L3G4200D gyroscope

There are several example programs for accessing this device.
Just be aware that some of them don't actually work.
I suggest you download several of them and compare them carefully
with your code.
I find the whole scheme of when to use beginTransmission() and
endTransmission(), and when not to use them, to be highly
counter-intuitive and needs a bit of tinkering to get it to work.