     // verify connection
     Serial.println(F("Testing device connections..."));
     Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
-
-    // wait for ready
-    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
-    while (Serial.available() && Serial.read()); // empty buffer
-    while (!Serial.available());                 // wait for data
-    while (Serial.available() && Serial.read()); // empty buffer again
 
     // load and configure the DMP
     Serial.println(F("Initializing DMP..."));

#include "MPU6050_9Axis_MotionApps41.h"   //MPU6050 function library
#include "mcp_can.h"    //CAN communication library

#define CAN_ID 0x00

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h

        Serial.print("\t");
        
        //yaw (Direction)/pitch/roll
        Serial.print(ypr[0]);
        Serial.print(",\t");
        Serial.print(ypr[1]);
        Serial.print(",\t");
        Serial.print(ypr[2]);
        Serial.print("\t");

        //Quaternerion Coordinates
