   // Setup motor update interval timer
   MsTimer2::set(motorUpdateRate, updateMotor);
   MsTimer2::start();
-
-  // Blink LED to indicate that initilization has completed!
-  blinkLED(20, 10);
 }
 
 void loop() {

    delay(del);
  }
}

/**
    Finds the calibration constant of the
    gyro.
    @param number of calibration samples
*/
int zeroGyro(int calibrationSamples) {
  float zSum = 0;
  for(int i = 0; i < calibrationSamples; i++) {
    if(i % 1000 == 0) {
      blinkLED(500, 1);
    }
    imu.readGyro();
    float z = imu.calcGyro(imu.gz);
    zSum += z;
    delay(10);
  }
  return zSum / calibrationSamples;
}

    byte negative = 0;
    if (Serial.read() == '1') negative = 1;
    for (int i = 100; i >= 1; i /= 10) {
      correctionFactor += (Serial.read() - '0') * i;
    }
    if (negative) correctionFactor = -correctionFactor;
    rotateStepperBy(correctionFactor);
