   servo_main.attach( 3 );   // main arm
 }
 
-void goal(double radius, double height, double angle, double jaw_width)
+void set_target_state(double radius, double height, double angle, double jaw_width)
 {
   //
 }
 
-int pincher_width_to_servo_angle(double width)
-{
-  double angle_normalized;
+float pincher_width_to_servo_angle(double width)
+{
+  float angle_normalized;
   
   if ( width > 5 )
     angle_normalized = 15;

    return swing_angle;
}



Servo servo_turret, servo_boom, servo_pincher, servo_main;
Servo servos[4] = { servo_turret, servo_boom, servo_pincher, servo_main };

float angle_main, angle_boom;
float current_radius, current_height, current_swing_angle;
float target_radius, target_height, target_swing_angle;

int current_delay;
const int angle_delay = 15;
const int delay_max = 50;
const int delay_min = 10;

//const float PI = 3.141592654; // may already be defined

void setup()
{
