   IR,
   VOLTS,
   FLOOR, 
-  E3,
+  COMPASS,
   E4,
   E5,
   E6,

  data*=5;data/=1024;//transform readed data to volts
  holdingRegs[IR]=(unsigned int)round(-115+205*data-29*data*data-216*log(data));//transform to distance, using magic formula
}
void Floor_update(){
  Robot.updateIR();
  byte sum=0;//count how many sensor on floor

  holdingRegs[TOTAL_ERRORS] = modbus_update(holdingRegs);
  IR_update();
  Floor_update();
  Compass_update();
  delay(50);
}

