Code for a Lego Angle Sensor + Arduino Board

Hi,

I am currently trying to build a "robot" that will move in a straight line to predefined destinations. I would like to use a Lego Angle sensor (pictured below) from the LEGO Mindstorms kit

However i couldnt find much in the way of coding online. My C programming skills arent good enough to start from scratch unfortunately :-[ I was wondering if anyone knew of some good coding resources for this particular sensor?

Any help is much appreciated
Thanks