  * Arduino Uno Program - Controls Servo and Reads IMU                 *
  * Project: Eclipse Tracking (2017)                                   *
  * Version: 1.0 (3/18/2017)                                           *
- * Max Bowman / Jeremy Seeman                                         *
+ * Max Bowman / Jeremy Seeman / George Moe                            *
  **********************************************************************/
-#include <Servo.h>
+#include <Stepper.h>
 #include <Wire.h>
 #include <MsTimer2.h>
 #include <SparkFunLSM9DS1.h>

}

void loop() {
  if (int_flag) {
    j++;
    j %= k / n + 1;
    runningSum += n * readGyro() / 1000;
    if (j == 0) {
      oldVal += runningSum;
      xy.write(oldVal);
      runningSum = 0;
    }
  }

  }
}

// For stepper motors
void rotateStepperBy(float deg) {
  int steps = deg*5/9;
  motor.step(steps);  
}

float readGyro() {
