   int currentTime = millis();
   
   int deltaT = currentTime - timer;
-  positionChange += deltaT * (readGyro()) / 1000; // Gyro data is given in 1000ths of a degree, so we divide by 1000
+  positionChange += deltaT * (readGyro('z')) / 1000; // Gyro data is given in 1000ths of a degree, so we divide by 1000
   timer = currentTime;
 
   // Update motor position

  setupIMU(); // Gyro

  // Calibrate the gyro
  calibratedOffset = zeroGyro(calibrationSamples);

  // Find the sun to center on
  findSun(); // comment this line out for basic testing
  
  // Setup motor update interval timer
  MsTimer2::set(motorUpdateRate, updateMotor);

    Reads the IMU's gyro
    @return rate in degrees / ms
*/
float readGyro(char dim) {
  if (imu.gyroAvailable()) {
    imu.readGyro();
  }
  switch (dim) {
  case 'x':
    return imu.calcGyro(imu.gx) - calibrationOffset[0];
    break;
  case 'y':
    return imu.calcGyro(imu.gy) - calibrationOffset[1];
    break;
  case 'z':
    return imu.calcGyro(imu.gz) - calibrationOffset[2];
    break;
  default:
    return 0;
    break;
  } 
}



/**
