void calibrateCompass()                                           // Experimental Use Only to Calibrate Magnetometer/ Compass
{
 
Serial.println("in calibrate");
  for (int i=1000; i >= 1; i--) 
  {
  Vector mag = compass.readRaw();                                 // Read compass data
  
  // Determine Min / Max values
  if (mag.XAxis < minX) minX = mag.XAxis;
  if (mag.XAxis > maxX) maxX = mag.XAxis;
  if (mag.YAxis < minY) minY = mag.YAxis;
  if (mag.YAxis > maxY) maxY = mag.YAxis;
  
  offX = (maxX + minX)/2;                                         // Calculate offsets
  offY = (maxY + minY)/2;
  
  delay(10);
 
  
  }                                                               // end of for loop
  
  Serial.print("Compass X & Y offset: ");
  Serial.print(offX);
  Serial.print(" ");
  Serial.print(offY);
  Serial.print("\n");

}