     }
   } 
   
-  //LastGoodPacketTime = millis();  TODO:  This isn't doing anything, remove it?  Not sure why it was here.
   MPUMath(); // Successful!  Do the math and show angles from both MPUs
   digitalWrite(LED_PIN, !digitalRead(LED_PIN)); // Blink the LED on each cycle
   

void MPUMath() {
  for (int i = 0; i < 2; i++) {

    //Get the raw data from the sensor
    mpus[i].dmpGetQuaternion(&q, fifoBuffer[i]);
    mpus[i].dmpGetGravity(&gravity, &q);
    mpus[i].dmpGetYawPitchRoll(ypr, &q, &gravity);
  
    //Calculate readable angles
    Yaw = (ypr[0] * 180.0 / M_PI);
    Pitch = (ypr[1] *  180.0 / M_PI);
    Roll = (ypr[2] *  180.0 / M_PI);

  #define DPRINTLN(...)      //blank line
#endif

// Initialize gyro instances for both MPUs
MPU6050 mpus[2] = {MPU6050(0x68), MPU6050(0x69)};

const int LED_PIN = 13;
