 int pos3 = 0;
 int pos4 = 0;
 int pos5 = 0;
+
+//orientation of MPU
+
+int prevX = 0;
+int prevY = 0;
+int prevZ = 0;
 
 int ByteReceived;   // store byte recieved via serial
 

  leftRight.attach(LR_PIN);
  upDown.attach(UD_PIN);

  // Begin Serial
  Serial.begin(9600);



// SENSORS
// Nothing here yet
long gyroX, gyroY, gyroZ;
float rotX, rotY, rotZ;

// VARIABLES
// Default positions for servos
