 int pos4 = 0;
 int pos5 = 0;
 
-//orientation of MPU
-
-int prevX = 0;
-int prevY = 0;
-int prevZ = 0;
-
 int ByteReceived;   // store byte recieved via serial
 
 bool stabilizingOn = false;       // stores wheter self-stabilizing is on.

bool servosFault = true;
bool sensorsFault = true;
bool arduinoFault = true;

// CONSTANTS


// SENSORS
long gyroX, gyroY, gyroZ;
float rotX, rotY, rotZ;

//orientation of MPU
int prevX = 0;
int prevY = 0;
int prevZ = 0;

// VARIABLES
// Default positions for servos
