 void setup() {
   
   SPI.begin(); //Start SPI
-  
-  // Reminder in terminal that you're in DEBUG mode
-  #ifdef DEBUG
-    Serial.begin(9600); // Baud rate was set arbitrarily
-    Serial.println("**********DEBUG MODE**********");
-  #endif
+  Serial.begin(115200); //Start USB Serial
 
   // ADIS16480 IMU configuration
   IMU.configSPI();          // Begin the SPI transaction

////////////////////////////////////////////////////////////////////////////////////////////////////////
//  Analog Devices, Inc.
//  October 2015
//  By: Daniel H. Tatum & Juan Chong
//  Written for the TeensyDuino Platform
////////////////////////////////////////////////////////////////////////////////////////////////////////
//  Arduino_TX_ADIS16480_ADF7242.ino

  
  // Set interrupt pin on the MCU as an input and attach an interrupt
  pinMode(8, INPUT);
  attachInterrupt(8, transmitData, RISING);
}

// Read IMU data, cast it, and transmit it.
void grabSensorData() {
  IMU.configSPI();  // Begin SPI transactions
  roll = (char)(IMU.regRead(ROLL_C23_OUT) >> 8);  // Read roll register and cast to char
  pitch = (char)(IMU.regRead(PITCH_C31_OUT) >> 8);  // Read pitch register and cast to char
  yaw = (char)(IMU.regRead(YAW_C32_OUT) >> 8);  // Read pitch register and cast to char
  // 0xFF is a reserved word used for data synchronization
  if(roll == 0xFF) { // 0xFF represents 360 degrees
    roll = 0; // This makes sense since 0 and 360 degrees are the same place
  }
