   }
  
  void forward(){
-   ST.motor(RIGHT, 100);
-   ST.motor(LEFT, 100);
+   //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(){
-   ST.motor(RIGHT, 45);
-   ST.motor(LEFT, 25);
+      //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(){
-   ST.motor(RIGHT, 25);
-   ST.motor(LEFT, 45);
+      //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){

/* 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); 

#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
