+
+// Based on:
 // I2C device class (I2Cdev) demonstration Arduino sketch for MPU9150
 // 1/4/2013 original by Jeff Rowberg <jeff@rowberg.net> at https://github.com/jrowberg/i2cdevlib
 //          modified by Aaron Weiss <aaron@sparkfun.com>
+//          modified by Leif Bloomquist <sonicwear@leifbloomquist.net>
 //
 // Changelog:
 //     2011-10-07 - initial release
-//     2013-1-4 - added raw magnetometer output
+//     2013-1-4   - added raw magnetometer output
+//     2014-02-17 - modified to demonstrate SoMo v4.0 board (LB)
 
 /* ============================================
 I2Cdev device library code is placed under the MIT license

int16_t gx, gy, gz;
int16_t mx, my, mz;

SoftwareSerial mySerial(MOSI, 4); // RX, TX

void setup() {
    // join I2C bus (I2Cdev library doesn't do this automatically)

    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
    
    // Soft Serial for XBee Radio
    radioSerial.begin(38400);
}

void loop() {
    // read raw accel/gyro measurements from device
