[Brindlefly]

Ok, now I am getting an output from the gyro but it changes only when you turn it and then it goes back to zero when it stops turning.

private I2C gyro = new I2C(I2C.Port.kOnboard, 0x68);
	
	protected void initialize () {
		gyro.write(0x6B, 0x03); // Power
		gyro.write(0x1A, 0x1B); // Basic Config
		gyro.write(0x1B, 0x18); // Gyro Config
	}
	
	protected void execute () {
		
		byte[] angle = new byte[1];
		gyro.read(0x47, 2, angle);
		
		double rotation = (angle[1] << 8) | angle[0];
		
		System.out.println("Rotation: " + rotation);
	}
	
	protected boolean isFinished () {
		return false;
	}
	
	protected void end () {
		
	}
	
	protected void interrupted () {
		end();
	}