void modeDescriptors(){
    Serial.println(F("Enter 'C' to enter calibration sensors."));
    Serial.println(F("Enter 'D' to disable sensors."));
    Serial.println(F("Enter 'E' to enable sensors."));
    Serial.println(F("Enter 'A' to toggle the display of the sensor accuracy values."));
    Serial.println(F("Enter 'O' to toggle the display of the sensor output values."));
}

/**************************************************************************
    Selector for entering calibration "mode"
 **************************************************************************/
void checkModes(){
    if(Serial.available()) {
        byte incoming = Serial.read();
        switch (incoming) {
            case 'C':
            case 'c':
                calibrationMode();
                break;
            case 'D':
            case 'd':
                disableMode();
                break;
            case 'E':
            case 'e':
                enableMode();
                break;
            case 'A':
            case 'a':
                if(showAccuracy==false){
                    showAccuracy=true;
                } else {
                    showAccuracy=false;
                }
                break;
            case 'O':
            case 'o':
                if(showData==false){
                  showData=true;
                } else {
                  showData=false;
                }
                break;

            default: {}
        }
    }
}

/**************************************************************************
    Calibrate Sensors Mode
 **************************************************************************/
void calibrationMode() {
    // This subroutine implements logic related to calibration
    bool calibrating = true;
    Serial.println(F("\nCalibration Mode:"));
    Serial.println(F("Enter the number of the sensor to calibrate"));
    Serial.println(F("or 'd' when you are Done calibrating."));
    while (calibrating == true) {
        // Check serial input
        if(Serial.available()) {
            byte incoming = Serial.read();
            switch(incoming) {
                case '1':
                    if(IMU1Present) {
                        Serial.println(F("Calibrating Sensor 1"));
                        calibrate_sensor(IMU1);
                        Serial.println(F("Sensor Calibrated"));
                    } else {
                        Serial.println(F("Sensor 1 not present"));
                    }
                    break;
                case '2':
                    if(IMU2Present) {
                        Serial.println(F("Calibrating Sensor 2"));
                        calibrate_sensor(IMU2);
                        Serial.println(F("Sensor Calibrated"));
                    } else {
                        Serial.println(F("Sensor 2 not present"));
                    }
                    break;
                case 'D':
                case 'd':
                    Serial.println(F("Done Calibrating"));
                    calibrating = false;
                    break;
                default: { }
            }
        }
    }
}

/**************************************************************************
    Disable Sensors Mode
 **************************************************************************/
void disableMode() {
    // This subroutine implements logic related to calibration
    bool disabling = true;
    Serial.println(F("\nDisable Mode:"));
    Serial.println(F("Enter the number of the sensor to disable"));
    Serial.println(F("or 'd' when you are Done."));
    while (disabling == true) {
        // Check serial input
        if(Serial.available()) {
            byte incoming = Serial.read();
            switch(incoming) {
                case '1':
                    if(IMU1Present) {
                        Serial.println(F("Disabling Sensor 1"));
                        IMU1Present = false;
                    } else {
                        Serial.println(F("Sensor 1 not present"));
                    }
                    break;
                case '2':
                    if(IMU2Present) {
                        Serial.println(F("Disabling Sensor 2"));
                        IMU2Present = false;
                    } else {
                        Serial.println(F("Sensor 2 not present"));
                    }
                    break;
                case 'D':
                case 'd':
                    Serial.println(F("Done Disabling"));
                    disabling = false;
                    break;
                default: { }
            }
        }
    }
}

/**************************************************************************
    Enable Sensors Mode
 **************************************************************************/
void enableMode() {
    // This subroutine implements logic related to calibration
    bool enabling = true;
    Serial.println(F("\nEnable Mode:"));
    Serial.println(F("Enter the number of the sensor to enable"));
    Serial.println(F("or 'd' when you are Done."));
    while (enabling == true) {
        // Check serial input
        if(Serial.available()) {
            byte incoming = Serial.read();
            switch(incoming) {
                case '1':
                    if(!IMU1Present) {
                        if (enable_sensor(IMU1,0x4B)) {
                            Serial.println(F("Sensor 1 Enabled"));
                            IMU1Present = true;
                        } else {
                            Serial.println(F("Sensor 1 Failed"));
                        }
                    } else {
                        Serial.println(F("Sensor 1 is present"));
                    }
                    break;
                case '2':
                    if(!IMU2Present) {
                        if (enable_sensor(IMU2,0x4A)) {
                            Serial.println(F("Sensor 2 Enabled"));
                            IMU2Present = true;
                        } else {
                            Serial.println(F("Sensor 2 Failed"));
                        }
                    } else {
                        Serial.println(F("Sensor 2 is present"));
                    }
                    break;
                case 'D':
                case 'd':
                    Serial.println(F("Done Enabling"));
                    enabling = false;
                    break;
                default: { }
            }
        }
    }
}