 int available_bytes = 0;
 
 // Target and previous velocity arrays
-static float target_vel[] = {0.f , 0.f};
+static int target_vel[] = {0 , 0};
 
 //Motor Control
 FRCmotor leftMotor; //DECLARE LEFT MOTOR CONTROLLER

  memset(write_buffer,'\0',BUFSIZE);
  for(int x = 0; x<SONAR_NUM;x++)
  {
    sprintf(ftos,"%f",sonars[x]);
    strcat(write_buffer, ftos);
    strcat(write_buffer, ",");
  }
  sprintf(ftos,"%f",latitude);
  strcat(write_buffer, ftos);
  strcat(write_buffer, ",");
  sprintf(ftos,"%f",longitude);
  strcat(write_buffer, ftos);
  strcat(write_buffer, ",");
  sprintf(ftos,"%f",compass_theta);
  strcat(write_buffer, ftos);
  strcat(write_buffer, "\n");
  Serial.write(write_buffer);

/*
Magnometer: VIN: 3.3V  SDA: 20  SCL: 21
Compass: VIN: 3.3V  RX: 11  TX: 12
sonar_value: Top from l to r: 24,26,28,30
        botton from l to r: 22,23,25,27,29
Motor - R: 9  L: 10

*/
///////////////////////////////////////////////
