 //Comment out to disable serial debugging
 #define debugOn
 
+#define BUFFER_LENGTH 64
+
 // Sonar ISR
 #include "sonarInterupt.h"
 void SetupSonar(void);

	}

	// Parse Request
	if(buff[0] == 's' && numBytes >= 2){
		// Read sonar id
		int sonar;


// I2C Response Buffer
char i2c_buff[32] = {0};
int i2c_buffer_ready = 0;
int i2c_buffer_len = 0;

int main(void){
	//Start Serial Communication if Debugging Mode is activated
