 }
   
   
-void parseMove(String m, int counter) {
+void parseMove(int counter) {
+  
   int Base, Shoulder, Shoulder1, Elbow, Elbow1, Wrist, Wrot, grip;
-  char message[256];
-  m.toCharArray(message, 256);
   char *str;
   char* delim = ",";
   Base = atoi(strtok_r(message, delim, &str));

  /*unsigned long starttime, stoptime;
  starttime = millis();*/
  int i = 0;
  while(Serial.available()) {
      //Start reading the stream
      //Serial.println("before read");
      incomingChar=Serial.read();
      message.concat(incomingChar); //Concatanate the received characters to the string message
      /*if(message.endsWith(Startseq)) {
        incomingChar=Serial.read();
        message.concat(incomingChar);
        Serial.println(message);
        //Check for the SOP Header and strip it off once the received string is larger than the SOP header
        if(message.endsWith(SOPHeader)) {
          message = "";
          while(Serial.available()) { //Start receiving once data is available on the serial link
            incomingChar=Serial.read();
            message.concat(incomingChar);
            if(message.endsWith(EOPTail)) {
              message = message.substring(0,message.length()-Endseq.length());
              parseMove(message, i);
              i++;
              break;
            }
          }

            break;
          }
        }
      }
      if (message.endsWith(getangles)) {
        message = "";
        int id = 1;
