 /** Compass */
 Adafruit_BNO055 bno = Adafruit_BNO055(55);
 
-//START Easy Transfer
-EasyTransfer etData;
-struct COM_DATA_STRUCTURE{
-  //put your variable definitions here for the data you want to receive
-  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
-  int tar;
-  int cmd;
-  int val;
-  int dur;
-};
-
-//give a name to the group of data
-COM_DATA_STRUCTURE dataStruct;
-//END Easy Transfer
-
 SoftwareSerial SWSerial(4, 5);
+
+//Used to talk to the TargetRegistration library
+ClientTarget clientTarget;
+
+//Servos to calibrate the compass
+Servo mPanServo;
+Servo mTiltServo;
+#define PAN_PIN 7
+#define TILT_PIN 6
 
 /**
   * Read gps a return true if new data found

    mLat[5] = 38.637919;
    mLon[5] = -90.272353;
    
    //Start EasyTransfer
    etData.begin(details(dataStruct), &SWSerial);
}

void loop() {
    delay(100);
    //Read from gps
    if (feedgps()){
      //Dump gps if new data
      gpsdump(mGps);
    }
    updateCompassHeading();
    transmitHeading();
}

/**

    Serial.begin(115200);
    Serial.println("Starting...");
    
    SWSerial.begin(COM_SPEED);
    
    //Start Compass
    bno.begin();
    //Compass Calibration data
    byte c_data[22] = {1, 0, 252, 255, 21, 0, 130, 255, 97, 0, 82, 2, 1, 0, 1, 0, 0, 0, 232, 3, 151, 4};
    bno.setCalibData(c_data);
    bno.setExtCrystalUse(true);
    Serial.println("Compass Started");
    //Set gps 9600 baud
    mGpsSerial.begin(9600);
    
