Water level monitoring system using Xbee

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Hello, everyone! I would like to ask for help regarding on how to convert ascii to int.

I am using xbee s1 to communicate 2 arduinos. On my transmitter side, i am sending values like 143, 256, 453.. On my receiver side. I am receiving the same readings using this code

  if (XBee.available())
  { // If data comes in from XBee, send it out to serial monitor
    Serial.write(XBee.read());
  }

I would like to use these readings to latch my relay but i think that it is not possible without converting it to int.

I would like to satisfy this code:

  if (sensorvalue <= 150 )
  {
    digitalWrite(relay, LOW);
  }

  else
  {
    digitalWrite(relay, HIGH);
  }

Thanks in advance!