   azimuth.write(ZERO_SPEED);
 }
 
+/**
+    Reads the IMU's gyro
+    @return rate in degrees / ms
+*/
 float readGyro() {
   if (imu.gyroAvailable()) {
     imu.readGyro();

const float COUNTER_CLOCK_WISE_SPEED = 100;
const float ZERO_SPEED = 75;
const byte GEAR_RATIO = 2; // servo gear : slip gear
// =======================================================

// ============ Initialize electronic interfaces =========
Servo azimuth;

  }
}

/**
    Rotates a continuous rotation servo a specified number
    of degrees.
    @param degrees to rotate the servo
*/
void rotateServoBy(float deg) {
  float wait = abs((deg / 360) / RPM);
  if (deg < 0) azimuth.write(COUNTER_CLOCK_WISE_SPEED);
