i'm working on cloning a Rotomotion 4DOF Inertial Measurement Unit, and i can't find any Tokin CG-16D's out there (there is already a thread of mine deatiling this, but feel free to link a store with them in stock here). Unless someone posts a link to one here, i guess i'll have to go with an Analog Devices ADXRS150, which updates @ 150o/second, the CG-16D updates @ 90o/second. so now i am faced with two problems. i'm afraid the code i got with the schematics won't work with a different gyro (not to mention one that updates @ different speeds); and the connections are different. since there are some frickin' smart people here, can someone help me interface an ADXRS150 where a Tokin CG-16D was supposed to go? since BGA chips are hard for me to solder, i'm going to buy two from sparkfun already mounted on a breakout board. the pinout from that board is: 1) ST1 2) ST2 3) TEMP 4) +2.5V 5) RATE 6) GND 7) +5V the CG-16D has four leads, as follows: 1) GND 2) Out 3) Vcc 4) Ref i'll post the code right below this post. there are two different versions i got, Tilt.C and Tilt.H, i'll post both.