 
   while (Serial.available() && Serial.read()); // empty buffer
 
-  // Lower to 60msec
+  // Lower Watchdog to 60msec
   wdt_disable();
   wdt_enable(WDTO_60MS);
 }
 
-
-
 // ================================================================
 // ===                    MAIN PROGRAM LOOP                     ===
 // ================================================================
-
 void loop() {
   // if programming failed, don't try to do anything
   if (!dmpReady) return;

  if (mpuIntStatus & 0x02) {
    checkFifo();

    // Read all packets from FIFO and kepp last
    do {
      mpu.getFIFOBytes(fifoBuffer, packetSize);
      fifoCount -= packetSize;
    } while (fifoCount > packetSize);

    // Get Euler angles in degrees and Acceleration in world-frame
    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.dmpGetAccel(&aa, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &q);

  mpu.initialize();

  // verify connection
  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

  // load and configure the DMP
  devStatus = mpu.dmpInitialize();

  // make sure it worked (returns 0 if so)
  if (devStatus == 0) {
    // turn on the DMP, now that it's ready
    mpu.setDMPEnabled(true);

    // set our DMP Ready flag so the main loop() function knows it's okay to use it
