Converting raw gyroscope inputs to an angle.

Conversion

unsigned char gyroValue = 0;      
unsigned char offset = 136;
float angle = 0;
float gyroRate;
 
void setup() {
  Serial.begin(9600); 
}
 
void loop() {
  gyroValue = analogRead(A0) >> 2;   // Work with 8 most significant bits!
 
  gyroRate = (gyroValue - offset) * 5.5; // Sensitivity has been found trial/error
  angle += gyroRate / 100.0;
 
  Serial.print(angle);
  Serial.print("\n");
 
  delay(10);                     
}