function [gx gy gz gt] = readGyro(out, calCo)
    fprintf(out.s,'G');
    readings(1) = fscanf(out.s,'%f');
    readings(2) = fscanf(out.s,'%f');
    readings(3) = fscanf(out.s,'%f');
    temp = fscanf(out.s,'%f');
    
    offset = calCo.offset;
    gain = calCo.g;
    gyro = (readings - offset) ./gain;
    
    
    gx = gyro(1);
    gy = gyro(2);
    gz = gyro(3);
    gt = temp;
end