
+
+  EXPECT_NEAR(0, gyro.GetAngle(), EPSILON);
+  EXPECT_NEAR(0, sim.GetAngle(), EPSILON);
+
+  sim.SetAngle(45.13);
+  EXPECT_NEAR(45.13, gyro.GetAngle(), EPSILON);
+  EXPECT_NEAR(45.13, sim.GetAngle(), EPSILON);
+}
+
+TEST(GyroSimulatorTests, TestAnalogGyro) {
+  int port = 1;
+  frc::AnalogGyro gyro{port};
+  frc::sim::lowfi::WpiAnalogGyroSim sim{port};
+
+  TestGyro(sim, gyro);
+}
+
+TEST(GyroSimulatorTests, TestSpiGyro) {
+  frc::SPI::Port port = frc::SPI::kOnboardCS0;
+  frc::sim::lowfi::ADXRS450_SpiGyroSim sim{port};
+  frc::ADXRS450_Gyro gyro{port};
+
+  TestGyro(sim, gyro);
+}