 /*					     Camera   						  */
 /**********************************************************/
 
-//#define PIXY_ENABLED
+bool pixyEnabled = true;
 
 #define PIXY1_ADDRESS 0x54   // default i2c address
 

		/* end tsops */

		/* goal detection */
#ifdef PIXY_ENABLED
		getGoalData();
		/* end goal detection */
#endif
		/* face forwards */
		if (goalDetected){
			targetBearing = goalAngle_r_field * 1.3; // always face goals

		// save some time here as reading srf08's has seen to dramatically decrease performance
		switch(loopCount % 5){
			case 0: 
				if (pixyEnabled){
					blocks = pixy1.getBlocks();
				}
				break;
			case 1: srfBack.getRangeIfCan(backDistance); break;
			case 2: srfRight.getRangeIfCan(rightDistance); break;
