-//Arduino Library must include the following library file collections.  
-//These repos are forked on my gitHub or you can find them at...
-//https://github.com/jrowberg/i2cdevlib
+/**
+ * ardu-predator.ino
+ *
+ * @author Mike Muscato
+ * @date   2017-01-11
+ *
+ * =============  Attribution ==========================
+ * Based on MPU6050_Latest_code.ino
+ * Originally provided by "HC" aka "zhomeslice" on forum.arduino.cc
+ * at https://forum.arduino.cc/index.php?PHPSESSID=h4c6487i42hbb7uh6rjk0eadp1&topic=446713.msg3073854#msg3073854
+ * 
+ * Original source committed in my repo for reference at: arduino/MPU6050/MPU6050_Latest_code/
+ * =====================================================
+ * 
+ */
+
+// Arduino Library must include the following library file collections.  
+// These repos are forked on my gitHub or you can find them at...
+// https://github.com/jrowberg/i2cdevlib
 #include "I2Cdev.h"
 #include "MPU6050_6Axis_MotionApps20.h"
 #include "Wire.h"
 
-//Standard included arduino servo library
+// Standard included arduino servo library
 #include "Servo.h"
 
-//initialize gyro instance
-//TODO:  Change this to initialize two gyros with +VDC/Ground arguments
+// Initialize gyro instance
+// TODO:  Update this to initialize two gyros with +VDC/Ground arguments
 MPU6050 mpu;
 
-//initialize servo instances
+// Initialize servo instances
 Servo yawServo;
 Servo pitchServo;
 
-#define DEBUG  //Comment to turn off Serial printing
-
-//Debug serial printing macros
+
+// Comment to turn off Serial printing
+#define DEBUG  
+
+// DEBUG serial printing macros
 #ifdef DEBUG
 	//#define DPRINT(args...)  Serial.print(args)             //OR use the following syntax:
 	#define DPRINTSTIMER(t)    for (static unsigned long SpamTimer; (unsigned long)(millis() - SpamTimer) >= (t); SpamTimer = millis())

  }
  */

  if (currentMillis >= prevMillis + 15) {
    moveServos(round(Yaw), round(Pitch));
  }


}

/**
 * Move the servos to the gyro postion
 * =============================================================
 *
 * @author Mike Muscato

    invertedYaw = minYaw; 
  }

  // Prevent the servos from tilting farther than my head can nod.
  if (servoPitch > maxPitch) {
    servoPitch = maxPitch;
  }
