   pwmA = sinArray[Step];
   pwmB = sinArray[(Step + phaseOffset1) % SIN_ARRAY_SIZE];
   pwmC = sinArray[(Step + phaseOffset2) % SIN_ARRAY_SIZE];
-  
+  controlWithImu();
 }
 
 ISR(TIMER2_COMPA_vect){//timer1 interrupt 64 kHz 

  initSensors();        //initilizes sensors for sepecifics see Sensors.ino
  delay(100);
  Serial.begin(115200); //initilize serial communication with 115200 baudrate
  //setupInterupt();
  delay(100);
  calcSinArray();


volatile uint8_t motorUpdateTick = 0;
volatile uint8_t motorUpdate = 0;
volatile uint8_t motorSpeedUpdateTick = 0;
volatile uint8_t motorSpeed = 50;

void setupInterupt()
{
