   // get current FIFO count
   fifoCount = mpu.getFIFOCount();
 
-  // check for overflow (this should never happen unless our code is too inefficient)
+  // Check for overflow
   if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
     Serial.println(F("FIFO overflow!"));
-    // reset so we can continue cleanly
     mpu.resetFIFO();
-    // otherwise, check for DMP data ready interrupt (this should happen frequently)
+  // Check for new data
   } else if (mpuIntStatus & 0x02 && fifoCount < packetSize)
-    // wait for correct available data length, should be a VERY short wait
     while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
 }
 

bool locked = false;
unsigned long lastRead = 0;

char buffer[TAG_LENGTH + 1];
int count = 0;

// Software serial for XBee module

}

void loop() {

  processRfid();
  readLightsensor();
  readDataFromMpu();
