 #include <NewPing.h>
 #include <Stepper.h>
 #include <EnableInterrupt.h>
+#include <SPI.h>  
+#include <Pixy.h>
 #include <avr/wdt.h>
 
 #define I2C_WRITE                   B00000000

      enableInterrupt(encoderPin1, interruptFunctionLeft, RISING);
      enableInterrupt(encoderPin2, interruptFunctionRight, RISING);
      break ;
//    case PIXY_CONFIG:
//      TODO: Implement
//      break;

    case TONE_DATA:
      byte toneCommand, pin;
      int frequency, duration;

      enableInterrupt(encoderPin2, interruptFunctionRight, RISING);
    }
    if (pixyIsReporting) {
      numPixyBlocks = pixy.getBlocks();
      Firmata.write(START_SYSEX);
      Firmata.write(PIXY_DATA);
      Firmata.write(numPixyBlocks);
      if (maxPixyBlocks != 0 && numPixyBlocks > maxPixyBlocks) {
        numPixyBlocks = maxPixyBlocks;
      }
      for (pixyBlockIndex = 0; pixyBlockIndex < numPixyBlocks; pixyBlockIndex++) {
        writePixyBlock(pixyBlockIndex);
      }
      Firmata.write(END_SYSEX);
    }
  }
  if( keepAliveInterval ) {
    currentMillis = millis();
