   {
     if (desiredSpeedR[i] < 0)
     {
-      digitalWrite(select, LOW);
+      digitalWrite(lSelect, LOW);
     }
     Wire.beginTransmission(7);
-    Wire.write(abs(desiredSpeedL[i] * 100 * ticksPerMile));
+    Wire.write(2);
     Wire.endTransmission();
   
     Wire.beginTransmission(8);
-    Wire.write(abs(desiredSpeedR[i] * 100 * ticksPerMile));
+    Wire.write(2);
     Wire.endTransmission();
   
     delay(1000);

    leftSpeed[i] = analogRead(lSpeed);
    rightSpeed[i] = analogRead(rSpeed);

    digitalWrite(select, HIGH);
  }

  for (int i = 0; i < 11; i ++)

  pinMode(leftDir, INPUT);
  pinMode(lSpeed, INPUT);

  pinMode(lSelect, OUTPUT);
  digitalWrite(lSelect, HIGH);
}

void loop() 
