for sensorTask.c, all you need to do is copy and paste everything below
"dataPtrSensor = getData(&msg)" (line 268).

for sensorTask.h, add these declarations to the top of the file:
int curr =0;
int fast =1;
int slow =0;
uint8_t* dataPtrSensor;
int stateStraight =0;
uint8_t* secondRun[750];
uint8_t* previousData;

and DELETE:
int curr;
uint8_t *dataPtrSensor;
uint8_t *secondRun;

then just add this to the line below "void vGetMapData(void)":
int secondRunImp(int inc);

and you should be good to go