   azimuth.write(ZERO_SPEED);
 }
 
+/**
+    Reads the IMU's gyro
+    @return rate in degrees / ms
+*/
 float readGyro() {
   if (imu.gyroAvailable()) {
     imu.readGyro();

  return imu.calcGyro(imu.gz) - calibratedOffset;
}

void blinkLED(int del, int n) {
  for (int i = 0; i < n; i++) {
    digitalWrite(LED, HIGH);

const float COUNTER_CLOCK_WISE_SPEED = 100;
const float ZERO_SPEED = 75;
const byte GEAR_RATIO = 2; // servo gear : slip gear

// ============ Initialize electronic interfaces =========
Servo azimuth;
