 //Gyro Variables
 const float SAMPLE_RATE = 1;
 const float ADJUSTED_SENSITIVITY = 1;
+
 float angle = 0;
 float rate = 0;
 float prev_rate = 0;
+
 const byte ZYXDA = 0b00001000;
 const int sample_num = 1000;
 int16_t dc_offset = 0;
-float noise = 0;
 int16_t& gyro_robot_z = gyro.g.y; //-Z axis is connected to the gyro's +y rotation
 
 

#include <L3G.h>
//#include <Gyroscope.ino>
#include <CapacitiveSensor.h>
#include <EnableInterrupt.h>
#include <NewPing.h>


            case '=':
               if(command_status == 1){
                gyro_cali();
               }
               break;
            case '?':
               if(command_status == 1){
                gyro_update_angle();
                gyro_report_angle();
