   delay(2000);
 
 
-  Dynamixel.performMovement(1600, 2800, 3200, OPEN);      //Move to sponge. 
+  Dynamixel.performMovement(1600, 2800, 3200, OPEN);      //Move to sponge.
   Dynamixel.gripper(CLOSE);                               //Grab
   Dynamixel.performMovement(2148, 1850, 3250, CLOSE);     //Detour
   Dynamixel.performMovement(2650, 2800, 3200, CLOSE);     //Move to destination

  Dynamixel.setProfileAcceleration(0x05, 300);

  //Set profile velocity
  Dynamixel.setProfileVelocity(0x01, 100);              //Set profile vel for each servo 
  Dynamixel.setProfileVelocity(0x02, 100);
  Dynamixel.setProfileVelocity(0x03, 100);
  Dynamixel.setProfileVelocity(0x04, 200);
  Dynamixel.setProfileVelocity(0x05, 200);  
 }

void loop() {

#define CCW_LIMIT_ANGLE 0xFFF       // Highest anit-clockwise angle is 0XFFF, as when set to 0 it set servo to wheel mode
#define OPEN 'o'
#define CLOSE 'c'

//                PIN Setup:  Green wire to PIN 10,                                                                           //
//                            Yellow wire to PIN 11,                                                                          //
//                            Black wire to ground,                                                                           //
//                            Red wire to 5v,                                                                                 //
//                            Blue wire to PIN2                                                                               //

SoftwareSerial mySerial(10, 11);    // RX, TX

