diff --git a/EENX15_LQR/EENX15_LQR.ino b/EENX15_LQR/EENX15_LQR.ino
index 0091979..6fd8020 100644
--- a/EENX15_LQR/EENX15_LQR.ino
+++ b/EENX15_LQR/EENX15_LQR.ino
@@ -94,21 +94,12 @@ void setup() {
   pinMode(MotorPinB, OUTPUT);
   pinMode(MotorSpeedB, OUTPUT);
   pinMode(MotorBrakeB, OUTPUT);
-
-  half_revolutionsA = 0;
-  rpmA = 0;
-  timeoldA = 0;
-  
-  half_revolutionsB = 0;
-  rpmB = 0;
-  timeoldB = 0;
 }
-
+ 
 void loop() {
   gyro_loop();
-  
   safe_angle = int(round(angle_pitch_output));
-  
+
   if(temp_loops>250){
     Serial.println("");
     Serial.print(" pitch Angle  = "); Serial.println(angle_pitch_output);
diff --git a/EENX15_LQR/gyro.ino b/EENX15_LQR/gyro.ino
index 1c95674..8acb167 100644
--- a/EENX15_LQR/gyro.ino
+++ b/EENX15_LQR/gyro.ino
@@ -79,6 +79,14 @@ void gyro_setup(){
   delay(100);
 
   calibrateGyro();
+  
+  half_revolutionsA = 0;
+  rpmA = 0;
+  timeoldA = 0;
+  
+  half_revolutionsB = 0;
+  rpmB = 0;
+  timeoldB = 0;
 }
 
 void gyro_loop(){