diff --git a/wpilib/wpilib/adxl345_i2c.py b/wpilib/wpilib/adxl345_i2c.py
index 018122955..ca93ac06c 100644
--- a/wpilib/wpilib/adxl345_i2c.py
+++ b/wpilib/wpilib/adxl345_i2c.py
@@ -1,4 +1,4 @@
-# validated: 2016-01-07 DS 376fc6b athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
 #----------------------------------------------------------------------------
 # Copyright (c) FIRST 2008-2012. All Rights Reserved.
 # Open Source Software - may be modified and shared by FRC teams. The code
@@ -63,8 +63,8 @@ def __init__(self, port, range, address=None):
 
         self.setRange(range)
 
-        hal.HALReport(hal.HALUsageReporting.kResourceType_ADXL345,
-                      hal.HALUsageReporting.kADXL345_I2C)
+        hal.report(hal.UsageReporting.kResourceType_ADXL345,
+                      hal.UsageReporting.kADXL345_I2C)
 
         LiveWindow.addSensor("ADXL345_I2C", port, self)
 
diff --git a/wpilib/wpilib/adxl345_spi.py b/wpilib/wpilib/adxl345_spi.py
index 6f4c765c4..27e0711ad 100644
--- a/wpilib/wpilib/adxl345_spi.py
+++ b/wpilib/wpilib/adxl345_spi.py
@@ -1,4 +1,4 @@
-# validated: 2015-12-31 DS 6d854af athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
 #----------------------------------------------------------------------------
 # Copyright (c) FIRST 2008-2012. All Rights Reserved.
 # Open Source Software - may be modified and shared by FRC teams. The code
@@ -69,8 +69,8 @@ def __init__(self, port, range):
 
         self.setRange(range)
 
-        hal.HALReport(hal.HALUsageReporting.kResourceType_ADXL345,
-                      hal.HALUsageReporting.kADXL345_SPI)
+        hal.report(hal.UsageReporting.kResourceType_ADXL345,
+                      hal.UsageReporting.kADXL345_SPI)
 
         LiveWindow.addSensor("ADXL345_SPI", port, self)
 
diff --git a/wpilib/wpilib/adxl362.py b/wpilib/wpilib/adxl362.py
index b7f5418b4..3f3b0b95b 100644
--- a/wpilib/wpilib/adxl362.py
+++ b/wpilib/wpilib/adxl362.py
@@ -1,4 +1,4 @@
-# validated: 2015-12-31 DS 9e18330 athena/java/edu/wpi/first/wpilibj/ADXL362.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/ADXL362.java
 #----------------------------------------------------------------------------
 # Copyright (c) FIRST 2008-2012. All Rights Reserved.
 # Open Source Software - may be modified and shared by FRC teams. The code
@@ -82,7 +82,7 @@ def __init__(self, range, port=None):
         self.spi.write([self.kRegWrite, self.kPowerCtlRegister,
                         self.kPowerCtl_Measure | self.kPowerCtl_UltraLowNoise])
 
-        hal.HALReport(hal.HALUsageReporting.kResourceType_ADXL362,
+        hal.report(hal.UsageReporting.kResourceType_ADXL362,
                       port)
 
         LiveWindow.addSensor("ADXL362", port, self)
diff --git a/wpilib/wpilib/adxrs450_gyro.py b/wpilib/wpilib/adxrs450_gyro.py
index f3689d18d..a12fa3195 100644
--- a/wpilib/wpilib/adxrs450_gyro.py
+++ b/wpilib/wpilib/adxrs450_gyro.py
@@ -1,4 +1,4 @@
-# validated: 2016-01-07 DS 628811e athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
 #----------------------------------------------------------------------------
 # Copyright (c) FIRST 2015. All Rights Reserved.
 # Open Source Software - may be modified and shared by FRC teams. The code
@@ -72,12 +72,12 @@ def __init__(self, port=None):
             DriverStation.reportError("could not find ADXRS450 gyro on SPI port %s" % port, False)
             return
         
-        self.spi.initAccumulator(self.kSamplePeriod, 0x20000000, 4, 0x0c000000, 0x04000000,
+        self.spi.initAccumulator(self.kSamplePeriod, 0x20000000, 4, 0x0c00000e, 0x04000000,
             10, 16, True, True)
         
         self.calibrate()
         
-        hal.HALReport(hal.HALUsageReporting.kResourceType_ADXRS450, port)
+        hal.report(hal.UsageReporting.kResourceType_ADXRS450, port)
         LiveWindow.addSensor("ADXRS450_Gyro", port, self)
 
     def calibrate(self):
diff --git a/wpilib/wpilib/analogaccelerometer.py b/wpilib/wpilib/analogaccelerometer.py
index c134cec2e..ea0229abe 100644
--- a/wpilib/wpilib/analogaccelerometer.py
+++ b/wpilib/wpilib/analogaccelerometer.py
@@ -1,4 +1,4 @@
-# validated: 2015-12-24 DS 6d854af athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
 #----------------------------------------------------------------------------
 # Copyright (c) FIRST 2008-2012. All Rights Reserved.
 # Open Source Software - may be modified and shared by FRC teams. The code
@@ -39,7 +39,7 @@ def __init__(self, channel):
         self.voltsPerG = 1.0
         self.zeroGVoltage = 2.5
         self.pidSource = self.PIDSourceType.kDisplacement
-        hal.HALReport(hal.HALUsageReporting.kResourceType_Accelerometer,
+        hal.report(hal.UsageReporting.kResourceType_Accelerometer,
                       self.analogChannel.getChannel())
         LiveWindow.addSensorChannel("Accelerometer",
                                     self.analogChannel.getChannel(), self)
diff --git a/wpilib/wpilib/analoggyro.py b/wpilib/wpilib/analoggyro.py
index 45bd110b4..0ce4c83c8 100644
--- a/wpilib/wpilib/analoggyro.py
+++ b/wpilib/wpilib/analoggyro.py
@@ -1,4 +1,4 @@
-# validated: 2016-01-07 DS 628811e athena/java/edu/wpi/first/wpilibj/AnalogGyro.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/AnalogGyro.java
 #----------------------------------------------------------------------------
 # Copyright (c) FIRST 2008-2012. All Rights Reserved.
 # Open Source Software - may be modified and shared by FRC teams. The code
@@ -37,7 +37,7 @@ class AnalogGyro(GyroBase):
     kDefaultVoltsPerDegreePerSecond = 0.007
     
     PIDSourceType = PIDSource.PIDSourceType
-
+    
     def __init__(self, channel, center=None, offset=None):
         """Gyro constructor.
 
@@ -56,6 +56,7 @@ def __init__(self, channel, center=None, offset=None):
         :param offset: Preset uncalibrated value to use as the gyro offset
         :type offset: float
         """
+        
         if not hasattr(channel, "initAccumulator"):
             channel = AnalogInput(channel)
             self.channelAllocated = True
@@ -64,54 +65,31 @@ def __init__(self, channel, center=None, offset=None):
             
         self.analog = channel
 
-        self.voltsPerDegreePerSecond = AnalogGyro.kDefaultVoltsPerDegreePerSecond
-        self.analog.setAverageBits(AnalogGyro.kAverageBits)
-        self.analog.setOversampleBits(AnalogGyro.kOversampleBits)
-        sampleRate = AnalogGyro.kSamplesPerSecond \
-                * (1 << (AnalogGyro.kAverageBits + AnalogGyro.kOversampleBits))
-        AnalogInput.setGlobalSampleRate(sampleRate)
-        if not hal.HALIsSimulation():
-            Timer.delay(1.0)
-        
+        self.gyroHandle = hal.initializeAnalogGyro(self.analog.port)
+    
+           
         self.setDeadband(0.0)
 
-        self.setPIDSourceType(self.PIDSourceType.kDisplacement)
+        hal.setupAnalogGyro(self.gyroHandle)
         
-        hal.HALReport(hal.HALUsageReporting.kResourceType_Gyro,
+        hal.report(hal.UsageReporting.kResourceType_Gyro,
                       self.analog.getChannel())
         LiveWindow.addSensorChannel("AnalogGyro", self.analog.getChannel(), self)
         
         if center is None or offset is None:
             self.calibrate()
         else:
-            self.center = int(center)
-            self.offset = float(offset)
-            self.analog.setAccumulatorCenter(self.center)
-            self.analog.resetAccumulator()
-            
-
+            hal.setAnalogGyroParameters(self.gyroHandle, self.kDefaultVoltsPerDegreePerSecond, offset, center)        
+            self.reset()
+        
+        
     def calibrate(self):
         """:see: :meth:`.Gyro.calibrate`"""
-        self.analog.initAccumulator()
-        self.analog.resetAccumulator()
+        hal.calibrateAnalogGyro(self.gyroHandle)
         
-        # Only do this on a real robot
-        if not hal.HALIsSimulation():
-            Timer.delay(AnalogGyro.kCalibrationSampleTime)
-
-        value, count = self.analog.getAccumulatorOutput()
-
-        self.center = int(float(value) / float(count) + .5)
-
-        self.offset = (float(value) / float(count)) - self.center
-
-        self.analog.setAccumulatorCenter(self.center)
-        self.analog.resetAccumulator()
-    
     def reset(self):
         """:see: :meth:`.Gyro.reset`"""
-        if self.analog is not None:
-            self.analog.resetAccumulator()
+        hal.resetAnalogGyro(self.gyroHandle)
 
     def free(self):
         """:see: :meth:`.Gyro.free`"""
@@ -119,30 +97,23 @@ def free(self):
         if self.analog is not None and self.channelAllocated:
             self.analog.free()
             self.analog = None
-
+        hal.freeAnalogGyro(self.gyroHandle)
+        self.gyroHandle = 0
+        
     def getAngle(self):
         """:see: :meth:`.Gyro.getAngle`"""
+    
         if self.analog is None:
             return 0.0
-        value, count = self.analog.getAccumulatorOutput()
-
-        value -= count * self.offset
-
-        return (value
-                * 1e-9
-                * self.analog.getLSBWeight()
-                * (1 << self.analog.getAverageBits())
-                / (AnalogInput.getGlobalSampleRate() * self.voltsPerDegreePerSecond))
+        
+        return hal.getAnalogGyroAngle(self.gyroHandle)
 
     def getRate(self):
         """:see: :meth:`.Gyro.getRate`"""
         if self.analog is None:
             return 0.0
         else:
-            return ((self.analog.getAverageValue() - (self.center + self.offset))
-                    * 1e-9
-                    * self.analog.getLSBWeight()
-                    / ((1 << self.analog.getOversampleBits()) * self.voltsPerDegreePerSecond))
+           return hal.getAnalogGyroRate(self.gyroHandle)
 
     def getOffset(self):
         """Return the gyro offset value set during calibration to
@@ -150,7 +121,7 @@ def getOffset(self):
         
         :returns: the current offset value
         """
-        return self.offset
+        return hal.getAnalogGyroOffset(self.gyroHandle)
     
     def getCenter(self):
         """Return the gyro center value set during calibration to
@@ -158,7 +129,7 @@ def getCenter(self):
         
         :returns: the current center value
         """
-        return self.center
+        return hal.getAnalogGyroCenter(self.gyroHandle)
 
     def setSensitivity(self, voltsPerDegreePerSecond):
         """Set the gyro sensitivity. This takes the number of
@@ -170,7 +141,7 @@ def setSensitivity(self, voltsPerDegreePerSecond):
             The sensitivity in Volts/degree/second
         :type  voltsPerDegreePerSecond: float
         """
-        self.voltsPerDegreePerSecond = voltsPerDegreePerSecond
+        hal.setAnalogGyroVoltsPerDegreePerSecond(self.gyroHandle, voltsPerDegreePerSecond)
 
     def setDeadband(self, volts):
         """Set the size of the neutral zone.  Any voltage from the gyro less
@@ -183,7 +154,6 @@ def setDeadband(self, volts):
         """
         if self.analog is None:
             return
-        deadband = int(volts * 1e9 / self.analog.getLSBWeight() * 
-                       (1 << self.analog.getOversampleBits()))
-        self.analog.setAccumulatorDeadband(deadband)
+        
+        hal.setAnalogGyroDeadband(self.gyroHandle, volts)
 
diff --git a/wpilib/wpilib/analoginput.py b/wpilib/wpilib/analoginput.py
index ad420cc30..b160190d3 100644
--- a/wpilib/wpilib/analoginput.py
+++ b/wpilib/wpilib/analoginput.py
@@ -1,4 +1,4 @@
-# validated: 2015-12-28 DS 375a195 athena/java/edu/wpi/first/wpilibj/AnalogInput.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/AnalogInput.java
 #----------------------------------------------------------------------------
 # Copyright (c) FIRST 2008-2012. All Rights Reserved.
 # Open Source Software - may be modified and shared by FRC teams. The code
@@ -46,13 +46,9 @@ def __init__(self, channel):
         """Construct an analog channel.
         :param channel: The channel number to represent. 0-3 are on-board 4-7 are on the MXP port.
         """
-        if not hal.checkAnalogInputChannel(channel):
-            raise IndexError("Analog input channel %d cannot be allocated. Channel is not present." % channel)
-        try:
-            AnalogInput.channels.allocate(self, channel)
-        except IndexError as e:
-            raise IndexError("Analog input channel %d is already allocated" % channel) from e
-
+        
+        SensorBase.checkAnalogInputChannel(channel)
+        
         self.channel = channel
         self.accumulatorOffset = 0
         self.pidSource = self.PIDSourceType.kDisplacement
@@ -61,7 +57,7 @@ def __init__(self, channel):
         self._port = hal.initializeAnalogInputPort(port)
 
         LiveWindow.addSensorChannel("AnalogInput", channel, self)
-        hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogChannel,
+        hal.report(hal.UsageReporting.kResourceType_AnalogChannel,
                       channel)
         
         self.__finalizer = weakref.finalize(self, _freeAnalogInput, self._port)
diff --git a/wpilib/wpilib/analogoutput.py b/wpilib/wpilib/analogoutput.py
index a27110da5..2a968b90a 100644
--- a/wpilib/wpilib/analogoutput.py
+++ b/wpilib/wpilib/analogoutput.py
@@ -1,4 +1,4 @@
-# validated: 2015-12-24 DS de39877 athena/java/edu/wpi/first/wpilibj/AnalogOutput.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/AnalogOutput.java
 #----------------------------------------------------------------------------
 # Copyright (c) FIRST 2014. All Rights Reserved.
 # Open Source Software - may be modified and shared by FRC teams. The code
@@ -28,20 +28,15 @@ def __init__(self, channel):
 
         :param channel: The channel number to represent.
         """
-        if not hal.checkAnalogOutputChannel(channel):
-            raise IndexError("Analog output channel %d cannot be allocated. Channel is not present." % channel)
-        try:
-            AnalogOutput.channels.allocate(self, channel)
-        except IndexError as e:
-            raise IndexError("Analog output channel %d is already allocated" % channel) from e
-
+        SensorBase.checkAnalogOutputChannel(channel)
+        
         self.channel = channel
 
         port = hal.getPort(channel)
         self._port = hal.initializeAnalogOutputPort(port)
 
         LiveWindow.addSensorChannel("AnalogOutput", channel, self)
-        hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogChannel,
+        hal.report(hal.UsageReporting.kResourceType_AnalogChannel,
                       channel, 1)
         
         self.__finalizer = weakref.finalize(self, _freeAnalogOutput, self._port)
diff --git a/wpilib/wpilib/analogpotentiometer.py b/wpilib/wpilib/analogpotentiometer.py
index e35e4f78d..ae0dedf7d 100644
--- a/wpilib/wpilib/analogpotentiometer.py
+++ b/wpilib/wpilib/analogpotentiometer.py
@@ -1,4 +1,4 @@
-# validated: 2015-12-24 DS 6d854af athena/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
 #----------------------------------------------------------------------------*/
 # Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
 # Open Source Software - may be modified and shared by FRC teams. The code   */
diff --git a/wpilib/wpilib/analogtrigger.py b/wpilib/wpilib/analogtrigger.py
index 90aae3ada..cfa4af9f6 100644
--- a/wpilib/wpilib/analogtrigger.py
+++ b/wpilib/wpilib/analogtrigger.py
@@ -1,4 +1,4 @@
-# validated: 2015-12-24 DS 6d854af athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java
 #----------------------------------------------------------------------------
 # Copyright (c) FIRST 2008-2012. All Rights Reserved.
 # Open Source Software - may be modified and shared by FRC teams. The code
@@ -44,6 +44,7 @@ def __init__(self, channel):
         """
         if hasattr(channel, "getChannel"):
             channel = channel.getChannel()
+            self.analogInput = channel
 
         port = hal.getPort(channel)
         self._port, self.index = hal.initializeAnalogTrigger(port)
@@ -53,7 +54,7 @@ def __init__(self, channel):
         # Need this to free on unit test wpilib reset
         Resource._add_global_resource(self)
 
-        hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogTrigger,
+        hal.report(hal.UsageReporting.kResourceType_AnalogTrigger,
                       channel)
 
     @property
@@ -65,6 +66,9 @@ def port(self):
     def free(self):
         """Release the resources used by this object"""
         self.__finalizer()
+        if self.analogInput:
+            self.analogInput.free()
+            
 
     def setLimitsRaw(self, lower, upper):
         """Set the upper and lower limits of the analog trigger. The limits are
diff --git a/wpilib/wpilib/analogtriggeroutput.py b/wpilib/wpilib/analogtriggeroutput.py
index 9f934a7bd..beea492d8 100644
--- a/wpilib/wpilib/analogtriggeroutput.py
+++ b/wpilib/wpilib/analogtriggeroutput.py
@@ -1,4 +1,4 @@
-# validated: 2015-12-24 DS 6d854af athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
+# validated: 2016-12-03 TW e44a6e227a89 athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
 #----------------------------------------------------------------------------
 # Copyright (c) FIRST 2008-2012. All Rights Reserved.
 # Open Source Software - may be modified and shared by FRC teams. The code
@@ -58,7 +58,7 @@ def __init__(self, trigger, outputType):
         self.trigger = trigger
         self.outputType = outputType
 
-        hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogTriggerOutput,
+        hal.report(hal.UsageReporting.kResourceType_AnalogTriggerOutput,
                       trigger.index, outputType)
 
     def free(self):