   delay(LOOP_DELAY);
 }
 
-
+// Sets up the Gyro Sensor
 void setupMPU(){
   Wire.beginTransmission(0b1101000); //Beginn Transmission to MPU I2C address
   Wire.write(0x6B); //open PWR_MGMT register

  Wire.endTransmission();
}

void calibrateMPU(){
  recordGyroData();
  prevX = gyroX;

  prevZ = gyroZ;
}

// Records the data and processes it
void recordGyroData() {
  Wire.beginTransmission(0b1101000);  //I2C address of the MPU
  Wire.write(0x43);                   //Starting register for Gyro Readings
  Wire.endTransmission();
  Wire.requestFrom(0b1101000,6);      //Request Gyro Registers (43 - 48)
  //while(Wire.available() < 6);
  gyroX = Wire.read()<<8|Wire.read(); //Store first two bytes into accelX
  gyroY = Wire.read()<<8|Wire.read(); //Store middle two bytes into accelY
