   Wire.onReceive(I2CReceive); 
   Serial.begin(115200);
   timeLastPacket = 0;
+  dataValid = false;
 }
 
 void loop() {
-  if(millis() - timeLastPacket < TIMEOUT) {
+  static boolean timedOut = false;
+  
+  if(millis() - timeLastPacket < TIMEOUT && dataValid) {
+    timedOut = false; 
+    
     // Map values from 5-bit char to int from full reverse to full forwards
     int leftSpeed = map(data.left_motor, 0, 32, MIN_FREQUENCY, MAX_FREQUENCY);
     int rightSpeed = map(data.right_motor, 0, 32, MIN_FREQUENCY, MAX_FREQUENCY);

Servo leftMotor, rightMotor;

ChassisData data;

void setup() {
  // Attach the motors and set their starting speed to neutral/zero speed

#include <map>
#include <string>

// Insert own filepath here
#include "C:\Users\Taylor\Documents\Arduino\libraries\ChassisData.h"

#ifndef I2C_ADDRESS
#define I2C_ADDRESS  1
