             break;
       }
    }
-}
-
+}
}

// Arm positioning routine utilizing inverse kinematics in cylindrical coordinates
// (r = radius, h = height, b = azimuth = base servo angle)
int moveArmCoord( float radius_mm, float height_mm, float bas_angle_d )
{
   DEBUG("moveArmCoord("); DEBUG(radius_mm); DEBUG(","); DEBUG(height_mm); DEBUG(","); DEBUG(bas_angle_d); DEBUGln(")");

            buf[i] = '\0';
            number[0] = atof(buf);
            move_delay = 50;
            Serial.println(slowMoveArm(current[BAS],current[SHL],number[0],-1));
            break;
            
         case '<': // start of coordinate move packet
            for(j=0; j<3; j++) // capture first 4 arguments: depth, height, base angle, hand angle
            {
               i=0;
               buf[i] = Serial.read(); delay(1);
