 // INITIALIZE
 void setup() {
   Serial.begin(9600);
+  
   // Set up all servos
   throttle.attach(THROTTLE_PIN);
   rotatingFront.attach(FRONT_PIN);


  // Set up MPU
  setupMPU();
  Serial.write("setupped");
  // Calibrate sensors
  calibrateMPU();
  Serial.write("calibrated");
  // Begin Serial
  //Serial.begin(9600);

  // Write default values to the servos
  throttle.write(pos1);

void loop() {
  // Get information from the sensors
  recordGyroData();

  //Serial.write("processed");
  if(prevX - rotX > 5 || prevX - rotX < -5 || prevY - rotY > 5 || prevY - rotY < -5 || prevZ - rotZ > 5 || prevZ - rotZ < -5)
  {
