 }
 
 void xbeeTryTxRx(){
-
 	rx_len = XBEE.available();
 	if(rx_len){
 		while(XBEE.available()){

	otherRobot_tsopAngle  = (rx_packet[2] << 8) | rx_packet[3];
	otherRobot_lineLocation = rx_packet[4];
	otherRobot_powerOn = rx_packet[5];
	Serial.print(micros()); Serial.print('\t');
	Serial.print(otherRobot_playMode); Serial.print('\t');
	Serial.print(otherRobot_tsopStrength); Serial.print('\t');
	Serial.print(otherRobot_tsopAngle); Serial.print('\t');
	Serial.print(otherRobot_lineLocation); Serial.print('\t');
	Serial.println(otherRobot_powerOn);
}

void tx(){

	// switch(tx_i){
	// 	// case 0: XBEE.write(XBEE_START); XBEE.write(XBEE_START); break;
	// 	// case 1: XBEE.write(playMode); break;
	// 	// case 2: XBEE.write(tsopStrength); break;
	// 	// case 3: XBEE.write(highByte(tsopAngle)); break;
	// 	// case 4: XBEE.write(lowByte(tsopAngle)); break;
	// 	// case 5: XBEE.write(linelocation); break;
	// 	// case 6: XBEE.write(powerOn); break;
	// }
	// tx_i++;
	// if (tx_i == 8) tx_i = 0;
	XBEE.write(XBEE_START); 
	XBEE.write(XBEE_START); 
	XBEE.write(playMode); 

		else if (linelocation == LINELOCATION::SIDE_RIGHT){
			targetBearing = -45;
		}
		else if (linelocation == LINELOCATION::CORNER_TOP_LEFT || linelocation == LINELOCATION::SIDE_TOP){
			targetBearing = 90;
		}
		else if (linelocation == LINELOCATION::CORNER_TOP_RIGHT || linelocation == LINELOCATION::SIDE_BOTTOM){
			targetBearing = -90;
		}
		else{
