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

}
  
  
void parseMove(String m, 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;
  message = "";
  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)) {
        message = "";
        incomingChar=Serial.read();
        Serial.println(message);
        while(!message.endsWith(Endseq)) {
          incomingChar=Serial.read();
          message.concat(incomingChar);
        }
      message = message.substring(0,message.length()-Endseq.length());
        int s = message.toInt();
        while(!message.endsWith(SOPHeader)) {
          incomingChar=Serial.read();
          message.concat(incomingChar);
        }
              //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)) {
              while(i < s) {
                message = message.substring(0,message.length()-EOPTail.length());
                parseMove(i);
                i++;
              }
              break;
            }
          }
