Rotation with gyroscope (and maybe accelerometer?)

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we looking way rotate robot within +/- 5 degrees of accuracy. using this three-axis gyroscope currently. have sample code or on doing this? beneficial pair accelerometer gyro this? (we have accelerometer also.)

right now, we're turning using encoders on wheels, , using calculation based on degrees vs ticks of encoders. works decently; however, in environments different (or slanted) surfaced, turns inaccurate.

advice or other appreciated, if other using gyro/accelerometer.

edit: not looking orientation data. want rotate robot 90 degrees, or many degrees pass via turn function. turn, powering 1 side positive speed , other negative speed make point turn.

thanks.

do want "rotate" robot amount, determined level of accuracy, or know final orientation (with respect direction north) accuracy?


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