   initSensors();        //initilizes sensors for sepecifics see Sensors.ino
   delay(100);
   Serial.begin(115200); //initilize serial communication with 115200 baudrate
-  //setupInterupt();
+  setupInterupt();
   delay(100);
   calcSinArray();
 

        Serial.read();
      }

      //Serial.print(pitchAngle);
      //Serial.print("\t\t");
      //Serial.print(deltaGyroAngle[0]);
      //Serial.print("\t\t");

      rollAngle = 180 + (rollAngle + 180);

    serialPrintDebug(pitchAccel); //prints to Serial for debug
    if(motorUpdate == 1)
  {
    motorUpdate = 0;
    runMotor(tStep);
  } 
}
// ************************************************************************************************************
// Helper Functions
