          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);

               buf[i] = Serial.read(); delay(1);
            }
            buf[i] = '\0';
            g_moveDelay = atof( buf ); // g_moveDelay
            ret_val = slowMoveArmCoord( number[0], number[1], number[2], number[3] );
            if( ret_val == 0 )
            {
               Serial.print(number[0]); Serial.print(","); Serial.print(number[1]); Serial.print(","); Serial.print(number[2]); Serial.print(","); Serial.println(number[3]);

      {
         if( ( ret_val = moveArm( round(bMove), round(sMove), round(eMove), round(wMove) ) ) != 0 ) break;
         bMove += bStep; sMove += sStep; eMove += eStep; wMove += wStep;
         
         if (scaleDelay)
         {
           int delay_ms = DELAY_MAX - round((DELAY_MAX-delay_)*sin((double)i*PI/(steps-1)));
           delay(delay_ms);
           Serial.println(delay_ms);
         }
         else
         {
           if (delay_us > 1000) delay(delay_us/1000);
           else delayMicroseconds(delay_us);
         }
         
      }
   }

