 
     if ( pingLoopCounter++ > numLoops) {
       pingLoopCounter = 0;
-      if (numActiveSonars)
-      {
+      if (numActiveSonars) {
         unsigned int uS = sonars[nextSonar]->ping();
         // Convert ping time to distance in cm and print
         pingResult = uS / US_ROUNDTRIP_CM;

          writePixyBlock(pixyBlockIndex);
        }
        Firmata.write(END_SYSEX);
      }
    }
  }
  if (keepAliveInterval) {

    if (pixyIsReporting) {
      numPixyBlocks = pixyPtr->getBlocks();
      // Only send Pixy data if a block was found.

        if (samplingInterval < MINIMUM_SAMPLING_INTERVAL_WITH_PIXY) {
          samplingInterval = MINIMUM_SAMPLING_INTERVAL_WITH_PIXY;
        }
        if (numPixyBlocks > pixyMaxBlocks) {
          numPixyBlocks = pixyMaxBlocks;
        }
