     //delay(500);
     Dynamixel.performMovement(1128, 3250, 1846, CLOSE);     //Detour
     //delay(500);
-    Dynamixel.performMovement(1128, 3250, 1846, OPEN);      //Move to sponge. 
+    Dynamixel.performMovement(1128, 3250, 1846, OPEN);      //Move to sponge.
     //delay(1000);
     Dynamixel.performMovement(1142, 3250, 775, OPEN);     //Ready position
     //delay(1000);

  Dynamixel.setProfileAcceleration(0x05, 300);

  //Set profile velocity
  Dynamixel.setProfileVelocity(0x01, 100);              //Set profile vel for each servo 
  Dynamixel.setProfileVelocity(0x02, 100);
  Dynamixel.setProfileVelocity(0x03, 100);
  Dynamixel.setProfileVelocity(0x04, 200);
  Dynamixel.setProfileVelocity(0x05, 200);  
 }

int x, y, z, emg1, emg2, g, h;
int emgcounter = 0;
int i = 2148;
int j = 2048;

SoftwareSerial mySerial(10, 11);    // RX, TX

void setup() {

  Serial.flush();                                       // Clear the serial buffer of garbage data before running the code.
  Serial1.begin(115200);
  mySerial.begin(SERVO_SET_Baudrate);                   // We now need to set Ardiuno to the new Baudrate speed 115200
