 
 // class default I2C address is 0x68
 MPU6050 mpu;
-//MCP_CAN CAN(9);
+MCP_CAN CAN(9);
 
 
 #define OUTPUT_READABLE_WORLDACCEL

    // 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..."));

        Serial.print("\n");
        
        //Prep data to send over CAN
        ypr[0] = map(ypr[0]*100,-M_PI*100, M_PI*100, 0, 65535);
        aaReal.x = map(aaReal.x, -32768, 32768, 0, 65535);
        aaReal.y = map(aaReal.y, -32768, 32768, 0, 65535);
        aaReal.z = map(aaReal.z, -32768, 32768, 0, 65535);


        //separates value into two 8 bit sets for transmission by typecasting as an integer and shifting and bitwise &ing into 8bit int vars
        //break down Direction data
        unsigned char hiDir = ((((unsigned int) (ypr[0])) >> 8) & 0xff);
        unsigned char loDir = ((((unsigned int) (ypr[0])) >> 0) & 0xff);
        //break down X data
        unsigned char hiX = ((((unsigned int) (aaReal.x)) >> 8) & 0xff);
        unsigned char loX = ((((unsigned int) (aaReal.x)) >> 0) & 0xff);
