     x_gyro += accel_t_gyro.value.x_gyro;
     y_gyro += accel_t_gyro.value.y_gyro;
     z_gyro += accel_t_gyro.value.z_gyro;
-    delay(100);
+    delay(10);
   }
   x_accel /= num_readings;
   y_accel /= num_readings;

  float                 z_gyro = 0;
  accel_t_gyro_union    accel_t_gyro;

for(int j=6;j<=9;j++)
      {
        
        pinMode(j,OUTPUT);
        digitalWrite(j,LOW);
      
      }  
      pinMode(12,OUTPUT);
        digitalWrite(12,LOW);
  pinMode(8,OUTPUT);
        digitalWrite(8,HIGH);
  //Serial.println("Starting Calibration");

  // Discard the first set of values read from the IMU

    x_gyro += accel_t_gyro.value.x_gyro;
    y_gyro += accel_t_gyro.value.y_gyro;
    z_gyro += accel_t_gyro.value.z_gyro;
    delay(10);
  }
  x_accel /= num_readings;
  y_accel /= num_readings;
