     pos[6] = iAmp*fKnee_amp * sin(fAfreq*t + fGait + fPhase) + 1500 + iBk_offset;
     pos[7] = iAmp*fKnee_amp * sin(fAfreq*t + fGait + fPhase) + 1538 - iBk_offset;
     
-    Serial.println(pos[0]);
-    Serial.println(pos[1]);
-    Serial.println(pos[2]);
-    Serial.println(pos[3]);
-    Serial.println(pos[4]);
-    Serial.println(pos[5]);
-    Serial.println(pos[6]);
-    Serial.println(pos[7]);
-    
-     
-    //Print to serial monitor to see parsed results
+    //print parameter variables
     Serial.println(iAmp); 
     Serial.println(fKnee_amp); 
     Serial.println(fAfreq); 

void loop(){
  char c, buffer[10];
  String readString, amp, knee_amp, afreq, gait, phase, f_offset, b_offset, fk_offset, bk_offset;
  unsigned int sine_time = 0.05;
    
  while (Serial.available() && readString.length() < 37){
    //delay to allow buffer to fill

    Serial.println("Fk Offset: " + fk_offset);
    Serial.println("Bk Offset: " + bk_offset + "\n");
    */
    //convert string values to numbers
    iAmp = amp.toInt();
  
    knee_amp.toCharArray(buffer, 10);
