     // We want to sample as rapidly as possible, so that we have the minimum
     // latency between motion and its detection.  Even at 1kHz, we're going to
     // have some fraction of a second of latency on our reads.
-    //MPU6000_SPI_write(MPUREG_SMPLRT_DIV,0x04);     // Sample rate = 200Hz    Fsample= 1Khz/(4+1) = 200Hz     
-    //writeRegister(MPUREG_SMPLRT_DIV,19);     // Sample rate = 50Hz    Fsample= 1Khz/(19+1) = 50Hz     
     writeRegister(MPUREG_SMPLRT_DIV,0);
     delay(1);
 
     // Set the filter pass frequency on the low-pass filter to the maximum
     // (no filter, corresponding to a 2.1Khz cutoff).
-    //writeRegister(MPUREG_CONFIG, BITS_DLPF_CFG_20HZ);
     writeRegister(MPUREG_CONFIG, BITS_DLPF_CFG_2100HZ_NOLPF);
     delay(1);
     

// OSRVR latency-testing hardware firmware source code.
// Author: Russell Taylor working for Sensics.com through Reliasolve.com
// LICENSE: XXX

// This code is based on the "Accelerometer_Gyro_Shield_test" example from
// Robogaia industries that ships along with their 6-axis Gyro/Accelerometer

}


//Write to register
//*****************************************************
void writeRegister(byte thisRegister, byte thisValue) 
//*****************************************************
