Gyroscope Programming

What is the best way to program a gyroscope with C++? Like accurate turns and how to calibrate it properly. I am using Robot Mesh, but I can usually interpret it from VCS.

Is your question, “how do I logically make use of a gyro in my program?” or is it more like “how do I read the gyro sensor value?”

I guess more or less the first question. I just need to know how to program it within my autonomous using the reading from the sensor.