 int timer = millis();
 float runningSumAlt = 0;
 float runningSumZ = 0;
-float currentYBodyPosition = 0;
+float currentYBodyPosition = 90;
 float currentZBodyPosition = 0;
-float currentYMotorPosition = 0;
 float currentZMotorPosition = 0;
 int calibrationSamples = 1000;
 float calibratedYOffset = 0;
 float calibratedZOffset = 0;
-
-float currentServoVal = 90;
 
 bool update_flag = false; // interrupt flag for executing motor update
 const int LED = 13; // indicator LED

  timer = currentTime;

  if(update_flag) {
    Serial.println("SUM: BODY_Y = " + String(currentYBodyPosition) + " | BODY_Z = " + String(currentZBodyPosition) + " | MOTOR_Y: " + String(currentYMotorPosition) + " | MOTOR_Z: " + String(currentZMotorPosition));
    altitude.write(currentYBodyPosition);
    rotateStepperBy(currentZBodyPosition - currentZMotorPosition);
    currentYMotorPosition = currentYBodyPosition;
    currentZMotorPosition = currentZBodyPosition;
    sampleCounter = 0;
    update_flag = false;

  setupIMU(); // set up hardware
  motor.setSpeed(10);
  altitude.attach(3);

  altitude.write(currentYBodyPosition);
  zeroGyro();

  blinkLED(20, 10); // Let the use know everything initialized
