void auto_cal(){
  EEPROM.get(0,calibration);
  EEPROM.get(4,calibratedAx);
  EEPROM.get(8,calibratedAy);
  EEPROM.get(12,calibratedAz);
  EEPROM.get(16,calibratedGx);
  EEPROM.get(24,calibratedGy);
  EEPROM.get(32,calibratedGz);
  EEPROM.get(75,SWstate);
}