         Serial.read();
       }
 
-      //Serial.print(pitchAngle);
+      Serial.println(pitchAngle);
       //Serial.print("\t\t");
       //Serial.print(deltaGyroAngle[0]);
       //Serial.print("\t\t");

  pwmA = sinArray[Step];
  pwmB = sinArray[(Step + phaseOffset1) % SIN_ARRAY_SIZE];
  pwmC = sinArray[(Step + phaseOffset2) % SIN_ARRAY_SIZE];
  
}

ISR(TIMER2_COMPA_vect){//timer1 interrupt 64 kHz 

volatile uint8_t motorUpdateTick = 0;
volatile uint8_t motorUpdate = 0;
volatile uint8_t motorSpeedUpdateTick = 0;
volatile uint8_t motorSpeed = 50;

void setupInterupt()
{
