 	String arm_yaw = "";
 	
 	//if arm power is off but a move request is received, enable power
-	if (!getArmPower() &&
+	if ( (getArmPower() == false) && 
 		(old_clamp != clamp ||
 		old_roll != roll ||
 		old_elbow != elbow ||
 		old_shoulder != shoulder ||
 		old_yaw != yaw)
-		)
+	    )
 	{
-		setArmPower(true);	
-	}
+		setArmPower(true);
+	}
+	old_clamp = clamp;
+	old_roll = roll;
+	old_elbow = elbow;
+	old_shoulder = shoulder;
+	old_yaw = yaw;
 	
 	String time_to_complete_str = String(time_to_complete, DEC);
 	if (clamp != 0) {

		status_msg.ultrasound_Back = ultrasoundBack;

		//arm
		status_msg.arm_yaw = servoSenseMedian_yaw.getMedian();
		status_msg.arm_shoulder = servoSenseMedian_shoulder.getMedian();
		status_msg.arm_elbow = servoSenseMedian_elbow.getMedian();

}

bool getArmPower() {
	return (arm_enabled_time != 0) ? true : false;
}
void setArmPower(bool state) {
	if (state) {
