 volatile uint8_t motorUpdateTick = 0;
 volatile uint8_t motorUpdate = 0;
 volatile uint8_t motorSpeedUpdateTick = 0;
-volatile uint8_t motorSpeed = 7;
+volatile uint8_t motorSpeed = 50;
 
 void setupInterupt()
 {

        Serial.read();
      }

      //Serial.print(pitchAngle);
      //Serial.print("\t\t");
      //Serial.print(deltaGyroAngle[0]);
      //Serial.print("\t\t");

      rollAngle = 180 + (rollAngle + 180);

    serialPrintDebug(pitchAccel); //prints to Serial for debug
    if(motorUpdate == 1)
  {
    motorUpdate = 0;
    runMotor(tStep);
  } 
}
// ************************************************************************************************************
// Helper Functions
