 #include <Adafruit_L3GD20_U.h>
 #include <Adafruit_9DOF.h>
 #include <SabertoothSimplified.h>
+#include <EasyTransfer.h>
 
 //Optional second 4 line 20 char LCD for displaying data 
 
 #include <LiquidCrystal_I2C.h>
+
+//START Easy Transfer
+EasyTransfer etData;
+struct COM_DATA_STRUCTURE{
+  //put your variable definitions here for the data you want to receive
+  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
+  int tar;
+  int cmd;
+  int val;
+  int dur;
+};
+
+//give a name to the group of data
+COM_DATA_STRUCTURE dataStruct;
+//END Easy Transfer
+
+//Motor speed -127 to 127
+#define SPEED 127
+#define TURN_SPEED 70
+
 
 #define I2C_ADDR 0x27  // Define I2C Address where the PCF8574A is
                           // Address can be changed by soldering A0, A1, or A2

    updateHeading();
    updateDisplay(newData);

  }

  /**

     
    // Convert radians to degrees for readability.
    compassHeading = heading * 180/M_PI; 
    //Adjust heading
    compassHeading += mHeadingOffset;
    if(compassHeading >= 360){
      compassHeading -= 360;
    }
  }
  
  void updateDisplay(bool newData){
