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I assume you are aware you could buy the gyro built in with this power board http://store.iheartengineering.com/TurtleBot-Kit-Power-Sensor-Board/dp/B005CDNI9U?ie=UTF8&id=TurtleBot%20Kit%20Power%20Sensor%20Board&field_product_site_launch_date_utc=-1y&field_availability=-1&field_browse=3001597011&searchSize=12&searchNodeID=3001597011&searchPage=1&refinementHistory=brandtextbin%2Csubjectbin%2Cprice%2Csize_name&searchRank=salesrank from I heart engineering.