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Trammell Hudson committed 1b0712e

wrist works! calibration is off, but motion is right

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 	const int wrist // wrist up = +1, wrist down = -1
 )
 {
-	const double M = 1;
+	const double M = -1;
 	const double ax = a[0];
 	const double ay = a[1];
 	const double az = a[2];