    Serial.begin(57600);
    DEBUGln("Serial connection started\n");  
    
-   analogReference(EXTERNAL);      // Sets the analog reference voltage to the voltage supplied to the AREF pin on the board - here this is recieving the 3.3V output from one of the accelerometers.  This sets the upper limit of values read by analogRead(). Since the accelerometers output 0-3.3V, the default upper limit of 5V wastes the top output of analogRead.
-   
-   for(int pinTest = 0; pinTest < 6; pinTest++){
-      for(int testNum = 0; testNum < 3; testNum++){
-          analogRead(pinTest);                          // Upon changing the reference voltage the first few readings may be incorrect so they are done here.
-      }
-   }
-   
    pinMode(STEP_PIN, OUTPUT);
    pinMode(DIR_PIN, OUTPUT);
    pinMode(LSWITCH_PIN, INPUT);

            break;
      }
   }
}


{
   DEBUG("slowMoveArmCoord("); DEBUG(radius_mm); DEBUG(","); DEBUG(height_mm); DEBUG(","); DEBUG(bas_angle_d); DEBUGln(")");
   
   calcPosition();
   
   old_r = current_r; old_h = current_h; old_b = current[BAS]; // Use with feedback to allow reversing after a collision
   
