     // verify connection
     Serial.println(F("Testing device connections..."));
     Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
-
-    // wait for ready
-    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
-    while (Serial.available() && Serial.read()); // empty buffer
-    while (!Serial.available());                 // wait for data
-    while (Serial.available() && Serial.read()); // empty buffer again
 
     // load and configure the DMP
     Serial.println(F("Initializing DMP..."));

        Serial.print("\n");
        
        //Prep data to send over CAN
        map(ypr[0],-M_PI, M_PI, 0, 65535);
        map(aaReal.x, -32768, 32768, 0, 65535);
        map(aaReal.y, -32768, 32768, 0, 65535);
        map(aaReal.z, -32768, 32768, 0, 65535);


        //separates value into two 8 bit sets for transmission by typecasting as an integer and shifting and bitwise &ing into 8bit int vars
        //break down Direction data
        unsigned char hiDir = ((((int) (ypr[0])) >> 8) & 0xff);
        unsigned char loDir = ((((int) (ypr[0])) >> 0) & 0xff);
        //break down X data
        unsigned char hiX = ((((unsigned int) (aaReal.x)) >> 8) & 0xff);
        unsigned char loX = ((((unsigned int) (aaReal.x)) >> 0) & 0xff);

        Serial.println(F(")"));
    }

    // init can bus, baudrate: 500k
    if(CAN.begin(CAN_500KBPS) == CAN_OK) Serial.print("can init ok!!\r\n");
    else Serial.print("Can init fail!!\r\n");

    // configure LED for output
    pinMode(LED_PIN, OUTPUT);

