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wild thumper robot controller

Wild Thumper Robot Controller: getting started autonomously

I'm a beginner in coding and I'm trying my best to work with the sample code, but now I've come to an impass. Can someone tell me what I'm doing wrong with this? http://pastebin.com/cFscTs6d 

I'm getting the error:

Wild_Thumper_Controller_Prototype.ino: In function 'void I2Cmode()':

Wild_Thumper_Controller_Prototype:357: error: a function-definition is not allowed here before '{' token

About wild thumper robot controller with XBee

Not sure if anyone done this before and I couldn't find anyone actually connect this controller with XBee. Does anyone know the proper way to connect XBee? D0 & D1 won't interfere with anything else?