    /* s_w angle to ground */
    float a1 = atan2( wri_h, wri_r ); // Angle between S-W line and ground
    /* s_w angle to humerus */
-   float a2 = acos((( hum_sq - uln_sq ) + s_w ) / ( 2 * HUMERUS * s_w_sqrt )); // Angle between S-W line and humerus - found using the cosine law
+   float a2 = acos((( hum_sq - uln_sq ) + s_w ) / ( 2 * HUMERUS * s_w_sqrt )); // Angle between S-W line and humerus
    /* shoulder angle */
    float shl_angle_r = a1 + a2;
    float shl_angle_d = degrees( shl_angle_r );

#define GRI_PIN  5

// Analog pins used for accelerometers
#define BAS_R_PIN 0                    // There is currently no accelerometer on the base, and I see no need for them but I will leave this redudancy here as it causes no issues
#define BAS_H_PIN 1                   
#define SHL_R_PIN 0                   
#define SHL_H_PIN 1
#define ELB_R_PIN 2 
#define ELB_H_PIN 3
#define WRI_R_PIN 4                    // Currently not used
#define WRI_H_PIN 5

// Slider pins
#define STEP_PIN       8
#define DIR_PIN        9


#define LSWITCH_PIN    11
#define RSWITCH_PIN    12


}

// Arm positioning routine utilizing inverse kinematics in cylindrical coordinates
// (r = radius, h = height, b = azimuth = base servo angle
int moveArmCoord( float radius_mm, float height_mm, float bas_angle_d )
{
   DEBUG("moveArmCoord("); DEBUG(radius_mm); DEBUG(","); DEBUG(height_mm); DEBUG(","); DEBUG(bas_angle_d); DEBUGln(")");
