Serial

#include <Servo.h>
#include<robotarm.h>

//Define variables

//Servos
#define servoClawPin              8
#define handPin                   9
#define elbowPin                  10
#define shoulderPanPin            11
#define shoulderTiltPin           12

#define buttonPin                 5




Servo clawServo;
Servo handServo;
Servo elbowServo;
Servo shoulderPanServo;
Servo shoulderTiltServo;



byte clawPosition;
byte clawPrevPos=144;
byte handPosition;
byte handPrevPos=90;
byte elbowPosition;
byte elbowPrevPos=90;
byte shoulderPanPosition;
byte shoulderPanPrevPos=90;
byte shoulderTiltPosition;
byte shoulderTiltPrevPos=90;

byte hundredByte;
byte tenByte;
byte oneByte;

char hundredChar='0';
char tenChar='0';
char oneChar='0';

byte serialPos;
char serialServo;


void setup()
{

  pinMode(servoClawPin, OUTPUT);
  pinMode(handPin, OUTPUT);
  pinMode(elbowPin, OUTPUT);
  pinMode(shoulderPanPin, OUTPUT);
  pinMode(shoulderTiltPin, OUTPUT);

  Serial.begin(9600);

  clawServo.attach(8);
  handServo.attach(9);
  elbowServo.attach(10);
  shoulderPanServo.attach(11);
  shoulderTiltServo.attach(12);

  pinMode(buttonPin, INPUT);
  elbowPosition = constrain(elbowPosition, 0, 145);
}



void loop()
{
  delay(200);
  if(Serial.available())
  {
    serialServo=Serial.read();
    Serial.println(serialServo);
  }
  if(Serial.available())
  {
    hundredChar=Serial.read();
    Serial.println(hundredChar-'0');
  }
  if(Serial.available())
  {
    tenChar=Serial.read();
    Serial.println(tenChar-'0');
  }
  if (Serial.available())
  {
    oneChar=Serial.read();
    Serial.println(oneChar-'0');
  }
  hundredByte=hundredChar-'0';
  tenByte=tenChar-'0';
  oneByte=oneChar-'0';
  hundredByte=hundredByte*100;
  tenByte=tenByte*10;
  serialPos=hundredByte+tenByte+oneByte;
  Serial.println(serialPos);
  if(serialServo=='c')//claw
              {
                Serial.println("Claw");
                serialPos = constrain(serialPos, 116, 180);
                clawServo.write(serialPos);
                clawPrevPos=serialPos;
                serialServo=' ';
              }
              else if(serialServo=='h')//hand
              {
                Serial.println("hand");
                migrate(handServo,serialPos, 30, handPrevPos);
                //handServo.write(serialPos);
                handPrevPos=serialPos;
                serialServo=' ';
              }
              else if(serialServo=='e')//elbow
              {
                Serial.println("elbow");
                elbowPosition = constrain(serialPos, 0, 145);
                migrate(elbowServo,elbowPosition, 30,elbowPrevPos);
                //elbowServo.write(elbowPosition);
                elbowPrevPos=elbowPosition;
                serialServo=' ';
              }
              else if(serialServo=='p')//shoulderPan
              {
                Serial.println("shoulderPan");
                migrate(shoulderPanServo,serialPos, 30, shoulderPanPrevPos);
                //shoulderPanServo.write(serialPos);
                shoulderPanPrevPos=serialPos;
                serialServo=' ';
              }
              else if(serialServo=='t')//shoulderTilt
              {
                Serial.println("shoulderTilt");
                migrate(shoulderTiltServo,serialPos, 30,shoulderTiltPrevPos);
                //shoulderTiltServo.write(serialPos);
                shoulderTiltPrevPos=serialPos;
                serialServo=' ';
              }
              delay(500);
}