 void MPUMath() {
   for (int i = 0; i < 2; i++) {
 
-    //Get the raw data from the sensor
+    // Get the raw data from the sensor
     mpus[i].dmpGetQuaternion(&q, fifoBuffer[i]);
     mpus[i].dmpGetGravity(&gravity, &q);
     mpus[i].dmpGetYawPitchRoll(ypr, &q, &gravity);
   
-    //Calculate readable angles
+    // Calculate readable angles
     Yaw = (ypr[0] * 180.0 / M_PI);
     Pitch = (ypr[1] *  180.0 / M_PI);
     Roll = (ypr[2] *  180.0 / M_PI);

// ================================================================
// ===                      MPU DMP SETUP                       ===
// ================================================================
// MPU control/status vars

//This isn't used anywhere, I think we can get rid of it.
//uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU

uint8_t devStatus;      // return status after each initialization operation (0 = success, !0 = error)

//Containers for each MPU's communication
int FifoAlive[2] = {0, 0}; // tests if the interrupt is triggering

  #define DPRINTLN(...)      //blank line
#endif

// Initialize gyro instances for both MPUs
MPU6050 mpus[2] = {MPU6050(0x68), MPU6050(0x69)};

const int LED_PIN = 13;
