 void loop()
 {
   
-  WaitForPCInstruction(); 
-  if(inputError == 0) //Only take action if all inputs are valid
+  PoseForPicture();
+  if(userControl == false) //Only take action if not user turn
+  {
+    RequestPCInstruction();
+  }
+  if(userControl == false) 
   {   
     MoveXYR();
-    TakeShot();
-    AllowUserTurn();
-    PoseForPicture();
-    RequestPCInstruction();
-  }
-  else 
-  {
-    RequestPCInstruction();
-  }
+  }
+  if(userControl == false) 
+  {
+    TakeShot(); 
+  } 
+  AllowUserTurn();
   
 }
 

  currentR = UPPERBOUND_R / 2;
  MoveXYR();
  AllowUserTurn(); 
  PoseForPicture();
  RequestPCInstruction();
  
}

void WaitForPCInstruction() //Loop during PC operation
{
    
  char readline[32];
  char aChar;
  int val;
  int count = 0;

  memset(&readline[0], 0, sizeof(readline));
  
  do {
    delay(10);
  } while(Serial.available() <= 0); //Will loop forever until something entered into Serial Monitor
   
  do {
    aChar = Serial.read();

int yDir; //Direction Y should move
int rDir; //Direction R should move

bool userControl = false; //Enable or disable user turn

// Setup  /////////////////////////////////////////////////////////////////////////////////

