 
   // Set the Profile acceleration.
   Dynamixel.setProfileAcceleration(0x01, 10);  //Set the Profile Acceleration for each servo. (max. is 32767)
-  Dynamixel.setProfileAcceleration(0x02, 10);  //Set the Profile Acceleration for each servo. (max. is 32767)
-  Dynamixel.setProfileAcceleration(0x03, 10);  //Set the Profile Acceleration for each servo. (max. is 32767)
-  /*
-  Dynamixel.setProfileAcceleration(0x04, 300);  //Set the Profile Acceleration for each servo. (max. is 32767)
-  Dynamixel.setProfileAcceleration(0x05, 300);  //Set the Profile Acceleration for each servo. (max. is 32767)
-  */
+  Dynamixel.setProfileAcceleration(0x02, 10);
+  Dynamixel.setProfileAcceleration(0x03, 10);
+  Dynamixel.setProfileAcceleration(0x04, 300);
+  Dynamixel.setProfileAcceleration(0x05, 300);
 
   // Set the Profile velocity.
   Dynamixel.setProfileVelocity(0x01, 100);  //Set the Profile Velocity for each servo. (max. is 1023)
   Dynamixel.setProfileVelocity(0x02, 100);  //Set the Profile Velocity for each servo. (max. is 1023)
   Dynamixel.setProfileVelocity(0x03, 100);  //Set the Profile Velocity for each servo. (max. is 1023)
-  /*
   Dynamixel.setProfileVelocity(0x04, 200);  //Set the Profile Velocity for each servo. (max. is 1023)
   Dynamixel.setProfileVelocity(0x05, 200);  //Set the Profile Velocity for each servo. (max. is 1023)
-  */
 
 
-  /*
   //Get position for servos in steps
   Dynamixel.getPosition(0x01); 
   Dynamixel.getPosition(0x02);

  int id1 = 2071; //Servo 1 goal position
  int id2 = 2048; //Servo 2 goal position
  int id3 = 2048; //Servo 3 goal position
  //int id4 = 2548; //Servo 4 goal position
  //int id5 = 1548; //Servo 5 goal position

 Dynamixel.setNGoalPositions(-1, id2, id3, -1, -1);  //Set goal position of all the servos
    

    Serial.println(data[i]);
  }


}


