       ledmatrix.clearMatrix();
     }
     */
-    endmove=0;}
+    endmove=0;
+}
 
 //Function to receive stop commands. Stop is a reserved word.
-  void stopp(){
+void stopp(){
+
+    sendAck();
+
     endmove=1;
     zowi.home();
-  }
+}
 
 //Function to execute the right movement according the movement command received.
-  void move(int moveId){
+void move(int moveId){
     switch (moveId) {
       case 1: //M 1 1000 
         zowi.walk(1,T,1);

  //Serial.println (arg);
  if (arg != NULL) 
  {

      matrix=strtoul(arg,&endstr,2);    // Converts a char string to an integer 
      ledmatrix.writeFull(matrix);
      //Serial.println (matrix,HEX);
      //Serial.println (matrix*4,BIN);
      //Serial.println ((matrix));
    } 
  }


//Function to receive movement commands
void receiveMovement(){
  //Definition of Movement Bluetooth commands
  //M  MoveID  T   MoveSize  

  char *arg; 
  arg = SCmd.next(); 
  if (arg != NULL) {moveId=atoi(arg);}


//-- Second step:  Determine the Servo Trim values
//EVT3
// #define TRIM_RR   -2
// #define TRIM_RL   -9
// #define TRIM_YR   4
// #define TRIM_YL  0


#define TRIM_RR   8
#define TRIM_RL   -22
#define TRIM_YR   4
#define TRIM_YL  6

/*
//EVT2-1
