   if(Serial.available()>0){
     z = Serial.read();
   }
-  if(z=='a'){
-    allopened();
+  if(z=='a'){           //Send  char 'a' trough serial monitor for open hand
+    allopnd();
   }
-  else if(z == 's'){
+  else if(z == 's'){    //Send  char 's' trough serial monitor for close hand
     allclosed();
   }
-  else if(z == 'd'){
+  else if(z == 'd'){    //Send  char 'd' trough serial monitor for grip (index and thumb)
     indexthumb();
   }
 }
 
+//Close hand
 void allclosed(){
   pinkie.write(pinkieH);
   ring.write(ringH);

  thumb.write(thumbL);
}

void indexthumb(){
  pinkie.write(pinkieL);
  ring.write(ringL);

  index.write(indexH);
  thumb.write(thumbH);
}

//Open hand
void allopnd(){
  pinkie.write(pinkieL);
  ring.write(ringL);
  middle.write(middleL);
