   
   p_sv.attach(32, 500, 2500);
   y_sv.attach(33, 500, 2500);
-  p_sv.write(90, servo_speed, true); // set the intial position of the servo
+  p_sv.write(90, servo_speed, true); // Set the intial position of the servo
   y_sv.write(90, servo_speed, true); 
 
   while (Serial1.available()) 
   {
-    JY901.CopeSerialData(Serial1.read()); //Call JY901 data cope function
+    JY901.CopeSerialData(Serial1.read());
   }
 }
 
 void loop() {
   while (Serial1.available()) 
   {
-    JY901.CopeSerialData(Serial1.read()); //Call JY901 data cope function
+    JY901.CopeSerialData(Serial1.read()); // Call JY901 data copy function
   }
   x_ang = (float)JY901.stcAngle.Angle[0]/32768*180;
   y_ang = (float)JY901.stcAngle.Angle[1]/32768*180;

  checkVibration(x_acc, y_acc, z_acc);

  nh.spinOnce();
  delay(50);

  checkSleep();


  pitch_msg.data = x_ang; // We make x axis as yaw
  pub_pitch.publish(&pitch_msg);
  
  yaw_msg.data = 90.0 + z_ang;
  pub_yaw.publish(&yaw_msg);

  float x_acc = (float)JY901.stcAcc.a[0]/32768*16;
