 //  heading += declinationAngle;
 //
 //  // Correct for when signs are reversed.
-//  if(heading < 0)
-//    heading += 2*PI;
+//  if(mCompassHeading < 0)
+//    mCompassHeading += 2*PI;
 //      
 //  // Check for wrap due to addition of declination.
-//  if(heading > 2*PI)
-//    heading -= 2*PI;
+//  if(mCompassHeading > 2*PI)
+//    mCompassHeading -= 2*PI;
 // 
 //  // Convert radians to degrees for readability.
-//  mCompassHeading = heading * 180/M_PI; 
-
+   //mCompassHeading = mCompassHeading * 180/M_PI; 
+    //mCompassHeading = event.orientation.x;
 }
   
 void setup() {

 * Send right command
 */
 void right(){
  dataStruct.tar = 20;
  dataStruct.val = -mSpeed;
  etData.sendData();
  dataStruct.tar = 21;
  dataStruct.val = mSpeed;
  etData.sendData();
  Serial.print("right ");
 }

 * Send stop command
 */
 void stop(){
   clientTarget.sendData(TARGET_MOTOR_LEFT, 0, 0, 0);
   clientTarget.sendData(TARGET_MOTOR_RIGHT, 0, 0, 0);
   Serial.print("stop ");
 }
 
