   encoder.begin(); //start counting
   gyro.attach();
   gyro.begin(); //start measuring
+  razor.attach(&Serial3);
   Serial2.begin(9600);
   Serial2.setTimeout(200);
-  Serial3.begin(9600);
+ // Serial.begin(9600);
 }
 
 void loop() {

    }
    if (Serial2.available()) {
      String input = decodedNetstring(Serial2.readStringUntil(','));
      Serial.println(input);
      if (input.startsWith("m")) {
        int throttle = input.substring(1).toInt();
        car.setSpeed(throttle);

    out = "HE-";
    out += abs(gyro.getAngularDisplacement());
    Serial2.println(encodedNetstring(out));
    out = "RZR-";
    out += razor.getLatestHeading();
    Serial2.println(encodedNetstring(out));
    previousTransmission = millis();
  }

