 	digitalWrite(PIN_MOTOR_LEFT_0, a0);
 	digitalWrite(PIN_MOTOR_LEFT_1, a1);
 	analogWrite(PIN_MOTOR_LEFT_ENA, constrain(corrected_motor_left, 0, MOTOR_MAX));
-	add_status_code(correction_motor_left);
-	add_status_code(corrected_motor_left);
+	//add_status_code(correction_motor_left);
+	//add_status_code(corrected_motor_left);
 
 	//right
 	a0 = LOW;

	}

	String cmd = String(arm_clamp + arm_roll + arm_elbow + arm_shoulder + arm_yaw + "T" + time_to_complete_str + "\r\n");
	log_string(cmd);
	Serial3.print(cmd);

}

void setMotorJoint(int pin0, int pin1, int pinsense, int target_ohm) {

	int current_ohm = analogRead(pinsense);
	//add_status_code(current_ohm);

	int a0 = LOW;  //stop implicitly
	int a1 = LOW;
