 }
 
 // Moves the arm slowly to a new position, depending on the specified delay
-// If the last input angle is negative, the function will determine the wrist angle required to achieve horizontal position
 int slowMoveArm( double basAngle_d, double shlAngle_d, double elbAngle_d, double wriAngle_d )
 { 
    DEBUG("slowMoveArm("); DEBUG(basAngle_d); DEBUG(","); DEBUG(shlAngle_d); DEBUG(","); DEBUG(elbAngle_d); DEBUG(","); DEBUG(wriAngle_d); DEBUGln(")");

#define WRI_H_REF 362

// Gripper positions
#define GRI_OPEN 90
#define GRI_MICROPLATE 150 //500 PulseLength
#define GRI_MICROSLIDE 150 //500 PulseLength
#define GRI_CLOSED 180

// Directional definitions for controlling slider
#define LEFT           LOW

#define BAS_PARK 90
#define SHL_PARK 90
#define ELB_PARK 180
#define WRI_PARK 90


/*****************/
