      case 1: // set the postion or velocity to the motors
       prop1.write(readP1);
       prop2.write(readP2);
-      Serial.println((int)(event1.gyro.x*100));
+      printFloat(event.acceleration.y);
       break;
+      
+      
       
      case 9:  // send back the IMU data
       
-      Serial.println((int)(event.acceleration.x*100)); 
-      Serial.println((int)(event.acceleration.y*100)); 
-      Serial.println((int)(event.acceleration.z*100)); 
-      Serial.println((int)(event1.gyro.x*100));
-      Serial.println((int)(event1.gyro.y*100));
-      Serial.println((int)(event1.gyro.z*100));
+      printFloat(event.acceleration.x); 
+      printFloat(event.acceleration.y); 
+      printFloat(event.acceleration.z); 
+      printFloat(event1.gyro.x);
+      printFloat(event1.gyro.y);
+      printFloat(event1.gyro.z);
       //Serial.flush();
       break;
       
      case 10:   // read the current value of the prop1 position
-      int pos1 = prop1.read();
-      int pos2 = prop2.read();
+      pos1 = prop1.read();
+      pos2 = prop2.read();
       Serial.println(pos1);
       Serial.println(pos2);
      // Serial.flush();
+      break;
+      
+      case 11:
+      printFloat(4.3);
+      printFloat(3.4);
       break;
      }
   }

int readP1;
int readP2;
int setP;

void setup(void) 
{

  prop2.attach(9);
  prop1.write(0);
  prop2.write(0);
  delay(500);
}

void loop(void) 
