 #define PRINT_GYRO      (0x02)
 #define PRINT_QUAT      (0x04)
 
+#define SDA_PIN A4
+#define SCL_PIN A5
+
 #ifndef cbi
 #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
 #endif

    Serial.println(F("Kauai Labs nav6 IMU firmware"));
    Serial.print(F("Free Memory:  "));
    Serial.println(freeMemory());
    Serial.println();

    // Digital Compass Initialization


}

void setup() {

    // reset I2C bus
    // This ensures that if the nav6 was reset, but the devices
    // on the I2C bus were not, that any transfer in progress do
    // not hang the device/bus.
    
    pinMode(SDA_PIN,INPUT);
    pinMode(SCL_PIN,OUTPUT);
    
    // Clock through up to 1000 bits
    for ( int i = 0; i < 1000; i++ ) 
    {
      digitalWrite(SCL_PIN,HIGH);
      digitalWrite(SCL_PIN,LOW);
      digitalWrite(SCL_PIN,HIGH);
    }
    // send a stop
    digitalWrite(SDA_PIN,HIGH);
    digitalWrite(SDA_PIN,LOW);

    // join I2C bus (I2Cdev library doesn't do this automatically)
    Wire.begin();
