 							reportLocation,
 							};
 
-int32_t x,y,z; //used in calculations
-int angularError, backDir;
-float outputAngle;
-
 void setup() {
 	Serial1.begin(38400);
 	CommSerial->begin(9600);
 	InitMPU();
-
 	pinMode(40, OUTPUT); digitalWrite(40, HIGH);
 	for(int i=0; i<3; i++) pinMode(LEDpin[i], OUTPUT);
 	for(int i=0; i<3; i++) servo[i].attach(ServoPin[i]);

void syncHeading(){
	if(!nmea.getWarning()) trueHeading = trunkAngle(nmea.getCourse());
	else if(stop) trueHeading = pathHeading;
	//make the gyro useful
}

void checkPing(){

		if(sTime == 0){
			output(90, 90);
			sTime = millis();
			//backDir = (ping[0]<ping[4])? 90-REVTHROW : 90+REVTHROW;
			backDir = ping[0]<ping[4];
		} else if(sTime+STOP_TIME < millis()){
			if(backDir) output(REVSPEED, 90-REVTHROW);
			else 		output(REVSPEED, 90+REVTHROW);
		}

		if(oTime+DANGER_TIME < millis()){
