I2C:
Read did not actually change
Write was changed so that we do a DataPut instaed of SlaveAddrSet! This fixed out writing problem!
Gyro:
Added defines for register initialization
Needed to set the power mode to normal in order to run the gyro (We were getting a static value before, Now it updates!)
Helper:
Delay still isn't understood but we are getting a more accurate delay (Before it seemed completely random) Sys tick is thought to be a down counter. Still need to confirm this!