   digitalWrite(RFM95_RST, HIGH);
   
   pinMode(controlPin, OUTPUT);
-  pinMode(homePin, OUTPUT);
-  pinMode(statePin, OUTPUT);
+  pinMode(inputA, OUTPUT);
+  pinMode(inputB, OUTPUT);
 
   accel.begin();
   bmp.begin();

void Roll_Control(sensors_event_t event) {

  if(!startRollFlag) { //For roll initialization, cant fins in the direction of current roll
    digitalWrite(homePin, LOW);
    servoHomeFlag = false;
    startRollFlag = true;
    if(event.gyro.z > 0) {
      digitalWrite(statePin, HIGH);
      finState = true;
    }
    else {
      digitalWrite(statePin, LOW); 
      finState = false;
    }
  }
  else if(!endRollFlag) { //Wait until two revolutions have ben completed to begin counter-roll
    
    if(rotationCounter > 2) {
      finState = !finState;
      digitalWrite(statePin, finState);
      endRollFlag = true;
    }
  }
  else { //At this point, continue to make adjustments to prevent roll
    if(abs(event.gyro.z) < MIN_ROLL_THRESHOLD)
    {
      digitalWrite(homePin, HIGH);
      servoHomeFlag = true;
    }
    else if(event.gyro.z > 0)
      {
      digitalWrite(homePin, LOW);
      servoHomeFlag = false;
      digitalWrite(statePin, LOW);
      finState = false;
      }
    else if(event.gyro.z < 0)
      {
      digitalWrite(homePin, LOW);
      servoHomeFlag = false;
      digitalWrite(statePin, HIGH);
      finState = true;
      }
  }

  
  digitalWrite(controlPin, HIGH); //Enable servo
  servoOnFlag = true;
  digitalWrite(inputA, HIGH); //Set servo to "home" position
  servoHomeFlag = true;

  //Manual radio reset
