 
 #include <Servo.h>  // servo library
 
-#define servo0PWMPin 11
-#define servo0sensorPin A0
+#define boomArmPin 11   // max 110, min ?
+#define mainArmPin 10   // max ?, min ?
+#define clawPin 9       // max 140, min 69
+#define swivelPin 6     // max 180, min 10
 
-#define angleMax 110
-#define angleMin 30
+#define boomArmSensorPin A0
+#define mainArmSensorPin A1
+#define clawSensorPin A2
+#define swivelSensorPin A3
+
+#define angleMin 69
+#define angleMax 140
+#define angleInitial 90
+#define angleAdjustmentMagnitude 1
 
 Servo servo;
 int angle = angleMin;
-int angleAdjustment = 1;
+int angleAdjustment = angleAdjustmentMagnitude;
 
 void setup()
 {
-  servo.attach( servo0PWMPin );
+  servo.attach( clawPin );
   
   Serial.begin(9600);
 

 * @author:    Tyler Lucas
 * Student ID: 3305203
 * Date:       October 9, 2017
 * Version     1.0
 * 
 * References: N/A
 * 

    {
      Serial.print( angle );
      Serial.write(',');
      Serial.println( analogRead( clawSensorPin ) );
    }
    
    angle += angleAdjustment;
