   uint32_t count = 0;
   while ( micros() - start < delay_ )
   {
-    if ( count % 5 == 0 ) getFeedback();
+    //if ( count % 5 == 0 ) getFeedback();
     count++;
   }
   

            else Serial.println(ret_val);
            break;
         case 't':
            if( ( ret_val = slowMoveArm(90,90,90,90,5,1) ) == 0 ) Serial.println("(90,90,90,90)");
            else Serial.println(ret_val);
            break;
            

         case 'p':
            servoWrite(GRI,GRI_MICROPLATE); Serial.println("Gripped Microplate"); break;
         case 'r':
            if( ( ret_val = slowMoveArm(BAS_PARK,SHL_PARK,ELB_PARK,WRI_PARK,5,1) ) == 0 ) { }//Serial.print("("); Serial.print(BAS_PARK); Serial.print(","); Serial.print(SHL_PARK); Serial.print(","); Serial.print(ELB_PARK), Serial.print(","); Serial.print(WRI_PARK); Serial.println(")"); }
            else Serial.println(ret_val);
            break;
         case 'R':
