//---------------------------------I2C Events-------------------------------//
void receiveEvent(int bytesReceived){
  int i=0;
  clearReceiveBuffer();
  while(Wire.available()){   
    receiveBuffer[i++] = Wire.read(); 
  }  
}
void requestEvent(){
  int memoryAddress = receiveBuffer[0];
  if (memoryAddress >= ARD_DATA )//&& memoryAddress <=ARD_DATA + NUM_OF_SENSORS)
  {
    uint8_t data[8];  // each sensor is 2 byte value
    char dir=0;   
    if(X<0) {dir|=0x01;xdata=abs(X);}else xdata=X; // dir&0x01==1 is mean X<0 else X>0
    if(Y<0) {dir|=0x02;ydata=abs(Y);}else ydata=Y; // dir&0x02==1 is mean Y<0 else Y>0
    if(W<0) {dir|=0x04;wdata=abs(W);}else wdata=W; // dir&0x04==1 is mean W<0 else W>0
    data[0]=highByte(dir);  //data[0] and data[1] to Determine the negative or positive value of X,Y,W.
    data[1]=lowByte(dir);  
    data[2]=highByte(xdata);//data[2] and data[3] absolute value of X axis 
    data[3]=lowByte(xdata);  
    data[4]=highByte(ydata); data[4] and data[5] absolute value of Y axis 
    data[5]=lowByte(ydata);  
    data[6]=highByte(wdata);
    data[7]=lowByte(wdata);  data[6] and data[7] absolute value of Wheel
    int startidx = memoryAddress-ARD_DATA;
    Wire.write(data+startidx,8);  //Send to end of buffer
  }
}