          case 'p':
             servoWrite(GRI,GRI_MICROPLATE); Serial.println("Gripped Microplate"); break;
          case 'r':
-            if( ( ret_val = slowMoveArm(BAS_PARK,SHL_PARK,ELB_PARK,WRI_PARK,5,1) ) == 0 ) { Serial.print("("); Serial.print(BAS_PARK); Serial.print(","); Serial.print(SHL_PARK); Serial.print(","); Serial.print(ELB_PARK), Serial.print(","); Serial.print(WRI_PARK); Serial.println(")"); }
+            if( ( ret_val = slowMoveArm(BAS_PARK,SHL_PARK,ELB_PARK,WRI_PARK,5,1) ) == 0 ) { }//Serial.print("("); Serial.print(BAS_PARK); Serial.print(","); Serial.print(SHL_PARK); Serial.print(","); Serial.print(ELB_PARK), Serial.print(","); Serial.print(WRI_PARK); Serial.println(")"); }
             else Serial.println(ret_val);
             break;
          case 'R':

            else Serial.println(ret_val);
            break;
         case 't':
            if( ( ret_val = slowMoveArm(90,90,90,90,5,1) ) == 0 ) Serial.println("(90,90,90,90)");
            else Serial.println(ret_val);
            break;
            

{
   double s = pulseToDeg( SHL, g_pulse[SHL] ), e = pulseToDeg( ELB, g_pulse[ELB] ) - 180, w = pulseToDeg( WRI, g_pulse[WRI] ) - 180;
   getFeedback();
   double uln_r = ULN_R_GRADIENT*analogRead(ULN_R_PIN) + ULN_R_OFFSET;
   double uln_h = ULN_H_GRADIENT*analogRead(ULN_H_PIN) + ULN_H_OFFSET;
   double uln_angle_d = degrees(  atan2(uln_h,uln_r) );
   DEBUG("uln_r: "); DEBUG(uln_r); DEBUG(", uln_h: "); DEBUG(uln_h); DEBUG(", uln_angle_d: "); DEBUGln(uln_angle_d);
   Serial.print((double)millis()/1000.0f); Serial.print("\t"); Serial.print(uln_angle_d); Serial.print("\t"); Serial.println(s + e);
