     myserv.attach(SERV1PIN); 
     myserv.write(servoPosition);
     
-    stepperLift.setMaxSpeed(1300.0);
+    stepperLift.setMaxSpeed(1400.0);
     stepperLift.setAcceleration(900.0);
     stepperArm.setMaxSpeed(1400.0);
     stepperArm.setAcceleration(700.0);

#define isLow(P)((*(pinOfPin(P))& pinMask(P))==0)
#define digitalState(P)((uint8_t)isHigh(P))

boolean DEBUG = true;                 // send stuff to serial monitor for testing

const byte ledPin = 13;                     // on board LED
const byte holdPinArm = 12;                 // enable pins for stepper drivers

        UPDATE = true;
      }        
      Serial.println("Rx: " + inputString);
      if (inputString == "97") {              // 'a' hover over input stack
        stepperArm.moveTo(hoverArmPos);
        stepperLift.moveTo(stepperLift.currentPosition() - 20);          
      }
      else if (inputString == "98") {        // 'b' ID'd pile
        stepperArm.moveTo(firstArmPos);
        destinationArmPos = firstArmPos;
