diff --git a/ESP32/Gyroscope_TEST/Gyroscope_TEST/Gyroscope_TEST.ino b/ESP32/Gyroscope_TEST/Gyroscope_TEST/Gyroscope_TEST.ino
new file mode 100644
index 0000000..5c7955d
--- /dev/null
+++ b/ESP32/Gyroscope_TEST/Gyroscope_TEST/Gyroscope_TEST.ino
@@ -0,0 +1,74 @@
+//
+//    FILE: GY521_angle.ino
+//  AUTHOR: Rob Tillaart
+// PURPOSE: read angleX, angleY, angleZ
+//     URL: https://github.com/RobTillaart/GY521
+
+
+#include "GY521.h"
+
+GY521 sensor(0x68);
+
+uint32_t counter = 0;
+
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println(__FILE__);
+  Serial.print("GY521_LIB_VERSION: ");
+  Serial.println(GY521_LIB_VERSION);
+
+  Wire.begin();
+
+  delay(100);
+  while (sensor.wakeup() == false)
+  {
+    Serial.print(millis());
+    Serial.println("\tCould not connect to GY521: please check the GY521 address (0x68/0x69)");
+    delay(1000);
+  }
+  sensor.setAccelSensitivity(2);  //  8g
+  sensor.setGyroSensitivity(1);   //  500 degrees/s
+
+  sensor.setThrottle();
+  Serial.println("start...");
+
+  //  set calibration values from calibration sketch.
+  sensor.axe = 0.574;
+  sensor.aye = -0.002;
+  sensor.aze = -1.043;
+  sensor.gxe = 10.702;
+  sensor.gye = -6.436;
+  sensor.gze = -0.676;
+}
+
+
+void loop()
+{
+  sensor.read();
+  float x = sensor.getAngleX();
+  float y = sensor.getAngleY();
+  float z = sensor.getAngleZ();
+
+  if (counter % 10 == 0)
+  {
+    //  Serial.println("\nCNT\tX\tY\tZ");
+  }
+
+  //  Serial.print(counter);
+  //  Serial.print('\t');
+  Serial.print(x, 1);
+  Serial.print('\t');
+  Serial.print(y, 1);
+  Serial.print('\t');
+  Serial.print(z, 1);
+  Serial.println();
+  delay (300);
+  counter++;
+}
+
+
+//  -- END OF FILE --
+