int gyro = 0;
int rate_unit = 0;
int rate_unit_adj = 0; //

unsigned long millis_readsample = 0;
unsigned long freq_readsample = 500;

long rate_tot = 0;
int rate_avg = 0;

void setup()
{
    analogReference(EXTERNAL)
    Serial.begin(9600)

    int loops = 0;
    while (loops < 500)
    {
        int sample = analogRead(gyro)
        rate_tot = rate_tot + sample; //
        loops++
    }
    rate_avg = rate_tot / 500;

    millis_readsample = millis() + freq_readsample;
}

void loop()
{
  if (millis() >= millis_readsample)
  {
  rate_unit = analogRead(gyro);

  Serial.print("rate_unit: ");
  Serial.println(rate_unit);

  millis_readsample += freq_readsample;
  }
}