Interfacing Parallax Gyroscope Module 3-Axis L3G4200D (SPI) to Esplora?

I’m a bit of a newcomer to electronics, and I just need help understanding what to code.

The project I am working on requires a gyroscope and accelerometer. The esplora has its own accelerometer, but I need to find a way to attach a gyroscope. I have a Parallax Gyroscope Module 3-Axis L3G4200D ( that communicates with I2C or SPI. I don’t believe that the esplora can use I2C, but it can use SPI.

Since I am not using the screen, I am trying to use the expansion header. Supposedly, Thekitty has mapped out the header pins (, and they communicate with SPI.

I have been looking around, but surprisingly few people use the esplora. To put my question simply, I am wondering what pins to use/what commands to call (example code perhaps?) to get the MISO data from the MISO pin of the expansion header and split it into the three x/y/z variables.

I may be oversimplifying this, but I am not quite sure where to start. If any other information is needed I can provide it.