   int invertedYaw = map(servoYaw, 0, 179, 179, 0);
 
   // Prevent the servos from panning farther than my head can rotate.
+  // May not be necessary after adding 2nd gyro and using relative angles.
   if (invertedYaw > maxYaw) {
     invertedYaw = maxYaw;
   }


// Standard included arduino servo library
#include "Servo.h"

// Initialize gyro instance
// TODO:  Update this to initialize two gyros with +VDC/Ground arguments
MPU6050 mpuStatic(0x68);
MPU6050 mpuDynam(0x69);

// Initialize servo instances
Servo yawServo;
Servo pitchServo;


// Comment to turn off Serial printing
#define DEBUG  




// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================
// indicates whether MPU interrupt pin has gone high
volatile bool mpuInterrupt[2] = {false, false};     

//Intentional duplication. Interrupt routine cannot pass args. 
void dmpDataReady0() {
    mpuInterrupt[0] = true;
}
void dmpDataReady1() {
    mpuInterrupt[1] = true;
}


