   {
     dtostrf(orientation.heading, 5, 2 , buf);
     sprintf(buffer, "^%s~%s~%s~", "GYRO", "heading", buf);
-    Serial.print(buffer);
+    Serial.write(buffer);
   }
   if (debug) {
     Serial.println("");

    dif = X_CENTER - CenterOfBlocks;
    if (dif < -5) {
      sprintf(buffer, "^%s~%s~%s~", "PIXY", "direction", "right");
      Serial.print(buffer);
    } else if (dif > 5) {
      sprintf(buffer, "^%s~%s~%s~", "PIXY", "direction", "left");
      Serial.print(buffer);
    } else {
      sprintf(buffer, "^%s~%s~%s~", "PIXY", "direction", "straight");
      Serial.print(buffer);
    }
    if (debug) {
      Serial.println("");


  //LIDAR STUFF
  sprintf(buffer, "^%s~%s~%d~", "LIDAR", "cm", lidar.distance());
  Serial.write(buffer);
  if (debug) {
    Serial.println("");
  }
