           case GRAB: robotGrab(arg);
           break;
           
-          case STORE: bytes_to_store = arg;
+          case STORE: bytes_to_store = arg; //Serial.println(arg);
           break;
       
           default: Serial.println(UNRECOGNIZED_COMMAND);

int  lastSeqNo;
bool done;

bool bytes_to_store;

// Encoder Board Variables
#define ROTARY_SLAVE_ADDRESS 5


void storeByte(byte one_byte){
  int register_address = 69; 
  //Serial.println("Byte:");
  //Serial.println(one_byte);
  Wire.beginTransmission(register_address); // open I2C communication to intended receiver
  Wire.write( one_byte );   // sends the string (which is the file contents)
  Wire.endTransmission(); // end I2C communcation.
  //Serial.println("Bytes left:");
  bytes_to_store--;
  //Serial.println(bytes_to_store);
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////


void loop(){
  
  //Serial.println(bytes_to_store);
  updateMotorPositions();
  //printMotorPositions();

  // if message is available on our frequency accept it.
  if(Serial.available() > 0){
    
    // sending file though I2C
    if (bytes_to_store > 0) {      
      byte incoming = Serial.read();
      storeByte(incoming);
      return;
    }
    
    // save message sent from PC to STRING c.
    String c = Serial.readString();
    //Serial.println("Full string: <");
    //Serial.println(c);
    
    if(c.length()< 7){ 
      Serial.println("Robot input too short");
