void setup()
{
  Wire.begin();                  // join i2c bus (address optional for master)
  Serial.begin(115200);          // start serial for output. Make sure you set your Serial Monitor to the same!
  setupAccel();
  setupGyro();
  setupMag();
  setupBar();
}

void loop(){
  //Accel:
    readAccel();
    displayAccel();
  //Mag:
    readMagRaw();
    debugMag();
    //getHeading();
    //displayMag();
  //Gyro:
    readGyro();
    displayGyro();
  //Bar:
    readBar();
    displayBar();
  //Optical:
    readOpt();
    displayOpt();

  Serial.println();
  //delay(10);
}