 	Serial.println("Initializing");
   
 // Initialize
-	analogReference(EXTERNAL);  //use external reference voltage (3,3V)
 	delay(2000);
 	Wire.begin();
 	initSensors();
-	pixels.begin(); // This initializes the NeoPixel library. 
+	pixels.begin(); 
         gyr.begin(); 
       
 // Enable auto-range

        potVal = map(potVal, 0, 1023, 0, 190); // Potentiometer has range of +- 95 degrees        
        // Calculate steering angle (-95 to 95, because the pot has 190 degrees of sweep after pulley ratio)
        // Pot centered on steering angle of 0
        steerAngle = potVal;
        potVal-=95;

// Calculate max speed
        if (maxSpeed<(GPS.speed*(1.15078+speedoCal))){

        acc.enableAutoRange(true);

// Set pin modes
	pinMode(chipSelect, OUTPUT);    

//Initialize smoothing variables
          for (int thisReading = 0; thisReading < numGaReadings; thisReading++)
