 
 extern "C" int main(void){	
 	Serial.begin(115200);
+	XBEE.begin(9600);
 
 	// begin i2c at 400kHz
 	Wire.begin(I2C_MASTER, 0x00, I2C_PINS_18_19, I2C_PULLUP_EXT, I2C_RATE_400);


				break;
		}
		/* orientation/imu */
		getSlave1Data();
		/* end orientation/imu */

bool ledState = true;
uint32_t ledBlinkTime = 500;

/**********************************************************/
/*				        playMode  				     	  */
/**********************************************************/
#define OFFENSE 0
#define DEFENSE 1
#define UNDECIDED 2

uint8_t playMode = UNDECIDED;

bool powerOn = true;

/**********************************************************/
/*				        wireless   						  */
/**********************************************************/
#define XBEE_START 255
#define XBEE Serial3
#define XBEE_TIMEOUT 200000 // xbee timeout in ms

uint8_t rx_len;
uint8_t rx_packet[6];
uint8_t rx_i;
uint8_t prev_c;

elapsedMillis rx_elapsed;
bool xbeeConnected = false;

uint8_t otherRobot_playMode;
uint8_t otherRobot_tsopStrength;
int16_t otherRobot_tsopAngle;
uint8_t otherRobot_lineLocation;
bool otherRobot_powerOn;

uint8_t tx_i;

/**********************************************************/
/*					      tft   						  */
