The wpilibj offers a class on their API
http://www.wbrobotics.com/javadoc/ed...libj/Gyro.html
but you would need to create the Gyro object then specify which analog port on the cRio you are using,
Gyro gyr = new Gyro(aPort);
...
Then in the method your choosing for your implementation you would call the angle using, gyr.getAngle();
This method isn't exactly what it seems though because a gyro calculates its angles by rate you may need to set your sensitivity different depending on your gyroscope using gyr.setSensitivity(int volt/degree/sec);
Also for those times were you need to reset to zero there is a reset() that you can use.