 #include <Adafruit_L3GD20_U.h>
 #include <Adafruit_9DOF.h>
 #include <SabertoothSimplified.h>
+#include <EasyTransfer.h>
 
 //Optional second 4 line 20 char LCD for displaying data 
 
 #include <LiquidCrystal_I2C.h>
+
+//START Easy Transfer
+EasyTransfer etData;
+struct COM_DATA_STRUCTURE{
+  //put your variable definitions here for the data you want to receive
+  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
+  int tar;
+  int cmd;
+  int val;
+  int dur;
+};
+
+//give a name to the group of data
+COM_DATA_STRUCTURE dataStruct;
+//END Easy Transfer
+
+//Motor speed -127 to 127
+#define SPEED 127
+#define TURN_SPEED 70
+
 
 #define I2C_ADDR 0x27  // Define I2C Address where the PCF8574A is
                           // Address can be changed by soldering A0, A1, or A2

/* Update this with the correct SLP for accurate altitude measurements */
float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;

float compassHeading;

// 2x16 LCD stuff
LiquidCrystal lcd(8, 9, 4, 5, 6, 7); 

  }
 
 void forward(){
   //Send data
    dataStruct.tar = 20;
    dataStruct.val = SPEED;
    etData.sendData();
    dataStruct.tar = 21;
    dataStruct.val = SPEED;
    etData.sendData();
   ST.motor(RIGHT, SPEED);
   ST.motor(LEFT, SPEED);
 }
 
 void left(){
      //Send data
    dataStruct.tar = 20;
    dataStruct.val = SPEED;
    etData.sendData();
    dataStruct.tar = 21;
    dataStruct.val = TURN_SPEED;
    etData.sendData();
   ST.motor(RIGHT, SPEED);
   ST.motor(LEFT, TURN_SPEED);
 }
 
 void right(){
      //Send data
    dataStruct.tar = 20;
    dataStruct.val = TURN_SPEED;
    etData.sendData();
    dataStruct.tar = 21;
    dataStruct.val = SPEED;
    etData.sendData();
   ST.motor(RIGHT, TURN_SPEED);
   ST.motor(LEFT, SPEED);
 }
 
 float formatDistance(int meters){
