Here try this.
http://www.techtigers.com/ResourceFi.../EngXInput.rar
From the robot code I was using this to send the angle of the gyro:
float angle = 0;
angle = (m_HeadingGyro.GetAngle());
m_TechTigerDashBoard.AddCluster();
m_TechTigerDashBoard.AddDouble(angle);
m_TechTigerDashBoard.FinalizeCluster();
you will receive the heading in the dashboard and I would multiply it by a very high number to in a sense make the gyro super sensitive and in essence using the gyro as a bump sensor and shaking the joystick.
I made several dlls that used directx and what not. If the EngXInput.dll does not work on your joystick let me know and I will send the other ones. But if I remember correctly, this one worked with most joysticks.