   Dynamixel.setProfileAcceleration(0x05, 300);
 
   //Set profile velocity
-  Dynamixel.setProfileVelocity(0x01, 100);              //Set profile vel for each servo 
+  Dynamixel.setProfileVelocity(0x01, 100);              //Set profile vel for each servo
   Dynamixel.setProfileVelocity(0x02, 100);
   Dynamixel.setProfileVelocity(0x03, 100);
   Dynamixel.setProfileVelocity(0x04, 200);
-  Dynamixel.setProfileVelocity(0x05, 200);  
+  Dynamixel.setProfileVelocity(0x05, 200);
  }
 
 void loop() {

#define CCW_LIMIT_ANGLE 0xFFF       // Highest anit-clockwise angle is 0XFFF, as when set to 0 it set servo to wheel mode
#define OPEN 'o'
#define CLOSE 'c'

SoftwareSerial mySerial(10, 11);    // RX, TX


  delay(2000);


  Dynamixel.performMovement(1600, 2800, 3200, OPEN);      //Move to sponge.
  Dynamixel.gripper(CLOSE);                               //Grab
  Dynamixel.performMovement(2148, 1850, 3250, CLOSE);     //Detour
  Dynamixel.performMovement(2650, 2800, 3200, CLOSE);     //Move to destination
