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diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU-9-test.py b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU-9-test.py
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+# MinIMU9ArduinoAHRS
+# Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+# Copyright (c) 2011 Pololu Corporation.
+# http://www.pololu.com/
+
+# MinIMU9ArduinoAHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+# http://code.google.com/p/sf9domahrs/
+
+# sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+# Julio and Doug Weibel:
+# http://code.google.com/p/ardu-imu/
+
+# MinIMU9ArduinoAHRS is free software: you can redistribute it and/or modify it
+# under the terms of the GNU Lesser General Public License as published by the
+# Free Software Foundation, either version 3 of the License, or (at your option)
+# any later version.
+
+# MinIMU9ArduinoAHRS is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+# more details.
+
+# You should have received a copy of the GNU Lesser General Public License along
+# with MinIMU9ArduinoAHRS. If not, see <http://www.gnu.org/licenses/>.
+
+################################################################################
+
+# This is a test/3D visualization program for the Pololu MinIMU-9 + Arduino
+# AHRS, based on "Test for Razor 9DOF IMU" by Jose Julio, copyright 2009.
+
+# This script needs VPython, pyserial and pywin modules
+
+# First Install Python 2.6.4 (Python 2.7 also works)
+# Install pywin from http://sourceforge.net/projects/pywin32/
+# Install pyserial from http://sourceforge.net/projects/pyserial/files/
+# Install VPython from http://vpython.org/contents/download_windows.html
+
+from visual import *
+import serial
+import string
+import math
+
+from time import time
+
+grad2rad = 3.141592/180.0
+
+# Check your COM port and baud rate
+ser = serial.Serial(port='COM9',baudrate=115200, timeout=1)
+
+# Main scene
+scene=display(title="Pololu MinIMU-9 + Arduino AHRS")
+scene.range=(1.2,1.2,1.2)
+#scene.forward = (0,-1,-0.25)
+scene.forward = (1,0,-0.25)
+scene.up=(0,0,1)
+
+# Second scene (Roll, Pitch, Yaw)
+scene2 = display(title='Pololu MinIMU-9 + Arduino AHRS',x=0, y=0, width=500, height=200,center=(0,0,0), background=(0,0,0))
+scene2.range=(1,1,1)
+scene.width=500
+scene.y=200
+
+scene2.select()
+#Roll, Pitch, Yaw
+cil_roll = cylinder(pos=(-0.4,0,0),axis=(0.2,0,0),radius=0.01,color=color.red)
+cil_roll2 = cylinder(pos=(-0.4,0,0),axis=(-0.2,0,0),radius=0.01,color=color.red)
+cil_pitch = cylinder(pos=(0.1,0,0),axis=(0.2,0,0),radius=0.01,color=color.green)
+cil_pitch2 = cylinder(pos=(0.1,0,0),axis=(-0.2,0,0),radius=0.01,color=color.green)
+#cil_course = cylinder(pos=(0.6,0,0),axis=(0.2,0,0),radius=0.01,color=color.blue)
+#cil_course2 = cylinder(pos=(0.6,0,0),axis=(-0.2,0,0),radius=0.01,color=color.blue)
+arrow_course = arrow(pos=(0.6,0,0),color=color.cyan,axis=(-0.2,0,0), shaftwidth=0.02, fixedwidth=1)
+
+#Roll,Pitch,Yaw labels
+label(pos=(-0.4,0.3,0),text="Roll",box=0,opacity=0)
+label(pos=(0.1,0.3,0),text="Pitch",box=0,opacity=0)
+label(pos=(0.55,0.3,0),text="Yaw",box=0,opacity=0)
+label(pos=(0.6,0.22,0),text="N",box=0,opacity=0,color=color.yellow)
+label(pos=(0.6,-0.22,0),text="S",box=0,opacity=0,color=color.yellow)
+label(pos=(0.38,0,0),text="W",box=0,opacity=0,color=color.yellow)
+label(pos=(0.82,0,0),text="E",box=0,opacity=0,color=color.yellow)
+label(pos=(0.75,0.15,0),height=7,text="NE",box=0,color=color.yellow)
+label(pos=(0.45,0.15,0),height=7,text="NW",box=0,color=color.yellow)
+label(pos=(0.75,-0.15,0),height=7,text="SE",box=0,color=color.yellow)
+label(pos=(0.45,-0.15,0),height=7,text="SW",box=0,color=color.yellow)
+
+L1 = label(pos=(-0.4,0.22,0),text="-",box=0,opacity=0)
+L2 = label(pos=(0.1,0.22,0),text="-",box=0,opacity=0)
+L3 = label(pos=(0.7,0.3,0),text="-",box=0,opacity=0)
+
+# Main scene objects
+scene.select()
+# Reference axis (x,y,z)
+arrow(color=color.green,axis=(1,0,0), shaftwidth=0.02, fixedwidth=1)
+arrow(color=color.green,axis=(0,-1,0), shaftwidth=0.02 , fixedwidth=1)
+arrow(color=color.green,axis=(0,0,-1), shaftwidth=0.02, fixedwidth=1)
+# labels
+label(pos=(0,0,0.8),text="Pololu MinIMU-9 + Arduino AHRS",box=0,opacity=0)
+label(pos=(1,0,0),text="X",box=0,opacity=0)
+label(pos=(0,-1,0),text="Y",box=0,opacity=0)
+label(pos=(0,0,-1),text="Z",box=0,opacity=0)
+# IMU object
+platform = box(length=1, height=0.05, width=1, color=color.blue)
+p_line = box(length=1,height=0.08,width=0.1,color=color.yellow)
+plat_arrow = arrow(color=color.green,axis=(1,0,0), shaftwidth=0.06, fixedwidth=1)
+
+
+f = open("Serial"+str(time())+".txt", 'w')
+
+roll=0
+pitch=0
+yaw=0
+while 1:
+    line = ser.readline()
+    if line.find("!ANG:") != -1:          # filter out incomplete (invalid) lines
+        line = line.replace("!ANG:","")   # Delete "!ANG:"
+        print line
+        f.write(line)                     # Write to the output log file
+        words = string.split(line,",")    # Fields split
+        if len(words) > 2:
+            try:
+                roll = float(words[0])*grad2rad
+                pitch = float(words[1])*grad2rad
+                yaw = float(words[2])*grad2rad
+            except:
+                print "Invalid line"
+
+            axis=(cos(pitch)*cos(yaw),-cos(pitch)*sin(yaw),sin(pitch)) 
+            up=(sin(roll)*sin(yaw)+cos(roll)*sin(pitch)*cos(yaw),sin(roll)*cos(yaw)-cos(roll)*sin(pitch)*sin(yaw),-cos(roll)*cos(pitch))
+            platform.axis=axis
+            platform.up=up
+            platform.length=1.0
+            platform.width=0.65
+            plat_arrow.axis=axis
+            plat_arrow.up=up
+            plat_arrow.length=0.8
+            p_line.axis=axis
+            p_line.up=up
+            cil_roll.axis=(0.2*cos(roll),0.2*sin(roll),0)
+            cil_roll2.axis=(-0.2*cos(roll),-0.2*sin(roll),0)
+            cil_pitch.axis=(0.2*cos(pitch),0.2*sin(pitch),0)
+            cil_pitch2.axis=(-0.2*cos(pitch),-0.2*sin(pitch),0)
+            arrow_course.axis=(0.2*sin(yaw),0.2*cos(yaw),0)
+            L1.text = str(float(words[0]))
+            L2.text = str(float(words[1]))
+            L3.text = str(float(words[2]))        
+ser.close
+f.close