 
 int  lastSeqNo;
 bool done;
+
+bool bytes_to_store;
 
 // Encoder Board Variables
 #define ROTARY_SLAVE_ADDRESS 5

          break;

          case GRAB: robotGrab(arg);
          break;
      
          default: Serial.println(UNRECOGNIZED_COMMAND);

    
    // save message sent from PC to STRING c.
    String c = Serial.readString();
    
    if (bytes_to_store > 0) {
      byte buf[1];
      c.getBytes(buf, 1);
      storeByte((buf[0]);
      return;
    }
    
    
    if(c.length()< 7){ 
      Serial.println("Robot input too short");
