diff --git a/examples/arm_mouse.pde b/examples/arm_mouse.pde
index e934354..a9b8288 100644
--- a/examples/arm_mouse.pde
+++ b/examples/arm_mouse.pde
@@ -1,284 +1,284 @@
-/* AL5D robotic arm manual control using USB mouse. Servo controller by Renbotics with some pins swapped, USB Host Shield by Circuits At Home */
-#include <ServoShield.h>
-#include <Spi.h>
-#include <Max3421e.h>
-#include <Usb.h>
- 
-#define DEVADDR 1
-#define CONFVALUE 1
-
-
-
-
-/* Arm dimensions( mm ) */
-#define BASE_HGT 67.31      //base hight 2.65"
-#define HUMERUS 146.05      //shoulder-to-elbow "bone" 5.75"
-#define ULNA 187.325        //elbow-to-wrist "bone" 7.375"   
-#define GRIPPER 100.00      //gripper (incl.heavy duty wrist rotate mechanism) length 3.94"
-
-#define ftl(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))  //float to long conversion
-
-/* Servo names/numbers */
-/* Base servo HS-485HB */
-#define BAS_SERVO 0
-/* Shoulder Servo HS-5745-MG */
-#define SHL_SERVO 1
-/* Elbow Servo HS-5745-MG */
-#define ELB_SERVO 2
-/* Wrist servo HS-645MG */
-#define WRI_SERVO 3
-/* Wrist rotate servo HS-485HB */
-#define WRO_SERVO 4
-/* Gripper servo HS-422 */
-#define GRI_SERVO 5
-
-//#define ARM_PARK set_arm( -50, 140, 100, 0 )  //arm parking position
-
-/* pre-calculations */
-float hum_sq = HUMERUS*HUMERUS;
-float uln_sq = ULNA*ULNA;
-
-void setup();
-void loop();
- 
-ServoShield servos;                       //ServoShield object
-MAX3421E Max;
-USB Usb;
-//ServoShield servos;                       //ServoShield object
-
-/* Arm data structure */
-struct {
-  float x_coord;            // X coordinate of the gripper tip
-  float y_coord;            // Y coordinate of the gripper tip
-  float z_coord;            //Z coordinate of the gripper tip
-  float gripper_angle;      //gripper angle
-  int16_t gripper_servo;   //gripper servo pulse duration 
-  int16_t wrist_rotate;    //wrist rotate servo pulse duration
-} armdata;
-   
-void setup()
-{
-  /* set servo end points */
-  servos.setbounds( BAS_SERVO, 900, 2100 );
-  servos.setbounds( SHL_SERVO, 1000, 2100 );
-  servos.setbounds( ELB_SERVO, 900, 2100 );
-  servos.setbounds( WRI_SERVO, 600, 2400 );
-  servos.setbounds( WRO_SERVO, 600, 2400 );
-  servos.setbounds( GRI_SERVO, 890, 2100 );
-  /**/
-//  servo_park();
-  arm_park();
-  
-  servos.start();                         //Start the servo shield
-  Max.powerOn();
-  Serial.begin( 115200 );
-  Serial.println("Start");
-  delay( 500 );
-  //ARM_PARK;
-}
-
-void loop()
-{
-byte rcode;
-    //delay( 10 );
-    set_arm( armdata.x_coord, armdata.y_coord, armdata.z_coord, armdata.gripper_angle );
-    servos.setposition( WRO_SERVO, armdata.wrist_rotate );
-    servos.setposition( GRI_SERVO, armdata.gripper_servo );
-   //ARM_PARK;
- // circle();
-    Max.Task();
-    Usb.Task();
-    if( Usb.getUsbTaskState() == USB_STATE_CONFIGURING ) {  
-        mouse_init();
-    }//if( Usb.getUsbTaskState() == USB_STATE_CONFIGURING...
-    if( Usb.getUsbTaskState() == USB_STATE_RUNNING ) {  //poll the keyboard  
-        rcode = mouse_poll();
-        if( rcode ) {
-          Serial.print("Mouse Poll Error: ");
-          Serial.println( rcode, HEX );
-        }//if( rcode...
-    }//if( Usb.getUsbTaskState() == USB_STATE_RUNNING...
-    //Serial.println( armdata.gripper_servo, DEC );
-}
-
-/* Initialize mouse */
-void mouse_init( void )
-{
- byte rcode = 0;  //return code
-  /**/
-  Usb.setDevTableEntry( 1, Usb.getDevTableEntry( 0,0 ) );              //copy device 0 endpoint information to device 1
-  /* Configure device */
-  rcode = Usb.setConf( DEVADDR, 0, CONFVALUE );                    
-  if( rcode ) {
-    Serial.print("Error configuring mouse. Return code : ");
-    Serial.println( rcode, HEX );
-    while(1);  //stop
-  }//if( rcode...
-  Usb.setUsbTaskState( USB_STATE_RUNNING );
-  return;
-}
-
-/* Poll mouse using Get Report and fill arm data structure */
-byte mouse_poll( void )
-{
-  byte rcode;
-  char buf[ 4 ];                //mouse buffer
-  static uint16_t delay = 500;  //delay before park
-
-    /* poll mouse */
-    rcode = Usb.getReport( DEVADDR, 0, 4, 0, 1, 0, buf );
-    if( rcode ) {  //error
-      return( rcode );
-    }
-    // todo: add arm limit check
-    armdata.x_coord += ( buf[ 1 ] * -0.1 );
-    armdata.y_coord += ( buf[ 2 ] * -0.1 );
-    switch( buf[ 0 ] ) {  //read buttons
-      case 0x00:            //no buttons pressed
-        armdata.z_coord += ( buf[ 3 ] * -2 ) ;
-        break;
-      case 0x01:            //button 1 pressed. Wheel sets gripper angle
-        armdata.gripper_servo += ( buf[ 3 ] * -20 );
-          /* check gripper boundaries */
-        if( armdata.gripper_servo < 1000 ) {
-          armdata.gripper_servo = 1000;
-        }
-        if( armdata.gripper_servo > 2100 ) {
-          armdata.gripper_servo = 2100;
-        }
-        break;
-      case 0x02:           //button 2 pressed. Wheel sets wrist rotate
-        armdata.wrist_rotate += ( buf[ 3 ] * -10 );
-        /* check wrist rotate boundaries */
-        if( armdata.wrist_rotate < 600 ) {
-          armdata.wrist_rotate = 600;
-        }
-        if( armdata.wrist_rotate > 2400 ) {
-          armdata.wrist_rotate = 2400;
-        }
-        break;
-      case 0x04:          //wheel button pressed. Wheel controls gripper
-        armdata.gripper_angle += ( buf[ 3 ] * -1 );
-        /* check gripper angle boundaries */
-        if( armdata.gripper_angle < -90 ) {
-          armdata.gripper_angle = -90;
-        }
-        if( armdata.gripper_angle > 90 ) {
-          armdata.gripper_angle = 90;
-        }
-        break;
-      case 0x07:          //all 3 buttons pressed. Park the arm
-        arm_park();
-        break;        
-    }//switch( buf[ 0 ...
-    Serial.println( armdata.wrist_rotate, DEC );
-}
-
-
-/* arm positioning routine utilizing inverse kinematics */
-/* z is height, y is distance from base center out, x is side to side. y,z can only be positive */
-//void set_arm( uint16_t x, uint16_t y, uint16_t z, uint16_t grip_angle )
-void set_arm( float x, float y, float z, float grip_angle_d )
-{
-  float grip_angle_r = radians( grip_angle_d );    //grip angle in radians for use in calculations
-  /* Base angle and radial distance from x,y coordinates */
-  float bas_angle_r = atan2( x, y );
-  float rdist = sqrt(( x * x ) + ( y * y ));
-  /* rdist is y coordinate for the arm */
-  y = rdist;
-  /* Grip offsets calculated based on grip angle */
-  float grip_off_z = ( sin( grip_angle_r )) * GRIPPER;
-  float grip_off_y = ( cos( grip_angle_r )) * GRIPPER; 
-  /* Wrist position */
-  float wrist_z = ( z - grip_off_z ) - BASE_HGT;
-  float wrist_y = y - grip_off_y;
-  /* Shoulder to wrist distance ( AKA sw ) */
-  float s_w = ( wrist_z * wrist_z ) + ( wrist_y * wrist_y );
-  float s_w_sqrt = sqrt( s_w );
-  /* s_w angle to ground */
-  //float a1 = atan2( wrist_y, wrist_z ); 
-  float a1 = atan2( wrist_z, wrist_y );
-  /* s_w angle to humerus */
-  float a2 = acos((( hum_sq - uln_sq ) + s_w ) / ( 2 * HUMERUS * s_w_sqrt ));
-  /* shoulder angle */
-  float shl_angle_r = a1 + a2;
-  float shl_angle_d = degrees( shl_angle_r ); 
-  /* elbow angle */
-  float elb_angle_r = acos(( hum_sq + uln_sq - s_w ) / ( 2 * HUMERUS * ULNA ));
-  float elb_angle_d = degrees( elb_angle_r );
-  float elb_angle_dn = -( 180.0 - elb_angle_d );
-  /* wrist angle */
-  float wri_angle_d = ( grip_angle_d - elb_angle_dn ) - shl_angle_d;
- 
-  /* Servo pulses */
-  float bas_servopulse = 1500.0 - (( degrees( bas_angle_r )) * 11.11 );
-  float shl_servopulse = 1500.0 + (( shl_angle_d - 90.0 ) * 6.6 );
-  float elb_servopulse = 1500.0 -  (( elb_angle_d - 90.0 ) * 6.6 );
-  float wri_servopulse = 1500 + ( wri_angle_d  * 11.1 );
-
-  /* Set servos */
-  servos.setposition( BAS_SERVO, ftl( bas_servopulse ));
-  servos.setposition( WRI_SERVO, ftl( wri_servopulse ));
-  servos.setposition( SHL_SERVO, ftl( shl_servopulse ));
-  servos.setposition( ELB_SERVO, ftl( elb_servopulse ));
-  
-}
-
-/* moves the arm to parking position */
-void arm_park()
-{
-  set_arm( armdata.x_coord = -50, armdata.y_coord = 140, armdata.z_coord = 100, armdata.gripper_angle = 0 );
-  servos.setposition( WRO_SERVO, armdata.wrist_rotate = 600 );
-  servos.setposition( GRI_SERVO, armdata.gripper_servo = 900 );
-}
-
-/* move servos to parking position */
-void servo_park()
-{
-  servos.setposition( BAS_SERVO, 1715 );
-  servos.setposition( SHL_SERVO, 2100 );
-  servos.setposition( ELB_SERVO, 2100 );
-  servos.setposition( WRI_SERVO, 1800 );
-  servos.setposition( WRO_SERVO, 600 );
-  servos.setposition( GRI_SERVO, 900 );
-  return;
-}
-
-void zero_x()
-{
-  for( double yaxis = 150.0; yaxis < 356.0; yaxis += 1 ) {
-    set_arm( 0, yaxis, 127.0, 0 );
-    delay( 10 );
-  }
-  for( double yaxis = 356.0; yaxis > 150.0; yaxis -= 1 ) {
-    set_arm( 0, yaxis, 127.0, 0 );
-    delay( 10 );
-  }
-}
-
-/* moves arm in a straight line */
-void line()
-{
-    for( double xaxis = -100.0; xaxis < 100.0; xaxis += 0.5 ) {
-      set_arm( xaxis, 250, 100, 0 );
-      delay( 10 );
-    }
-    for( float xaxis = 100.0; xaxis > -100.0; xaxis -= 0.5 ) {
-      set_arm( xaxis, 250, 100, 0 );
-      delay( 10 );
-    }
-}
-
-void circle()
-{
-  #define RADIUS 80.0
-  //float angle = 0;
-  float zaxis,yaxis;  
-  for( float angle = 0.0; angle < 360.0; angle += 1.0 ) {
-      yaxis = RADIUS * sin( radians( angle )) + 200;
-      zaxis = RADIUS * cos( radians( angle )) + 200;
-      set_arm( 0, yaxis, zaxis, 0 );
-      delay( 1 );
-  }
-}
+/* AL5D robotic arm manual control using USB mouse. Servo controller by Renbotics with some pins swapped, USB Host Shield by Circuits At Home */
+#include <ServoShield.h>
+#include <Spi.h>
+#include <Max3421e.h>
+#include <Usb.h>
+ 
+#define DEVADDR 1
+#define CONFVALUE 2
+
+
+ghgh
+
+/* Arm dimensions( mm ) */
+#define BASE_HGT 67.31      //base hight 2.65"
+#define HUMERUS 146.05      //shoulder-to-elbow "bone" 5.75"
+#define ULNA 187.325        //elbow-to-wrist "bone" 7.375"   
+#define GRIPPER 100.00      //gripper (incl.heavy duty wrist rotate mechanism) length 3.94"
+
+#define ftl(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))  //float to long conversion
+
+/* Servo names/numbers */
+/* Base servo HS-485HB */
+#define BAS_SERVO 0
+/* Shoulder Servo HS-5745-MG */
+#define SHL_SERVO 1
+/* Elbow Servo HS-5745-MG */
+#define ELB_SERVO 2
+/* Wrist servo HS-645MG */
+#define WRI_SERVO 3
+/* Wrist rotate servo HS-485HB */
+#define WRO_SERVO 4
+/* Gripper servo HS-422 */
+#define GRI_SERVO 5
+
+//#define ARM_PARK set_arm( -50, 140, 100, 0 )  //arm parking position
+
+/* pre-calculations */
+float hum_sq = HUMERUS*HUMERUS;
+float uln_sq = ULNA*ULNA;
+
+void setup();
+void loop();
+ 
+ServoShield servos;                       //ServoShield object
+MAX3421E Max;
+USB Usb;
+//ServoShield servos;                       //ServoShield object
+
+/* Arm data structure */
+struct {
+  float x_coord;            // X coordinate of the gripper tip
+  float y_coord;            // Y coordinate of the gripper tip
+  float z_coord;            //Z coordinate of the gripper tip
+  float gripper_angle;      //gripper angle
+  int16_t gripper_servo;   //gripper servo pulse duration 
+  int16_t wrist_rotate;    //wrist rotate servo pulse duration
+} armdata;
+   
+void setup()
+{
+  /* set servo end points */
+  servos.setbounds( BAS_SERVO, 900, 2100 );
+  servos.setbounds( SHL_SERVO, 1000, 2100 );
+  servos.setbounds( ELB_SERVO, 900, 2100 );
+  servos.setbounds( WRI_SERVO, 600, 2400 );
+  servos.setbounds( WRO_SERVO, 600, 2400 );
+  servos.setbounds( GRI_SERVO, 890, 2100 );
+  /**/
+//  servo_park();
+  arm_park();
+  
+  servos.start();                         //Start the servo shield
+  Max.powerOn();
+  Serial.begin( 115200 );
+  Serial.println("Start");
+  delay( 500 );
+  //ARM_PARK;
+}
+
+void loop()
+{
+byte rcode;
+    //delay( 10 );
+    set_arm( armdata.x_coord, armdata.y_coord, armdata.z_coord, armdata.gripper_angle );
+    servos.setposition( WRO_SERVO, armdata.wrist_rotate );
+    servos.setposition( GRI_SERVO, armdata.gripper_servo );
+   //ARM_PARK;
+ // circle();
+    Max.Task();
+    Usb.Task();
+    if( Usb.getUsbTaskState() == USB_STATE_CONFIGURING ) {  
+        mouse_init();
+    }//if( Usb.getUsbTaskState() == USB_STATE_CONFIGURING...
+    if( Usb.getUsbTaskState() == USB_STATE_RUNNING ) {  //poll the keyboard  
+        rcode = mouse_poll();
+        if( rcode ) {
+          Serial.print("Mouse Poll Error: ");
+          Serial.println( rcode, HEX );
+        }//if( rcode...
+    }//if( Usb.getUsbTaskState() == USB_STATE_RUNNING...
+    //Serial.println( armdata.gripper_servo, DEC );
+}
+
+/* Initialize mouse */
+void mouse_init( void )
+{
+ byte rcode = 0;  //return code
+  /**/
+  Usb.setDevTableEntry( 1, Usb.getDevTableEntry( 0,0 ) );              //copy device 0 endpoint information to device 1
+  /* Configure device */
+  rcode = Usb.setConf( DEVADDR, 0, CONFVALUE );                    
+  if( rcode ) {
+    Serial.print("Error configuring mouse. Return code : ");
+    Serial.println( rcode, HEX );
+    while(1);  //stop
+  }//if( rcode...
+  Usb.setUsbTaskState( USB_STATE_RUNNING );
+  return;
+}
+
+/* Poll mouse using Get Report and fill arm data structure */
+byte mouse_poll( void )
+{
+  byte rcode;
+  char buf[ 4 ];                //mouse buffer
+  static uint16_t delay = 500;  //delay before park
+
+    /* poll mouse */
+    rcode = Usb.getReport( DEVADDR, 0, 4, 0, 1, 0, buf );
+    if( rcode ) {  //error
+      return( rcode );
+    }
+    // todo: add arm limit check
+    armdata.x_coord += ( buf[ 1 ] * -0.1 );
+    armdata.y_coord += ( buf[ 2 ] * -0.1 );
+    switch( buf[ 0 ] ) {  //read buttons
+      case 0x00:            //no buttons pressed
+        armdata.z_coord += ( buf[ 3 ] * -2 ) ;
+        break;
+      case 0x01:            //button 1 pressed. Wheel sets gripper angle
+        armdata.gripper_servo += ( buf[ 3 ] * -20 );
+          /* check gripper boundaries */
+        if( armdata.gripper_servo < 1000 ) {
+          armdata.gripper_servo = 1000;
+        }
+        if( armdata.gripper_servo > 2100 ) {
+          armdata.gripper_servo = 2100;
+        }
+        break;
+      case 0x02:           //button 2 pressed. Wheel sets wrist rotate
+        armdata.wrist_rotate += ( buf[ 3 ] * -10 );
+        /* check wrist rotate boundaries */
+        if( armdata.wrist_rotate < 600 ) {
+          armdata.wrist_rotate = 600;
+        }
+        if( armdata.wrist_rotate > 2400 ) {
+          armdata.wrist_rotate = 2400;
+        }
+        break;
+      case 0x04:          //wheel button pressed. Wheel controls gripper
+        armdata.gripper_angle += ( buf[ 3 ] * -1 );
+        /* check gripper angle boundaries */
+        if( armdata.gripper_angle < -90 ) {
+          armdata.gripper_angle = -90;
+        }
+        if( armdata.gripper_angle > 90 ) {
+          armdata.gripper_angle = 90;
+        }
+        break;
+      case 0x07:          //all 3 buttons pressed. Park the arm
+        arm_park();
+        break;        
+    }//switch( buf[ 0 ...
+    Serial.println( armdata.wrist_rotate, DEC );
+}
+
+
+/* arm positioning routine utilizing inverse kinematics */
+/* z is height, y is distance from base center out, x is side to side. y,z can only be positive */
+//void set_arm( uint16_t x, uint16_t y, uint16_t z, uint16_t grip_angle )
+void set_arm( float x, float y, float z, float grip_angle_d )
+{
+  float grip_angle_r = radians( grip_angle_d );    //grip angle in radians for use in calculations
+  /* Base angle and radial distance from x,y coordinates */
+  float bas_angle_r = atan2( x, y );
+  float rdist = sqrt(( x * x ) + ( y * y ));
+  /* rdist is y coordinate for the arm */
+  y = rdist;
+  /* Grip offsets calculated based on grip angle */
+  float grip_off_z = ( sin( grip_angle_r )) * GRIPPER;
+  float grip_off_y = ( cos( grip_angle_r )) * GRIPPER; 
+  /* Wrist position */
+  float wrist_z = ( z - grip_off_z ) - BASE_HGT;
+  float wrist_y = y - grip_off_y;
+  /* Shoulder to wrist distance ( AKA sw ) */
+  float s_w = ( wrist_z * wrist_z ) + ( wrist_y * wrist_y );
+  float s_w_sqrt = sqrt( s_w );
+  /* s_w angle to ground */
+  //float a1 = atan2( wrist_y, wrist_z ); 
+  float a1 = atan2( wrist_z, wrist_y );
+  /* s_w angle to humerus */
+  float a2 = acos((( hum_sq - uln_sq ) + s_w ) / ( 2 * HUMERUS * s_w_sqrt ));
+  /* shoulder angle */
+  float shl_angle_r = a1 + a2;
+  float shl_angle_d = degrees( shl_angle_r ); 
+  /* elbow angle */
+  float elb_angle_r = acos(( hum_sq + uln_sq - s_w ) / ( 2 * HUMERUS * ULNA ));
+  float elb_angle_d = degrees( elb_angle_r );
+  float elb_angle_dn = -( 180.0 - elb_angle_d );
+  /* wrist angle */
+  float wri_angle_d = ( grip_angle_d - elb_angle_dn ) - shl_angle_d;
+ 
+  /* Servo pulses */
+  float bas_servopulse = 1500.0 - (( degrees( bas_angle_r )) * 11.11 );
+  float shl_servopulse = 1500.0 + (( shl_angle_d - 90.0 ) * 6.6 );
+  float elb_servopulse = 1500.0 -  (( elb_angle_d - 90.0 ) * 6.6 );
+  float wri_servopulse = 1500 + ( wri_angle_d  * 11.1 );
+
+  /* Set servos */
+  servos.setposition( BAS_SERVO, ftl( bas_servopulse ));
+  servos.setposition( WRI_SERVO, ftl( wri_servopulse ));
+  servos.setposition( SHL_SERVO, ftl( shl_servopulse ));
+  servos.setposition( ELB_SERVO, ftl( elb_servopulse ));
+  
+}
+
+/* moves the arm to parking position */
+void arm_park()
+{
+  set_arm( armdata.x_coord = -50, armdata.y_coord = 140, armdata.z_coord = 100, armdata.gripper_angle = 0 );
+  servos.setposition( WRO_SERVO, armdata.wrist_rotate = 600 );
+  servos.setposition( GRI_SERVO, armdata.gripper_servo = 900 );
+}
+
+/* move servos to parking position */
+void servo_park()
+{
+  servos.setposition( BAS_SERVO, 1715 );
+  servos.setposition( SHL_SERVO, 2100 );
+  servos.setposition( ELB_SERVO, 2100 );
+  servos.setposition( WRI_SERVO, 1800 );
+  servos.setposition( WRO_SERVO, 600 );
+  servos.setposition( GRI_SERVO, 900 );
+  return;
+}
+
+void zero_x()
+{
+  for( double yaxis = 150.0; yaxis < 356.0; yaxis += 1 ) {
+    set_arm( 0, yaxis, 127.0, 0 );
+    delay( 10 );
+  }
+  for( double yaxis = 356.0; yaxis > 150.0; yaxis -= 1 ) {
+    set_arm( 0, yaxis, 127.0, 0 );
+    delay( 10 );
+  }
+}
+
+/* moves arm in a straight line */
+void line()
+{
+    for( double xaxis = -100.0; xaxis < 100.0; xaxis += 0.5 ) {
+      set_arm( xaxis, 250, 100, 0 );
+      delay( 10 );
+    }
+    for( float xaxis = 100.0; xaxis > -100.0; xaxis -= 0.5 ) {
+      set_arm( xaxis, 250, 100, 0 );
+      delay( 10 );
+    }
+}
+
+void circle()
+{
+  #define RADIUS 80.0
+  //float angle = 0;
+  float zaxis,yaxis;  
+  for( float angle = 0.0; angle < 360.0; angle += 1.0 ) {
+      yaxis = RADIUS * sin( radians( angle )) + 200;
+      zaxis = RADIUS * cos( radians( angle )) + 200;
+      set_arm( 0, yaxis, zaxis, 0 );
+      delay( 1 );
+  }
+}