//== SERVO SETTINGS =========================================
//Scott Edwards  SSC
//------------------
//Serial INPUT...............RS-232, OR inverted TTL/CMOS, 9600 OR 2400, N81   - 9600 fot T% electronics
//Servo OUTPUT connector ....3-PIN header, 0.1"spacing: (PWM)(+V)(GND)
//Pulse frequency.....................................˜60 Hz
//[Pulsewidth range (normal) ..........................1.0 TO 2.0 ms]
//Pulsewidth range (Mini SSC II, “R” jumper ON) ......0.5 TO 2.5 ms     - omly setting for T5 electronics
//Pulsewidth at startup (centered) ...................1.5 ms
//[Pulsewidth resolution (normal)......................4 µs    1ms = 2.016ms    0.36°/unit (90°/250)]
//Pulsewidth resolution (Mini SSC II, “R” jumper ON)..8 µs    0.5ms - 2.53ms   0.72°/unit (180°/250)

// TecArm6

const byte servos =6;
const byte lastServo =5;

//Waist                    '+ve clockwise  - reverse
const byte Wmin0 = 12; //left ~92
const byte W90R0 = 14; //left 90
const byte Wmid0 =118; 
const byte W90L0 =224; //right 90
const byte Wmax0 =234; //right ~110
//Shoulder                 '+ve back       - reverse
const byte Smin1 = 43; //upper-arm forward hits waist servo
const byte Sver1 = 66; //upper-arm horizontal
const byte Smid1 =168; //upper-arm vertical
const byte Smax1 =225; //upper-arm back upperarm hits body
//Elbow                    '+ve down
const byte Emin2 = 31; //forearm up servo stop
const byte Emid2 = 53; //arm straight
const byte E90d2 =156; //forearm down bent @90
const byte Emax2 =224; //forearm down, hits body arm rest
//HandPitch                '+ve down
const byte HPmin3 = 27; //hand up @60
const byte HPmid3 = 94; //wrist straight
const byte HP90D3 =211; //hand down @90
const byte HPmax3 =234; //hand down ~95
//HandRoll                 '+ve clockwise
const byte HRmin4  = 22; //anticlock  ~@160
const byte HR135A4 = 42; //anticlock @135 3*45    from back
const byte HR090A4 =105; //anticlock @90  2*45    from back
const byte HR045A4 =170; //anticlock @45  1*45    (from back
const byte HR000A4 =219; //palm flat
const byte HRmid4  =219; //palm flat
const byte HRmax4  =236; //servo stop
//Grip                     '+ve open
const byte Gxin5 = 51; //grip @0 tight
const byte Gmin5 = 61; //grip @0
const byte GinT5 = 77; //fingers touch
const byte Gmid5 =170; //max open servo stop
const byte Gmax5 =170; //max open servo stop

const byte Shome[]   ={Wmid0,Smax1,Emax2,HP90D3,HR000A4,Gmax5};
const byte Sready[]  ={Wmid0,Smid1,E90d2,HPmid3,HRmid4,Gmin5};
const byte SEstart[] ={128,128,128,128,128,128};

//===========================================================