 }
 
 /**
-    Reads the IMU's gyro
-    @return rate in degrees / ms
-*/
-float readGyro() {
-  if (imu.gyroAvailable()) {
-    imu.readGyro();
-  }
-  return imu.calcGyro(imu.gz) - calibratedOffset;
-}
-
-/**
     Blinks an LED on pin 13
     @param delay in milliseconds
     @param number of blinks

// Orientation data
float positionChange;

// Misc.
int timer = millis();
bool update_flag = false; // interrupt flag for executing motor update

/**
    Sets up everything
*/
void setup() {
  // Initialize I/O

  // Setup motor update interval timer
  MsTimer2::set(motorUpdateRate, updateMotor);
  MsTimer2::start();
}

void loop() {
