   Wire.begin(I2C_ADDRESS);
   Wire.onReceive(receiveEvent);
   Wire.onRequest(requestEvent);
-  lcd.begin();
-  lcd.clear_screen();
-  lcd.set_brightness(0x77);
-  lcd.set_cursor(0, 5);
-  lcd.print("Pathfinder");
 }
 
-// Display Reference
-// 0  1  2  3  4  5  6  7  8  9  10 11 12 13 14 15 16 17 18 19
-//                   P  a  t  h  f  i  n  d  e  r
-// M  1  :     F  0  5  5     M  2  :     R  0  5  5
-//
-// L  :  0  5  5     F  :  0  5  5     R  :  0  5  5
 void loop()
 {
   struct Event e;

      break;
    }
  }
  lcd.set_cursor(1, 0);
  lcd.print("M1: %s", motor1.status());
  lcd.set_cursor(1, 9);
  lcd.print("M2: %s", motor2.status());
  lcd.set_cursor(3, 0);
  lcd.print("L:%03d F:%03d R:%03d", sensor_left, sensor_front, sensor_right);
  delay(2000);
}

void requestEvent()
{
  sensor_left = analogRead(A0);
  sensor_front = analogRead(A1);
  sensor_right = analogRead(A2);
  Wire.write(sensor_left);
  Wire.write(sensor_front);
  Wire.write(sensor_right);

#include <Wire.h>
#include <RingBufCPP.h>
#include "Motor.h"

#define I2C_ADDRESS 0x1A
#define I2C_BUFFER_SIZE 32
#define MAX_NUM_ELEMENTS 30
#define MOTOR1_ADDRESS 0x01
#define MOTOR2_ADDRESS 0x02

char i2c_buffer[I2C_BUFFER_SIZE];

struct Event
