I gyro still stays at a very small angle, i had just modified the code a lot to fix some logical problems. ill upload some pictures to this post showing what i see with the gyro.
http://dl.dropbox.com/u/78573135/IMAG0067.jpg
http://dl.dropbox.com/u/78573135/IMAG0068.jpg
The second photo is after doing a complete turn around, though the value only went back by -.1
I'm using a school wifi system right now so i don't have access to image sites, sorry!
EDIT: at this point i think the gyro might have been installed wrong, could anyone link a PDF on how to correctly install a gyro? i can't seem to find one.