 {
    double s = pulseToDeg( SHL, g_pulse[SHL] ), e = pulseToDeg( ELB, g_pulse[ELB] ) - 180, w = pulseToDeg( WRI, g_pulse[WRI] ) - 180;
    getFeedback();
-   double uln_r = ULN_R_GRADIENT*g_uln_r.mean() + ULN_R_OFFSET;
-   double uln_h = ULN_H_GRADIENT*g_uln_h.mean() + ULN_H_OFFSET;
+   double uln_r = ULN_R_GRADIENT*analogRead(ULN_R_PIN) + ULN_R_OFFSET;
+   double uln_h = ULN_H_GRADIENT*analogRead(ULN_H_PIN) + ULN_H_OFFSET;
    double uln_angle_d = degrees(  atan2(uln_h,uln_r) );
    DEBUG("uln_r: "); DEBUG(uln_r); DEBUG(", uln_h: "); DEBUG(uln_h); DEBUG(", uln_angle_d: "); DEBUGln(uln_angle_d);
    Serial.print((double)millis()/1000.0f); Serial.print("\t"); Serial.print(uln_angle_d); Serial.print("\t"); Serial.println(s + e);

  uint32_t count = 0;
  while ( micros() - start < delay_ )
  {
    if ( count % 5 == 0 ) getFeedback();
    count++;
  }
  

            else Serial.println(ret_val);
            break;
         case 't':
            if( ( ret_val = slowMoveArm(90,90,90,90,5,1) ) == 0 ) { } //Serial.println("(90,90,90,90)");
            else Serial.println(ret_val);
            break;
            
