 /*					       LASER    					  */
 /**********************************************************/
 #define LASER_SIG A1
-#define LASER_REF 159
+#define LASER_REF 950
 
 int laserSig = 0;
 
 bool ballInZone = false;
+
+void kickDog() {
+	noInterrupts();
+	WDOG_REFRESH = 0xA602;
+	WDOG_REFRESH = 0xB480;
+	interrupts();
+}
 
 void resetOtherRobotData(){
 	otherRobot_playMode = DEFENSE;


	//delay(800);
	tft.println("Calibrating IMU offset");
	calibIMUOffset();
	
	initDebugTFT();
	drawButtons();

	tx();
	while(1){		
		// save some time here as reading srf08's has seen to dramatically decrease performance
		switch(loopCount % 5){
			case 0: 


	delay(1000);

	kickDog();

	XBEE.begin(57600);
	tft.begin();
	drawPiLogo();
