Like you mentioned, just use an analog input on the analog cRIO module. Be sure that the gyro is wired correctly too.
Then in Java, simply create a new gyro object.
Code:
Gyro newGyro = new Gyro(1); // '1' is what channel the input is attached to on the module. Change it if necessary.
// The below code is to get the current angle of the gyro.
double gyroAngle;
gyroAngle = newGyro.getAngle();
Does that help?