diff --git a/Code/ESP32_communication/Two-way/ESP32_master/ESP32_master.ino b/Code/ESP32_communication/Two-way/ESP32_master/ESP32_master.ino
index 60b27146047d928237c71c6936811d15cf332f40..903cfe3598e2b7f880bbda4285d0b5c803934417 100644
--- a/Code/ESP32_communication/Two-way/ESP32_master/ESP32_master.ino
+++ b/Code/ESP32_communication/Two-way/ESP32_master/ESP32_master.ino
@@ -3,7 +3,8 @@
 #include <Wire.h>
 
 // REPLACE WITH THE MAC Address of your receiver (SLAVE)
-uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C};
+// uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
+uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x91, 0x74}; // #1
 
 String success;
 // Define variables to store BME280 readings to be sent
@@ -11,6 +12,7 @@ String strdata = "";
 String valdata = "";
 String quedata = "";
 int count = 0;
+int count_digit = 0;
 
 // Define variables to store incoming readings
 String incomingStr = "";
@@ -100,9 +102,11 @@ void loop()
     sentData.StrD = strdata;
     Serial.println(sentData.StrD);
    }
-  if (isDigit(inChar) || inChar == '.' || inChar == '-'){
+  if ((isDigit(inChar) || inChar == '.' || inChar == '-') && (count_digit <= 9)){
     valdata += char(inChar);
+    count_digit += 1;
    }
+  
   if (inChar == '?'){
     quedata += char(inChar);
     sentData.QueM = quedata;
@@ -119,8 +123,8 @@ void loop()
    sentData.QueM = "";
     }else{
       // sentData.ValD = 0;
-         Serial.print("ValD");
-   Serial.println(sentData.ValD);
+      Serial.print("ValD");
+      Serial.println(sentData.ValD);
       Serial.print("QueM:");
       Serial.println(sentData.QueM);
     }
@@ -135,6 +139,7 @@ void loop()
   strdata = "";
   quedata = "";
   count = 0;
+  count_digit = 0;
   }
   
   }
diff --git a/Code/ESP32_communication/Two-way/ESP32_slave/ESP32_slave.ino b/Code/ESP32_communication/Two-way/ESP32_slave/ESP32_slave.ino
index 96cb18326de66c27a75b4282bf32759ec0e290c4..fcd4d3fdf481f82588213737e0ff4606007d0d05 100644
--- a/Code/ESP32_communication/Two-way/ESP32_slave/ESP32_slave.ino
+++ b/Code/ESP32_communication/Two-way/ESP32_slave/ESP32_slave.ino
@@ -4,7 +4,8 @@
 
 // REPLACE WITH THE MAC Address of your receiver (MASTER)
 // Slave: 40:F5:20:44:B6:4C
-uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xCF, 0x00};
+// uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xCF, 0x00};
+uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
 String success;
 
 // Define variables to store BME280 readings to be sent
@@ -27,9 +28,8 @@ int8_t threshold[6] = {Lmin, Lmax, Amin, Amax, Bmin, Bmax};
 int base_speed = 70;
 int seeking_speed = 70;
 int lidar_thres = 300; // mm 
-
-int gbx = 0, gby = 0;
-
+int gbx = 0, gby = 0,gbd = 0;
+double gbc = 0;
 
 // =====================================================================================
 //Structure the sending data
@@ -262,8 +262,13 @@ void ChangeVariables(){
   lidar_thres = getDoubleVal(strData,"lth",valData,lidar_thres);
 
   //------ green ball x, y----
-  gbx = getDoubleVal(strData,"gbx",valData,gbx);
-  gby = getDoubleVal(strData,"gby",valData,gby);
+  gbc = getDoubleVal(strData,"gbc",valData,gbc);
+  gbx = gbc /1000000;
+  gby = fmod(gbc,1000000)/1000;//(gbc.toInt() % 1000000)/1000;
+  gbd = fmod(gbc,1000); // gbc.toInt() % 1000;
+  
+  // gbx = getDoubleVal(strData,"gbx",valData,gbx);
+  // gby = getDoubleVal(strData,"gby",valData,gby);
   
 }
 
@@ -338,12 +343,17 @@ void print_allvariables(){
     Serial.print("Kpy:");
     Serial.println(Kpy);
     Serial.print("|");
-    
+
+    Serial.print("gbc:");
+    Serial.print(gbc);
+    Serial.print("|");
     Serial.print("gbx:");
     Serial.print(gbx);
     Serial.print("|");
     Serial.print("gby:");
-    Serial.println(gby);
+    Serial.print(gby);
+    Serial.print("gbd:");
+    Serial.println(gbd);
     
     Serial.println("---------------------------\n");
     print_count +=1 ;