    if ( steps == 0 ) return 0;
    
    long int delay_us = round((double)delay_/steps);
-   Serial.print("Delay_us: "); Serial.println(delay_us);
+   //Serial.print("Delay_us: "); Serial.println(delay_us);
    
    if( steps < 2 )
    {
       ret_val = moveArm( basPulse, shlPulse, elbPulse, wriPulse );
-      
-      if (delay_us > 1000) delay(delay_us/1000);
-      else delayMicroseconds(delay_us);
+      delayFunc(delay_us);
    }
    else
    {

         case 'p':
            servoWrite(GRI,GRI_MICROPLATE); Serial.println("Gripped Microplate"); break;
         case 'r':
            if( ( ret_val = slowMoveArm(BAS_PARK,SHL_PARK,ELB_PARK,WRI_PARK,5,1) ) == 0 ) Serial.println("Arm returned to park position");
            else Serial.println(ret_val);
            break;
         case 'R':
            moveArm(degToPulse(BAS, BAS_PARK), degToPulse(SHL, SHL_PARK), degToPulse(ELB, ELB_PARK), degToPulse(WRI, WRI_PARK)); Serial.println("ARM PARKED!"); break;
         case 't':
            if( ( ret_val = slowMoveArm(90,90,90,90,5,1) ) == 0 ) Serial.println("Arm returned to park position");
            else Serial.println(ret_val);
            break;
            

   servoWrite( WRI, WRI_PARK );
   servoWrite( GRI, GRI_OPEN );
   //DEBUG("Robot parked: ("); DEBUG(g_pulse[BAS]); DEBUG(","); DEBUG(g_pulse[SHL]); DEBUG(","); DEBUG(g_pulse[ELB]); DEBUG(","); DEBUG(g_pulse[WRI]); DEBUG(","); DEBUG(g_pulse[GRI]); DEBUGln(")");
   Serial.print("Robot parked: {"); Serial.print(pulseToDeg( BAS, g_pulse[BAS] )); Serial.print(","); Serial.print(pulseToDeg( SHL, g_pulse[SHL] )); Serial.print(","); Serial.print(pulseToDeg( ELB, g_pulse[ELB] )); Serial.print(","); Serial.print(pulseToDeg( WRI, g_pulse[WRI] )); Serial.println(",delay}");
   calcPosition();
   Serial.print("Robot parked: <"); Serial.print(g_radius_mm); Serial.print(","); Serial.print(g_height_mm); Serial.print(","); Serial.print(pulseToDeg( BAS, g_pulse[BAS] )); Serial.print(","); Serial.print(g_hand_d); Serial.println(",delay>");
   Serial.println("Enter r to return robot to park position\n");
   //slide(LEFT,MAX_STEPS);
    
   DEBUGln("Base Servo = 0");
