   Dynamixel.setProfileVelocity(0x05, 200);  
  }
 
-int x, y, z, emg1, emg2;
+int x, y, z, emg1, emg2, g;
 int infoPk[24];
 void actualName(){
   if(Serial1.available() >= 24){

    Serial.print(" EMG Ch.1 = ") && Serial.print(emg1);
    Serial.print(" EMG Ch.2 = ") && Serial.print(emg2);
    Serial.println();
    
  }
 }
 }


void loop() {
  actualName();

            byte jelly = Serial1.read();
            infoPk[i] = jelly;
          }
      
  while(emg1==1023 && g==0){
    Dynamixel.performMovement(2148, 2048, 2048, CLOSE);   //"Initial" position
    delay(1000);
    Dynamixel.performMovement(2148, 1850, 3250, OPEN);     //Ready position
    delay(1000);
    Dynamixel.performMovement(1600, 2800, 3200, OPEN);      //Move to sponge. 
    Dynamixel.gripper(CLOSE);                               //Grab
    Dynamixel.performMovement(2148, 1850, 3250, CLOSE);     //Detour
    Dynamixel.performMovement(2650, 2800, 3200, CLOSE);     //Move to destination
    delay(500);
    Dynamixel.gripper(OPEN);                                //Release
    delay(500);
    g++;
    break;
    }
  if(emg1!=1023){
    g=0;    
  }
  for(int a = 13; a < 24; a++) {
    z = infoPk[13] + (infoPk[12] << 8);
    y = infoPk[15] + (infoPk[14] << 8);
    x = infoPk[17] + (infoPk[16] << 8);
    emg1 = infoPk[19] + (infoPk[18] << 8);
    emg2 = infoPk[21] + (infoPk[20] << 8);

   }
    Serial.print(" X = ") && Serial.print(x);
    Serial.print(" Y = ") && Serial.print(y);
