diff --git a/slave/slave/lib/i2c.c b/slave/slave/lib/i2c.c
--- a/slave/slave/lib/i2c.c
+++ b/slave/slave/lib/i2c.c
@@ -238,4 +238,24 @@ uint8_t i2c_read(unsigned char addr, uns
 	
     return data;
 
-}/* i2c_read */
\ No newline at end of file
+}/* i2c_read */
+
+///////////added for humidity
+uint16_t i2c_read16(unsigned char addr)
+{
+	uint16_t   data;
+	uint8_t   dataL;
+	
+	i2c_start_wait(addr+I2C_WRITE);		// set device address and write mode
+	
+	i2c_rep_start(addr+I2C_READ);   // set device address and read mode
+	data = i2c_readAck();               // read one byte
+	dataL = i2c_readNak();
+	i2c_stop();
+	
+	data = data << 8;
+	data = data | dataL;
+	
+	return data;
+
+}/* i2c_read16 */
\ No newline at end of file
diff --git a/slave/slave/lib/i2c.h b/slave/slave/lib/i2c.h
--- a/slave/slave/lib/i2c.h
+++ b/slave/slave/lib/i2c.h
@@ -59,4 +59,7 @@ void i2c_write(unsigned char addr, unsig
 
 unsigned char i2c_read(unsigned char addr, unsigned char reg);
 
+/////////////////added for humidity
+unsigned char i2c_read16(unsigned char addr);
+
 #endif /* I2C_H_ */
\ No newline at end of file
diff --git a/slave/slave/lib/sensors.c b/slave/slave/lib/sensors.c
--- a/slave/slave/lib/sensors.c
+++ b/slave/slave/lib/sensors.c
@@ -17,11 +17,85 @@
 
 int16_t	spiTemp;	// Thermocouple Temperature (from spi)
 int8_t	boardTemp;	// Board Temperature (from i2c)
-uint16_t pressure;	// Pressure (from i2c)
-//int humid;		// Humidity (from i2c)
+//Should these two be int16_t?  CHANGED TO INT32 BASED ON DATASHEET
+int32_t ut;			// Temperature from BMP085 (from i2c)
+int32_t up;			// Pressure from BMP085 (from i2c)
+uint16_t humid;		// Humidity (from i2c)
 uint8_t light;		// Lux reading (from i2c)
 
+int16_t ac1;		// The following 11 variables are the calibration values for the BMP085
+int16_t ac2;
+int16_t ac3;
+uint16_t ac4;
+uint16_t ac5;
+uint16_t ac6;
+int16_t b1;
+int16_t b2;
+int16_t mb;
+int16_t mc;
+int16_t md;
 
+int32_t x1;			// The following variables are needed to calculate the true pressure
+int32_t x2;
+int32_t x3;
+int32_t b3;
+uint32_t b4;
+int32_t b5;
+int32_t b6;
+uint32_t b7;
+int32_t trueTemp;
+int32_t truePres;
+
+
+
+void sensors_setupPressure()
+{
+	//This function reads in the calibration values from the BMP085.  This is done only once.
+	ac1 = i2c_read(PRESSURE_ADDR, 0xAA);
+	ac1 = ac1 << 8;
+	ac1 = ac1 | i2c_read(PRESSURE_ADDR, 0xAB);
+	
+	ac2 = i2c_read(PRESSURE_ADDR, 0xAC);
+	ac2 = ac2 << 8;
+	ac2 = ac2 | i2c_read(PRESSURE_ADDR, 0xAD);
+	
+	ac3 = i2c_read(PRESSURE_ADDR, 0xAE);
+	ac3 = ac3 << 8;
+	ac3 = ac3 | i2c_read(PRESSURE_ADDR, 0xAF);
+	
+	ac4 = i2c_read(PRESSURE_ADDR, 0xB0);
+	ac4 = ac4 << 8;
+	ac4 = ac4 | i2c_read(PRESSURE_ADDR, 0xB1);
+	
+	ac5 = i2c_read(PRESSURE_ADDR, 0xB2);
+	ac5 = ac5 << 8;
+	ac5 = ac5 | i2c_read(PRESSURE_ADDR, 0xB3);
+	
+	ac6 = i2c_read(PRESSURE_ADDR, 0xB4);
+	ac6 = ac6 << 8;
+	ac6 = ac6 | i2c_read(PRESSURE_ADDR, 0xB5);
+	
+	b1 = i2c_read(PRESSURE_ADDR, 0xB6);
+	b1 = b1 << 8;
+	b1 = b1 | i2c_read(PRESSURE_ADDR, 0xB7);
+	
+	b2 = i2c_read(PRESSURE_ADDR, 0xB8);
+	b2 = b2 << 8;
+	b2 = b2 | i2c_read(PRESSURE_ADDR, 0xB9);
+	
+	mb = i2c_read(PRESSURE_ADDR, 0xBA);
+	mb = mb << 8;
+	mb = mb | i2c_read(PRESSURE_ADDR, 0xBB);
+	
+	mc = i2c_read(PRESSURE_ADDR, 0xBC);
+	mc = mc << 8;
+	mc = mc | i2c_read(PRESSURE_ADDR, 0xBD);
+	
+	md = i2c_read(PRESSURE_ADDR, 0xBE);
+	md = md << 8;
+	md = md | i2c_read(PRESSURE_ADDR, 0xBF);
+}
+
 void sensors_readSpiTemp()
 {
 	// Select TEMP wait 100 microseconds then read four bytes
@@ -56,18 +130,62 @@ void sensors_readBoardTemp()
 }
 
 void sensors_readPressure()
-{//needs editing
-	//write 0x34 + (oss<<6) into 0xF4 (write is 0xEE), wait
-	pressure = i2c_read(PRESSURE_ADDR, 0xF6);
-	pressure = pressure << 8;
-	pressure = pressure | i2c_read(PRESSURE_ADDR, 0xF7);
-	//pressure = (MSB<<16 + LSB<<8 + XLSB(NOT USED)) >> (8-oss)
-	//calculate true pressure with calibration data from modules.c, maybe write own function used here
+{
+	i2c_write(0xEE, 0xF4, 0x2E);				//write 0x2E (temp) into 0xF4 (control register), (write is 0xEE)
+	_delay_us(4500);							//wait 4.5 ms
+	ut = i2c_read(PRESSURE_ADDR, 0xF6);
+	ut = ut << 8;
+	ut = ut | i2c_read(PRESSURE_ADDR, 0xF7);	//ut = MSB<<8 + LSB
+	
+	i2c_write(0xEE, 0xF4, 0x34);				//write 0x34 (pressure) into 0xF4 (control register), (write is 0xEE)
+	_delay_us(4500);							//wait 4.5 ms
+	up = i2c_read(PRESSURE_ADDR, 0xF6);
+	up = up << 8;
+	up = up | i2c_read(PRESSURE_ADDR, 0xF7);	//up = (MSB<<16 + LSB<<8 + XLSB(NOT USED)) >> (8-oss)
+	
+	//calculate true temperature
+	x1 = ((ut - ac6) * ac5) >> 15;
+	x2 = (mc << 11) / (x1 + md);
+	b5 = x1 + x2;
+	trueTemp = (b5 + 8) >> 4;
+	
+	//calculate b3
+	b6 = b5 - 4000;
+	x1 = (b2 * (b6 * b6) >> 12) >> 11;
+	x2 = (ac2 * b6) >> 11;
+	x3 = x1 + x2;
+	b3 = ((ac1 * 4 + x3) + 2) / 4;
+	
+	//calculate b4
+	x1 = (ac3 * b6) >> 16;
+	x2 = (b1 * ((b6 * b6) >> 12)) >> 16;
+	x3 = ((x1 + x2) + 2) >> 2;
+	b4 = (ac4 * (x3 + 32768)) >> 15;
+	
+	b7 = (up - b3) * 50000;
+	
+	if (b7 < 0x80000000)
+	{
+		truePres = (b7 << 1) / b4;
+	}
+	
+	else
+	{
+		truePres = (b7 / b4) << 1;
+	}
+	
+	x1 = (truePres >> 8) * (truePres >> 8);
+	x1 = (x1 * 3038) >> 16;
+	x2 = (-7357 * truePres) >> 16;
+	truePres += (x1 + x2 + 3791) >> 4;				//This is the final value for our pressure
 }
 
 void sensors_readHumid()
 {
-	//humid = i2c_read(HUMID_ADDR, 0xXX);
+	humid = i2c_read16(HUMID_ADDR);
+	
+	//calculations to relative humidity: humid = (humid/((2^14) - 1))*100%       >> is divide by power, << is multiply by power, 2^14-1 = 16383
+	humid = (humid / 16383) * 100;
 }
 
 void sensors_readLight()
@@ -95,17 +213,17 @@ int8_t sensors_getBoardTemp(void)	// Get
 	return boardTemp;
 }
 
-uint16_t sensors_getPressure(void)
+int32_t sensors_getPressure(void)	// Gets pressure from variable
 {
-	return pressure;
+	return truePres;
 }
 
-//int sensors_getHumid(void)
-//{
-	//return humid;
-//}
+int sensors_getHumid(void)			// Gets relative humidity from variable
+{
+	return humid;
+}
 
-uint8_t sensors_getLight(void)
+uint8_t sensors_getLight(void)		// Gets light from variable
 {
 	return light;
 }
\ No newline at end of file
diff --git a/slave/slave/lib/sensors.h b/slave/slave/lib/sensors.h
--- a/slave/slave/lib/sensors.h
+++ b/slave/slave/lib/sensors.h
@@ -10,6 +10,7 @@
 #define SENSORS_H_
 
 
+void sensors_setupPressure(void);	// Reads pressure calibration values
 void sensors_readSpiTemp(void);		// Reads spi temperature
 void sensors_readBoardTemp(void);	// Reads board temperature
 void sensors_readPressure(void);	// Reads pressure
@@ -18,8 +19,8 @@ void sensors_readLight(void);		// Reads 
 
 int16_t sensors_getSpiTemp(void);	// Gets spi temperature from variable
 int8_t sensors_getBoardTemp(void);	// Gets board temperature from variable
-uint16_t sensors_getPressure(void);	// Gets pressure from variable
-//int sensors_getHumid(void);	// Gets humidity from variable
+int32_t sensors_getPressure(void);	// Gets pressure from variable
+uint16_t sensors_getHumid(void);	// Gets humidity from variable
 uint8_t sensors_getLight(void);		// Gets lux from variable
 
 #endif /* SENSORS_H_ */
\ No newline at end of file
diff --git a/slave/slave/modules.c b/slave/slave/modules.c
--- a/slave/slave/modules.c
+++ b/slave/slave/modules.c
@@ -77,9 +77,9 @@
   
  void modules_sensors_setup()
  {
-	 DESELECT_TEMP;
-	 setup_spi();
-	//setup_pressure();
+	DESELECT_TEMP;
+	setup_spi();
+	sensors_setupPressure();
  }
   
  void modules_geiger_setup()
@@ -123,9 +123,9 @@
 	// Gathers data and performs functions for sensor daughter board
 	sensors_readBoardTemp();		//Data Read
 	sensors_readSpiTemp();			//Data Read
-	//sensors_readPressure();			//Data Read
-	//sensors_readHumid();			//Data Read
-	//sensors_readLight();			//Data Read
+	sensors_readPressure();			//Data Read
+	sensors_readHumid();			//Data Read
+	sensors_readLight();			//Data Read
 	 
  }
   
@@ -141,41 +141,4 @@
 	// Gathers data and performs functions for cameras daughter board
   
  } 
-  
-  ///////////do I need to change .h file?
-  void setup_pressure()
-  {
-	  int16_t ac1 = i2c_read(PRESSURE_ADDR, 0xAA);
-	  ac1 = ac1 << 8;
-	  ac1 = ac1 | i2c_read(PRESSURE_ADDR, 0xAB);
-	  int16_t ac2 = i2c_read(PRESSURE_ADDR, 0xAC);
-	  ac2 = ac2 << 8;
-	  ac2 = ac2 | i2c_read(PRESSURE_ADDR, 0xAD);	  
-	  int16_t ac3 = i2c_read(PRESSURE_ADDR, 0xAE);
-	  ac3 = ac3 << 8;
-	  ac3 = ac3 | i2c_read(PRESSURE_ADDR, 0xAF);
-	  uint16_t ac4 = i2c_read(PRESSURE_ADDR, 0xB0);
-	  ac4 = ac4 << 8;
-	  ac4 = ac4 | i2c_read(PRESSURE_ADDR, 0xB1);
-	  uint16_t ac5 = i2c_read(PRESSURE_ADDR, 0xB2);
-	  ac5 = ac5 << 8;
-	  ac5 = ac5 | i2c_read(PRESSURE_ADDR, 0xB3);
-	  uint16_t ac6 = i2c_read(PRESSURE_ADDR, 0xB4);
-	  ac6 = ac6 << 8;
-	  ac6 = ac6 | i2c_read(PRESSURE_ADDR, 0xB5);
-	  int16_t b1 = i2c_read(PRESSURE_ADDR, 0xB6);
-	  b1 = b1 << 8;
-	  b1 = b1 | i2c_read(PRESSURE_ADDR, 0xB7);
-	  int16_t b2 = i2c_read(PRESSURE_ADDR, 0xB8);
-	  b2 = b2 << 8;
-	  b2 = b2 | i2c_read(PRESSURE_ADDR, 0xB9);
-	  int16_t mb = i2c_read(PRESSURE_ADDR, 0xBA);
-	  mb = mb << 8;
-	  mb = mb | i2c_read(PRESSURE_ADDR, 0xBB);
-	  int16_t mc = i2c_read(PRESSURE_ADDR, 0xBC);
-	  mc = mc << 8;
-	  mc = mc | i2c_read(PRESSURE_ADDR, 0xBD);
-	  int16_t md = i2c_read(PRESSURE_ADDR, 0xBE);
-	  md = md << 8;
-	  md = md | i2c_read(PRESSURE_ADDR, 0xBF);
-  }
\ No newline at end of file
+  
\ No newline at end of file