Inertial Sensor Beginner

I really would like to put the inertial sensor to good use in my autonomous programs, but I’m having some difficulties with programming. I’ve never used anything similar to it before (like a 3-wire gyro). Could someone give me a general overview of how to program it, and possibly some tips? Keep in mind I’ve been programming for around 2 years, but haven’t reached far out of the basics.
Thanks in advance!

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