I created some test code for making sure various sensors were working, and understanding how to use the WPILIB PID class(for the gyro). After I finished, I commented them for others to use and expanded upon the comments in the README.md that can be read on github easily.
Let me know if anything is unclear or if there are any questions.
Each link links to a git repository on github. On the page is some information about setting up the device for running the code. If you aren't familiar with git, the code can be downloaded as a compressed file(click the zip button).
Each repository is a contains a netbeans project for ease of use. Just click open>Open Project... and navigate to the extraced folder to add the project to netbeans.
ADXL345 Accelerometer Test Code
Am-2067 Gyroscope Test code
Am-2067 Gyroscope and PID Example
AS5145B Encoder - Incremental Mode Test Code
AS5145B Encoder - Absolute Mode Test Code