             servoWrite(GRI,GRI_MICROSLIDE); Serial.println("Gripped Microscope Slide"); break;
          case 'p':
             servoWrite(GRI,GRI_MICROPLATE); Serial.println("Gripped Microplate"); break;
-         case 't':   
-            servoWrite(GRI,GRI_TUBE); Serial.println("Gripped Tube"); break;
          case 'r':
             move_delay = 20;
-            if( ( ret_val = slowMoveArm(90,135,45,90) ) == 0 ) Serial.println("Arm moved to rest position");
+            if( ( ret_val = slowMoveArm(90,90,180,0) ) == 0 ) Serial.println("Arm moved to rest position");
             else Serial.println(ret_val);
             break;
          case 'R':

{
   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
   


   // Move arm to rest position and calculate position
   servoWrite(BAS,adjust(BAS,90));
   servoWrite(SHL,adjust(SHL,90));
   servoWrite(ELB,adjust(ELB,180));
   servoWrite(WRI,adjust(WRI,0));
   servoWrite(GRI,GRI_OPEN);
   calcPosition();
   slide(LEFT,MAX_STEPS);
