   for (int i = 0; i < numberOfMotors; i++) {
     thetaServo[i].attach(thetaPin[i]);
   }
-  for (int i = 0; i < numberOfMotors; i++) {
-    thetaServo[i].write(0);
-  }
+   for (int i = 0; i < numberOfMotors; i++) {
+    thetaServo[i].write(lowerLimit[i]);
+  } 
 }
 int Angle;
 void loop() {

#include <Servo.h>

int thetaPin[] = {3,5,6,9,10,11};
const int numberOfMotors = 6;
//We define a servo instance for each motor
Servo thetaServo[numberOfMotors];

   int servoNo = Serial.readStringUntil(' ').toInt();
   if (servoNo < numberOfMotors) {
     Angle = Serial.readStringUntil(':').toInt();
     if (Angle < lowerLimit[servoNo]) {
      thetaServo[servoNo].write(lowerLimit[servoNo]);
     } else if (Angle > upperLimit[servoNo]) {
      thetaServo[servoNo].write(upperLimit[servoNo]);
     } else {
      thetaServo[servoNo].write(Angle);
     }
//     Serial.print("Theta ");
//   Serial.print(servoNo);
//   Serial.print(" Was sent an angle of ");
