 		// save some time here as reading srf08's has seen to dramatically decrease performance
 		switch(loopCount % 5){
 			case 0: 
-#ifdef PIXY_ENABLED
-				blocks = pixy1.getBlocks();
-#endif
+				if (pixyEnabled){
+					blocks = pixy1.getBlocks();
+				}
 				break;
 			case 1: srfBack.getRangeIfCan(backDistance); break;
 			case 2: srfRight.getRangeIfCan(rightDistance); break;

/*					     Camera   						  */
/**********************************************************/

//#define PIXY_ENABLED

#define PIXY1_ADDRESS 0x54   // default i2c address


		/* end tsops */

		/* goal detection */
		if (pixyEnabled){
			getGoalData();
		}
		/* end goal detection */

		/* face forwards */
		if (goalDetected){
			targetBearing = goalAngle_r_field * 1.3; // always face goals
