I am seeing a lot of people having trouble with the gyroscope. I would just like to share that using rotationUnits with the gyroscope will require scaling the gyroscope which is a very long process. I would recommend using analogUnits when obtaining gyroscope values. Also, use rang12bit for more accuracy. It outputs the gyroscope value in tenths of a degree, so 180 degrees will actually be 1800. My team has had a lot of success with this method. I hope this helps anybody who needs assistance.