 #include <Timer.h>
 
 #define X_CENTER ((PIXY_MAX_X-PIXY_MIN_X)/2)
-Pixy pixy;
+int ultrasonicpin = 0;
+//Pixy pixy;
 LIDARLite lidar;
 uint16_t blocks;
 boolean debug = false;

  t.update();

}






double compassTotal = 0;


double readUltraSonic() {
  double total = 0;
  for(i = 0; i < 50; i++) {
    total += analogRead(ultrasonicpin);
  }
  return ((total / 50.0) / 2.0) * 2.54;
}

void printData() {

  int dif;
