AnalogChannel as both an accumulator AND a normal input?

[MattD]

You should be able to do this. The Gyro class has a constructor that accepts an existing AnalogChannel object.

/**
 * Gyro constructor with a precreated analog channel object.
 * Use this constructor when the analog channel needs to be shared. There
 * is no reference counting when an AnalogChannel is passed to the gyro.
 * @param channel The AnalogChannel object that the gyro is connected to.
 */
Gyro::Gyro(AnalogChannel *channel)

You can create an AnalogChannel and use the standard methods on it, while using the accumulator information via the Gyro class at the same time.

AnalogChannel *channel = new AnalogChannel(1);
Gyro *gyro = new Gyro(channel);

float value = channel->GetVoltage();
float angle = gyro->GetAngle();

Alternatively, you could modify the Gyro class to provide access to this information.