     dif = X_CENTER - CenterOfBlocks;
     if (dif < -5) {
       sprintf(buffer, "^%s~%s~%s~", "PIXY", "direction", "right");
-      Serial.print(buffer);
+      Serial.write(buffer);
     } else if (dif > 5) {
       sprintf(buffer, "^%s~%s~%s~", "PIXY", "direction", "left");
-      Serial.print(buffer);
+      Serial.write(buffer);
     } else {
       sprintf(buffer, "^%s~%s~%s~", "PIXY", "direction", "straight");
-      Serial.print(buffer);
+      Serial.write(buffer);
     }
     if (debug) {
       Serial.println("");

  {
    dtostrf(orientation.heading, 5, 2 , buf);
    sprintf(buffer, "^%s~%s~%s~", "GYRO", "heading", buf);
    Serial.print(buffer);
  }
  if (debug) {
    Serial.println("");


  //LIDAR STUFF
  sprintf(buffer, "^%s~%s~%d~", "LIDAR", "cm", lidar.distance());
  Serial.write(buffer);
  if (debug) {
    Serial.println("");
  }
