--everything compiles just fine--

--all the functions have been split into their respective files--

next steps are as follows:
1. change the code to 0 out the accumulator to ensure that the angle is 0 at the start of the run
2. verify that the code runs correctly on the car (verify my multi-file modifications)
3. issue a pull request and merge the multi-file branch code into the main branch
4. create a new branch to start the migration to the teensy 3.1