 
             case '=':
                if(command_status == 1){
-                gyro_cal();
+                gyro_cali();
                }
                break;
-            case ' ':
+            case '?':
                if(command_status == 1){
                 gyro_update_angle();
                 gyro_report_angle();

#include <L3G.h>
//#include <Gyroscope.ino>
#include <CapacitiveSensor.h>
#include <EnableInterrupt.h>
#include <NewPing.h>

//Gyro Variables
const float SAMPLE_RATE = 1;
const float ADJUSTED_SENSITIVITY = 1;

float angle = 0;
float rate = 0;
float prev_rate = 0;

const byte ZYXDA = 0b00001000;
const int sample_num = 1000;
int16_t dc_offset = 0;
int16_t& gyro_robot_z = gyro.g.y; //-Z axis is connected to the gyro's +y rotation


