 
   slavePollCount++;
 
-  //Serial.println(leakage,DEC);
   digitalWrite(DEBUG_PIN,LOW);
-  //Serial.println(millis()-start);
+
 }
 
 

    break;
  }

//to_hor_vma_packet_making();
//  to_ver_vma_packet_making();
//  to_servocont_packet_making();
//  to_depth_packet_making();
//  
  leakage = map(constrain(LEAK_THRESHOLD - analogRead(LEAK_PIN),0,LEAK_THRESHOLD),0,LEAK_THRESHOLD,0,255);

  report_making();


  read_register(8);  //Yaw, Pitch, Roll
  read_register(19);  // Angular rates
  read_register(18);  // Accelerations




  if (outDebug)
  {
    if (verDebug)

  IMU.PrintErrors=false;
}

void i2c_init(const byte address) //присоединяемся к шине I2C с адресом address
{
  Serial.println("\nConnection Controller!");
  Wire.begin(address);
