 #include <Servo.h>
 
 Servo SB, SF, HB, HF, EB, EF, KB, KF;
-String readString, amp, knee_amp, afreq, gait, phase, f_offset, b_offset, fk_offset, bk_offset;
-char pos[] = {0,1,2,3,4,5,6,7,8};
-
-unsigned long previousMillis = 0;
-unsigned int sine_time = 0.05;
-unsigned int t = 0;
 
 void setup(){
   //Start serial stream at 115200 baud

    Serial.print(fk_offset);
    Serial.println(bk_offset);
    */
    //clear strings
    readString="";
    amp="";

    fk_offset="";
    bk_offset="";
  }
  
  //determine joint positions
  pos[0] = iAmp * sin(fAfreq*t) + 1500 + iF_offset;
