There are some things right off that make your code hard to read. First, all capital letter name are, by convention, reserved for constants, and constants never appear on the left of an equal statement, except where they are first valued.
Second, the random indenting is heard to follow. Use Tools + Auto Format to correct that. I'd also prefer to see each { on a new line.
As for the performance killers, delay() is right there at the top of the list, and you have a lot of them.
Serial.print() is probably #2 on the list, and you have plenty of them.
That for loop is going to take forever to execute. The comment notwithstanding, it will iterate 100 times, taking well over 2 seconds per iteration - that's over 3 minutes.
Your robot is going to have fallen off the ball and been flopping around on the ground for an eternity before you get around to noticing that it is off kilter.
And, unless I just missed it, I don't see you actually doing anything with all the data you collect (oh, so slowly).