 
 	initSensors();
   imu.setup();
-  gyroCalibration();
+  delay(200);// makes sure sensors have time to be setup before they are calibrated 
   
+  do{
+    delay(1000);
+    Serial.println("Calibrating Gyro; Hold Still"); 
+  } while(!gyroCalibration());
+
+  printCalibrationSucessful();
+
   initBlController();
   initMotorStuff();
 }

    return x;
  }
}

void pin7Changed(){
  Serial.println("Changed");
}

   
  Ierr = error * Ki * DTms;

  Ierr = constrain_int32(Ierr, -(int32_t)1000000, (int32_t)1000000);

  *errorSum += Ierr;
 
