 
 boolean readInt(int *outVal) {
 	byte inBuffer[sizeof(short)];
-	
+
 
 	for (int i=0; i<sizeof(short); i++) {
 		inBuffer[i] = blockingRead();
 	}
-	
-	*outVal = *((short*)inBuffer);	
-	return true; 
+
+	*outVal = *((short*)inBuffer);
+	return true;
 }
 
 void processWrite(byte cmd, byte id) {
 	int val;
 	readInt(&val);
 
-  	switch (cmd) { 
+  	switch (cmd) {
 		case 's': { // set speed
 			Dxl.goalSpeed(id, val);
 			break;
 		} case 'p': { // move to position
 			Dxl.goalPosition(id, val);
-			break; 
+			break;
 		} case 'o': {
 			gripper(true);
 			break;

		else processRead(cmd, id);
	}
}



		Dxl.goalPosition(5,1024-GRIPPER_OPEN);
	} else {
		Dxl.goalPosition(4,GRIPPER_CLOSED);
		Dxl.goalPosition(5,1024-GRIPPER_CLOSED);
	}
}

