    if ( ( ret_val = servoWritePulse( ELB, elbPulse ) ) != 0 ) return ret_val;
    if ( ( ret_val = servoWritePulse( WRI, wriPulse ) ) != 0 ) return ret_val;
    
-   delay(g_moveDelay);
+   //delay(g_moveDelay);
    
    return ret_val;
 }

      {
         if( ( ret_val = moveArm( round(bMove), round(sMove), round(eMove), round(wMove) ) ) != 0 ) break;
         bMove += bStep; sMove += sStep; eMove += eStep; wMove += wStep;
      }
   }


   steps = max( steps, wDiff );
   DEBUG("Steps: "); DEBUGln(steps);
   
   int delayus = round(((double)1000*g_moveDelay)/steps);
   
   DEBUG("Delayus: "); DEBUGln(delayus);
   
   if( steps < 2 )
   {
      ret_val = moveArm( basPulse, shlPulse, elbPulse, wriPulse );
      delayMicroseconds(delayus);
   }
   else
   {
