  */
  void forward(){
   dataStruct.tar = 20;
-  dataStruct.val = 25;
+  dataStruct.val = mSpeed / 2;
   etData.sendData();
   dataStruct.tar = 21;
-  dataStruct.val = -25;
+  dataStruct.val = -mSpeed / 2;
   etData.sendData();
   Serial.print("forward ");
  }

#include <Adafruit_BNO055.h>
#include <EasyTransfer.h>

//Minimumn distance in meters to waypoint
#define MIN_DISTANCE 2

//Turn directions
#define TURN_LEFT 1

 */
 void left(){
  dataStruct.tar = 20;
  dataStruct.val = mSpeed;
  etData.sendData();
  dataStruct.tar = 21;
  dataStruct.val = -mSpeed;
  etData.sendData();
  Serial.print("left ");
 }
