 #define WRI_H_REF 362
 
 // Gripper positions
-#define GRI_OPEN 100
-#define GRI_MICROPLATE 160
-#define GRI_MICROSLIDE 110
+#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

/*********************************************************************************************************/
/* File: AL5D.ino                                                                                        */
/* Author: Darren McMorran                                                                               */
/* Date Started: 28/05/2015                                                                              */
/*                                                                                                       */

// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
#define BAS_MIN_D  90   // this is the 'minimum' angle in base servo range, 0 = -y direction
#define BAS_MAX_D  180 // this is the 'maximum' angle in base servo range, 180 = +y direction
#define SHL_MIN_D  16   // 0 = horizontal in +x direction
#define SHL_MAX_D  165.762 // 180 = horizontal in -x direction
#define ELB_MIN_D  11.5385   // 0 = elbow closed
#define ELB_MAX_D  180 // 180 = elbow open, ulna parallel to humerus
#define WRI_MIN_D  43.125 // 0 = wrist closed
#define WRI_MAX_D  180 // 180 = wrist open, hand parallel to ulna
#define GRI_MIN_D  90 // 100 = gripper fully open
#define GRI_MAX_D  180 // 180 = gripper fully closed

#define BAS_MIN    383 // this is the pulse length count (out of 4096) that corresponds to BAS_MIN_D
#define BAS_MAX    160 // this is the pulse length count (out of 4096) that corresponds to BAS_MAX_D
#define SHL_MIN    200 // this is the pulse length count (out of 4096) that corresponds to SHL_MIN_D
#define SHL_MAX    540 // this is the pulse length count (out of 4096) that corresponds to SHL_MAX_D //HS805BB 186-612
#define ELB_MIN    540 // this is the pulse length count (out of 4096) that corresponds to ELB_MIN_D
#define ELB_MAX    175 // this is the pulse length count (out of 4096) that corresponds to ELB_MAX_D
#define WRI_MIN    500 // this is the pulse length count (out of 4096) that corresponds to WRI_MIN_D
#define WRI_MAX    135 // this is the pulse length count (out of 4096) that corresponds to WRI_MAX_D
#define GRI_MIN    320 // this is the pulse length count (out of 4096) that corresponds to GRI_MIN_D
#define GRI_MAX    590 // this is the pulse length count (out of 4096) that corresponds to GRI_MAX_D
//WRI 375 = 90
//ELB 370 = 90
//SHL 368 = 90  
//BAS 383 = 90

#define BAS_PARK 90
#define SHL_PARK 90
