 void resetGyro(char axis) {
   switch (axis) {
     case 'x':
-      gyroResetValX += getAngle('x');
+      gyroResetValX = getAngle('x');
       break;
     case 'y':
-      gyroResetValY += getAngle('y');
+      gyroResetValY = getAngle('y');
       break;
     case 'z':
-      gyroResetValZ += getAngle('z');
+      gyroResetValZ = getAngle('z');
       break;
-  }
+  }
 }

	  //Serial.println(count);
  } else {
    count = 0;
  }
  
//  Serial.println(getAngle('z'));
  if ((count > 3230 && count < 4370) || digitalRead(startSwitch)) {

	Serial.print("B: ");
	Serial.println(backUltrasonic.getDistance());
	delay(300);
}

void ultrasonicArrayCheck() {
	Serial.println("====================================");
	Serial.print("LI: ");
	Serial.println(leftArrayInner.getDistance());
	Serial.print("LO: ");
	Serial.println(leftArrayOutter.getDistance());
	Serial.print("RI: ");
	Serial.println(rightArrayInner.getDistance());
	Serial.print("RO: ");
	Serial.println(rightArrayOutter.getDistance());
	delay(300);
}


void driveToWhite() {
