          case 'p':
             servoWrite(GRI,GRI_MICROPLATE); Serial.println("Gripped Microplate"); break;
          case 'r':
-            g_moveDelay = 1000;
-            if( ( ret_val = slowMoveArm(BAS_PARK,SHL_PARK,ELB_PARK,WRI_PARK) ) == 0 ) Serial.println("Arm returned to park position");
+            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;
             
          case 'l': //start of setting light PWM value
             i=0; buf[i] = Serial.read(); delay(1);

      if ( stall_count == MAX_COUNT )
      {
         servoWrite( WRI, servo_angle_old);
         return -4;
      }
   }
   return 0;

   
   //delay(100); // Wait for arm to stop moving
   
   //if ( checkPosition() != 0 ) return -101; // Stall detection

   return 0;
}
