 #endif
 
   // initialize serial communication
-  // (115200 chosen because it is required for Teapot Demo output, but it's
-  // really up to you depending on your project)
-  Serial.begin(115200);
-  while (!Serial); // wait for Leonardo enumeration, others continue immediately
-
-  // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
-  // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
-  // the baud timing being too misaligned with processor ticks. You must use
-  // 38400 or slower in these cases, or use some kind of external separate
-  // crystal solution for the UART timer.
+  Serial.begin(250000);
 
   // initialize device
   Serial.println(F("Initializing I2C devices..."));

float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0, 0, 0, 0, 0, 0, 0, 0, 0x00, 0x00, '\r', '\n' };



// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
  mpuInterrupt = true;
}



// ================================================================
// ===                      INITIAL SETUP                       ===

    mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
    mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);

    // blink LED to indicate activity
    blinkState = !blinkState;
    digitalWrite(LED_PIN, blinkState);
  }

  sendData();
}
