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Hello, Complete code novice, I'm using Jeff Rowberg's library and sample code to get the Yaw, Pitch and Roll orientations of the gyro. However wanting to get the angular acceleration using these, (I'm thinking along the lines of, yaw value(t=t+1)-yaw value(t=t)/(time^2), knowing that the sample rate is 10 ms) and then depending on these values, if they are about a certain threshold a light turns on. However I'm very confused where to input these alterations of the code and actually how to write them. Any help really appreciated!