diff --git a/.gitignore b/.gitignore
index 3dcb6d58a..d3b51453f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,3 +32,10 @@ src/external_pkgs/
 src/mapping_urc/multi_resolution_graph
 /.project
 phidgetlog.log
+
+# arm firmware ignores
+
+src/firmware/arm_firmware/SerialCom1/.vs/
+src/firmware/arm_firmware/SerialCom1/SerialCom/bin
+src/firmware/arm_firmware/SerialCom1/SerialCom/obj
+src/firmware/arm_firmware/SerialCom1/SerialCom/Form1.resx
\ No newline at end of file
diff --git a/src/firmware/arm_firmware/SerialCom1/SerialCom.sln b/src/firmware/arm_firmware/SerialCom1/SerialCom.sln
new file mode 100644
index 000000000..cf0f6d67e
--- /dev/null
+++ b/src/firmware/arm_firmware/SerialCom1/SerialCom.sln
@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 16
+VisualStudioVersion = 16.0.31624.102
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "SerialCom", "SerialCom\SerialCom.csproj", "{293C7DFD-2AF8-4E61-927A-46072A9F6182}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{293C7DFD-2AF8-4E61-927A-46072A9F6182}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{293C7DFD-2AF8-4E61-927A-46072A9F6182}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{293C7DFD-2AF8-4E61-927A-46072A9F6182}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{293C7DFD-2AF8-4E61-927A-46072A9F6182}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {D52D6B80-3854-499E-8028-35CA40DD7D18}
+	EndGlobalSection
+EndGlobal
diff --git a/src/firmware/arm_firmware/SerialCom1/SerialCom/Form1.Designer.cs b/src/firmware/arm_firmware/SerialCom1/SerialCom/Form1.Designer.cs
new file mode 100644
index 000000000..4c639e29f
--- /dev/null
+++ b/src/firmware/arm_firmware/SerialCom1/SerialCom/Form1.Designer.cs
@@ -0,0 +1,649 @@
+
+namespace SerialCom
+{
+    partial class Form1
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.components = new System.ComponentModel.Container();
+            this.webBrowser1 = new System.Windows.Forms.WebBrowser();
+            this.btnCLOSE = new System.Windows.Forms.Button();
+            this.btnSENDDATA = new System.Windows.Forms.Button();
+            this.cBoxPARITYBITS = new System.Windows.Forms.ComboBox();
+            this.cBoxSTOPBITS = new System.Windows.Forms.ComboBox();
+            this.cBoxDATABITS = new System.Windows.Forms.ComboBox();
+            this.cBoxBAUDRATE = new System.Windows.Forms.ComboBox();
+            this.cBoxCOMPORT = new System.Windows.Forms.ComboBox();
+            this.label1 = new System.Windows.Forms.Label();
+            this.progressBar1 = new System.Windows.Forms.ProgressBar();
+            this.tBoxDATAOUT = new System.Windows.Forms.TextBox();
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.groupBox4 = new System.Windows.Forms.GroupBox();
+            this.btnMOVE = new System.Windows.Forms.Button();
+            this.btnHOME = new System.Windows.Forms.Button();
+            this.groupBox3 = new System.Windows.Forms.GroupBox();
+            this.label18 = new System.Windows.Forms.Label();
+            this.label19 = new System.Windows.Forms.Label();
+            this.label11 = new System.Windows.Forms.Label();
+            this.label6 = new System.Windows.Forms.Label();
+            this.label20 = new System.Windows.Forms.Label();
+            this.label12 = new System.Windows.Forms.Label();
+            this.label21 = new System.Windows.Forms.Label();
+            this.label13 = new System.Windows.Forms.Label();
+            this.label22 = new System.Windows.Forms.Label();
+            this.label14 = new System.Windows.Forms.Label();
+            this.label17 = new System.Windows.Forms.Label();
+            this.label15 = new System.Windows.Forms.Label();
+            this.label16 = new System.Windows.Forms.Label();
+            this.label7 = new System.Windows.Forms.Label();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.btnOPEN = new System.Windows.Forms.Button();
+            this.label5 = new System.Windows.Forms.Label();
+            this.label4 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
+            this.serialPort1 = new System.IO.Ports.SerialPort(this.components);
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
+            this.btnINC = new System.Windows.Forms.RadioButton();
+            this.btnABS = new System.Windows.Forms.RadioButton();
+            this.groubox5 = new System.Windows.Forms.GroupBox();
+            this.a1prog = new System.Windows.Forms.ProgressBar();
+            this.a2prog = new System.Windows.Forms.ProgressBar();
+            this.a5prog = new System.Windows.Forms.ProgressBar();
+            this.a4prog = new System.Windows.Forms.ProgressBar();
+            this.a3prog = new System.Windows.Forms.ProgressBar();
+            this.a6prog = new System.Windows.Forms.ProgressBar();
+            this.groupBox1.SuspendLayout();
+            this.groupBox4.SuspendLayout();
+            this.groupBox3.SuspendLayout();
+            this.groupBox2.SuspendLayout();
+            this.groubox5.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // webBrowser1
+            // 
+            this.webBrowser1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.webBrowser1.Location = new System.Drawing.Point(0, 0);
+            this.webBrowser1.MinimumSize = new System.Drawing.Size(20, 20);
+            this.webBrowser1.Name = "webBrowser1";
+            this.webBrowser1.Size = new System.Drawing.Size(1050, 712);
+            this.webBrowser1.TabIndex = 0;
+            this.webBrowser1.DocumentCompleted += new System.Windows.Forms.WebBrowserDocumentCompletedEventHandler(this.webBrowser1_DocumentCompleted);
+            // 
+            // btnCLOSE
+            // 
+            this.btnCLOSE.Location = new System.Drawing.Point(146, 25);
+            this.btnCLOSE.Name = "btnCLOSE";
+            this.btnCLOSE.Size = new System.Drawing.Size(107, 47);
+            this.btnCLOSE.TabIndex = 2;
+            this.btnCLOSE.Text = "CLOSE";
+            this.btnCLOSE.UseVisualStyleBackColor = true;
+            this.btnCLOSE.Click += new System.EventHandler(this.button2_Click);
+            // 
+            // btnSENDDATA
+            // 
+            this.btnSENDDATA.Location = new System.Drawing.Point(310, 263);
+            this.btnSENDDATA.Name = "btnSENDDATA";
+            this.btnSENDDATA.Size = new System.Drawing.Size(86, 102);
+            this.btnSENDDATA.TabIndex = 3;
+            this.btnSENDDATA.Text = "SEND DATA";
+            this.btnSENDDATA.UseVisualStyleBackColor = true;
+            this.btnSENDDATA.Click += new System.EventHandler(this.button3_Click);
+            // 
+            // cBoxPARITYBITS
+            // 
+            this.cBoxPARITYBITS.FormattingEnabled = true;
+            this.cBoxPARITYBITS.Items.AddRange(new object[] {
+            "None",
+            "Odd",
+            "Even"});
+            this.cBoxPARITYBITS.Location = new System.Drawing.Point(133, 183);
+            this.cBoxPARITYBITS.Name = "cBoxPARITYBITS";
+            this.cBoxPARITYBITS.Size = new System.Drawing.Size(272, 28);
+            this.cBoxPARITYBITS.TabIndex = 4;
+            this.cBoxPARITYBITS.Text = "None";
+            // 
+            // cBoxSTOPBITS
+            // 
+            this.cBoxSTOPBITS.FormattingEnabled = true;
+            this.cBoxSTOPBITS.Items.AddRange(new object[] {
+            "One",
+            "Two"});
+            this.cBoxSTOPBITS.Location = new System.Drawing.Point(133, 147);
+            this.cBoxSTOPBITS.Name = "cBoxSTOPBITS";
+            this.cBoxSTOPBITS.Size = new System.Drawing.Size(272, 28);
+            this.cBoxSTOPBITS.TabIndex = 5;
+            this.cBoxSTOPBITS.Text = "One";
+            // 
+            // cBoxDATABITS
+            // 
+            this.cBoxDATABITS.FormattingEnabled = true;
+            this.cBoxDATABITS.Items.AddRange(new object[] {
+            "5",
+            "6",
+            "7",
+            "8"});
+            this.cBoxDATABITS.Location = new System.Drawing.Point(133, 110);
+            this.cBoxDATABITS.Name = "cBoxDATABITS";
+            this.cBoxDATABITS.Size = new System.Drawing.Size(272, 28);
+            this.cBoxDATABITS.TabIndex = 6;
+            this.cBoxDATABITS.Text = "8";
+            // 
+            // cBoxBAUDRATE
+            // 
+            this.cBoxBAUDRATE.FormattingEnabled = true;
+            this.cBoxBAUDRATE.Items.AddRange(new object[] {
+            "2400",
+            "4800",
+            "9600"});
+            this.cBoxBAUDRATE.Location = new System.Drawing.Point(133, 73);
+            this.cBoxBAUDRATE.Name = "cBoxBAUDRATE";
+            this.cBoxBAUDRATE.Size = new System.Drawing.Size(272, 28);
+            this.cBoxBAUDRATE.TabIndex = 7;
+            this.cBoxBAUDRATE.Text = "9600";
+            // 
+            // cBoxCOMPORT
+            // 
+            this.cBoxCOMPORT.FormattingEnabled = true;
+            this.cBoxCOMPORT.Location = new System.Drawing.Point(133, 36);
+            this.cBoxCOMPORT.Name = "cBoxCOMPORT";
+            this.cBoxCOMPORT.Size = new System.Drawing.Size(272, 28);
+            this.cBoxCOMPORT.TabIndex = 8;
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Location = new System.Drawing.Point(35, 40);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(92, 20);
+            this.label1.TabIndex = 9;
+            this.label1.Text = "COM PORT";
+            this.label1.Click += new System.EventHandler(this.label1_Click);
+            // 
+            // progressBar1
+            // 
+            this.progressBar1.Location = new System.Drawing.Point(16, 91);
+            this.progressBar1.Name = "progressBar1";
+            this.progressBar1.Size = new System.Drawing.Size(237, 36);
+            this.progressBar1.TabIndex = 10;
+            this.progressBar1.Click += new System.EventHandler(this.progressBar1_Click);
+            // 
+            // tBoxDATAOUT
+            // 
+            this.tBoxDATAOUT.Location = new System.Drawing.Point(445, 131);
+            this.tBoxDATAOUT.Multiline = true;
+            this.tBoxDATAOUT.Name = "tBoxDATAOUT";
+            this.tBoxDATAOUT.Size = new System.Drawing.Size(558, 411);
+            this.tBoxDATAOUT.TabIndex = 11;
+            this.tBoxDATAOUT.TextChanged += new System.EventHandler(this.tBoxDATAOUT_TextChanged);
+            // 
+            // groupBox1
+            // 
+            this.groupBox1.Controls.Add(this.groubox5);
+            this.groupBox1.Controls.Add(this.groupBox4);
+            this.groupBox1.Controls.Add(this.groupBox3);
+            this.groupBox1.Controls.Add(this.label7);
+            this.groupBox1.Controls.Add(this.groupBox2);
+            this.groupBox1.Controls.Add(this.label5);
+            this.groupBox1.Controls.Add(this.btnSENDDATA);
+            this.groupBox1.Controls.Add(this.label4);
+            this.groupBox1.Controls.Add(this.label3);
+            this.groupBox1.Controls.Add(this.label2);
+            this.groupBox1.Controls.Add(this.cBoxCOMPORT);
+            this.groupBox1.Controls.Add(this.tBoxDATAOUT);
+            this.groupBox1.Controls.Add(this.label1);
+            this.groupBox1.Controls.Add(this.cBoxPARITYBITS);
+            this.groupBox1.Controls.Add(this.cBoxSTOPBITS);
+            this.groupBox1.Controls.Add(this.cBoxDATABITS);
+            this.groupBox1.Controls.Add(this.cBoxBAUDRATE);
+            this.groupBox1.Location = new System.Drawing.Point(1, 6);
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.Size = new System.Drawing.Size(1039, 705);
+            this.groupBox1.TabIndex = 12;
+            this.groupBox1.TabStop = false;
+            this.groupBox1.Text = "Com Port Control";
+            this.groupBox1.Enter += new System.EventHandler(this.groupBox1_Enter);
+            // 
+            // groupBox4
+            // 
+            this.groupBox4.Controls.Add(this.btnMOVE);
+            this.groupBox4.Controls.Add(this.btnHOME);
+            this.groupBox4.Location = new System.Drawing.Point(540, 556);
+            this.groupBox4.Name = "groupBox4";
+            this.groupBox4.Size = new System.Drawing.Size(358, 132);
+            this.groupBox4.TabIndex = 22;
+            this.groupBox4.TabStop = false;
+            // 
+            // btnMOVE
+            // 
+            this.btnMOVE.Location = new System.Drawing.Point(184, 34);
+            this.btnMOVE.Name = "btnMOVE";
+            this.btnMOVE.Size = new System.Drawing.Size(162, 68);
+            this.btnMOVE.TabIndex = 23;
+            this.btnMOVE.Text = "MOTION DEMO";
+            this.btnMOVE.UseVisualStyleBackColor = true;
+            this.btnMOVE.Click += new System.EventHandler(this.btnMOVE_Click);
+            // 
+            // btnHOME
+            // 
+            this.btnHOME.Location = new System.Drawing.Point(10, 35);
+            this.btnHOME.Name = "btnHOME";
+            this.btnHOME.Size = new System.Drawing.Size(162, 68);
+            this.btnHOME.TabIndex = 22;
+            this.btnHOME.Text = "HOME ARM";
+            this.btnHOME.UseVisualStyleBackColor = true;
+            this.btnHOME.Click += new System.EventHandler(this.button1_Click_3);
+            // 
+            // groupBox3
+            // 
+            this.groupBox3.Controls.Add(this.a6prog);
+            this.groupBox3.Controls.Add(this.a3prog);
+            this.groupBox3.Controls.Add(this.a4prog);
+            this.groupBox3.Controls.Add(this.a5prog);
+            this.groupBox3.Controls.Add(this.a2prog);
+            this.groupBox3.Controls.Add(this.a1prog);
+            this.groupBox3.Controls.Add(this.label18);
+            this.groupBox3.Controls.Add(this.label19);
+            this.groupBox3.Controls.Add(this.label11);
+            this.groupBox3.Controls.Add(this.label6);
+            this.groupBox3.Controls.Add(this.label20);
+            this.groupBox3.Controls.Add(this.label12);
+            this.groupBox3.Controls.Add(this.label21);
+            this.groupBox3.Controls.Add(this.label13);
+            this.groupBox3.Controls.Add(this.label22);
+            this.groupBox3.Controls.Add(this.label14);
+            this.groupBox3.Controls.Add(this.label17);
+            this.groupBox3.Controls.Add(this.label15);
+            this.groupBox3.Controls.Add(this.label16);
+            this.groupBox3.Location = new System.Drawing.Point(23, 411);
+            this.groupBox3.Name = "groupBox3";
+            this.groupBox3.Size = new System.Drawing.Size(400, 278);
+            this.groupBox3.TabIndex = 13;
+            this.groupBox3.TabStop = false;
+            // 
+            // label18
+            // 
+            this.label18.AutoSize = true;
+            this.label18.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label18.Location = new System.Drawing.Point(75, 223);
+            this.label18.Name = "label18";
+            this.label18.Size = new System.Drawing.Size(45, 25);
+            this.label18.TabIndex = 34;
+            this.label18.Text = "000";
+            // 
+            // label19
+            // 
+            this.label19.AutoSize = true;
+            this.label19.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label19.Location = new System.Drawing.Point(27, 223);
+            this.label19.Name = "label19";
+            this.label19.Size = new System.Drawing.Size(43, 25);
+            this.label19.TabIndex = 33;
+            this.label19.Text = "A6:";
+            // 
+            // label11
+            // 
+            this.label11.AutoSize = true;
+            this.label11.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label11.Location = new System.Drawing.Point(75, 75);
+            this.label11.Name = "label11";
+            this.label11.Size = new System.Drawing.Size(45, 25);
+            this.label11.TabIndex = 23;
+            this.label11.Text = "000";
+            this.label11.Click += new System.EventHandler(this.label11_Click);
+            // 
+            // label6
+            // 
+            this.label6.AutoSize = true;
+            this.label6.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label6.Location = new System.Drawing.Point(49, 22);
+            this.label6.Name = "label6";
+            this.label6.Size = new System.Drawing.Size(294, 25);
+            this.label6.TabIndex = 18;
+            this.label6.Text = "Absolute Arm Position (degrees)";
+            this.label6.Click += new System.EventHandler(this.label6_Click);
+            // 
+            // label20
+            // 
+            this.label20.AutoSize = true;
+            this.label20.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label20.Location = new System.Drawing.Point(75, 194);
+            this.label20.Name = "label20";
+            this.label20.Size = new System.Drawing.Size(45, 25);
+            this.label20.TabIndex = 32;
+            this.label20.Text = "000";
+            // 
+            // label12
+            // 
+            this.label12.AutoSize = true;
+            this.label12.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label12.Location = new System.Drawing.Point(26, 75);
+            this.label12.Name = "label12";
+            this.label12.Size = new System.Drawing.Size(43, 25);
+            this.label12.TabIndex = 24;
+            this.label12.Text = "A1:";
+            // 
+            // label21
+            // 
+            this.label21.AutoSize = true;
+            this.label21.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label21.Location = new System.Drawing.Point(27, 194);
+            this.label21.Name = "label21";
+            this.label21.Size = new System.Drawing.Size(43, 25);
+            this.label21.TabIndex = 31;
+            this.label21.Text = "A5:";
+            // 
+            // label13
+            // 
+            this.label13.AutoSize = true;
+            this.label13.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label13.Location = new System.Drawing.Point(27, 106);
+            this.label13.Name = "label13";
+            this.label13.Size = new System.Drawing.Size(43, 25);
+            this.label13.TabIndex = 25;
+            this.label13.Text = "A2:";
+            // 
+            // label22
+            // 
+            this.label22.AutoSize = true;
+            this.label22.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label22.Location = new System.Drawing.Point(75, 166);
+            this.label22.Name = "label22";
+            this.label22.Size = new System.Drawing.Size(45, 25);
+            this.label22.TabIndex = 30;
+            this.label22.Text = "000";
+            // 
+            // label14
+            // 
+            this.label14.AutoSize = true;
+            this.label14.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label14.Location = new System.Drawing.Point(75, 106);
+            this.label14.Name = "label14";
+            this.label14.Size = new System.Drawing.Size(45, 25);
+            this.label14.TabIndex = 26;
+            this.label14.Text = "000";
+            // 
+            // label17
+            // 
+            this.label17.AutoSize = true;
+            this.label17.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label17.Location = new System.Drawing.Point(27, 166);
+            this.label17.Name = "label17";
+            this.label17.Size = new System.Drawing.Size(43, 25);
+            this.label17.TabIndex = 29;
+            this.label17.Text = "A4:";
+            // 
+            // label15
+            // 
+            this.label15.AutoSize = true;
+            this.label15.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label15.Location = new System.Drawing.Point(27, 137);
+            this.label15.Name = "label15";
+            this.label15.Size = new System.Drawing.Size(43, 25);
+            this.label15.TabIndex = 27;
+            this.label15.Text = "A3:";
+            this.label15.Click += new System.EventHandler(this.label15_Click);
+            // 
+            // label16
+            // 
+            this.label16.AutoSize = true;
+            this.label16.Font = new System.Drawing.Font("Microsoft Sans Serif", 10F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label16.Location = new System.Drawing.Point(75, 136);
+            this.label16.Name = "label16";
+            this.label16.Size = new System.Drawing.Size(45, 25);
+            this.label16.TabIndex = 28;
+            this.label16.Text = "000";
+            this.label16.Click += new System.EventHandler(this.label16_Click);
+            // 
+            // label7
+            // 
+            this.label7.AutoSize = true;
+            this.label7.Font = new System.Drawing.Font("Microsoft Sans Serif", 16F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label7.Location = new System.Drawing.Point(438, 50);
+            this.label7.Name = "label7";
+            this.label7.Size = new System.Drawing.Size(235, 37);
+            this.label7.TabIndex = 19;
+            this.label7.Text = "Command Line";
+            this.label7.Click += new System.EventHandler(this.label7_Click);
+            // 
+            // groupBox2
+            // 
+            this.groupBox2.Controls.Add(this.btnOPEN);
+            this.groupBox2.Controls.Add(this.progressBar1);
+            this.groupBox2.Controls.Add(this.btnCLOSE);
+            this.groupBox2.Location = new System.Drawing.Point(23, 238);
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.Size = new System.Drawing.Size(271, 144);
+            this.groupBox2.TabIndex = 16;
+            this.groupBox2.TabStop = false;
+            // 
+            // btnOPEN
+            // 
+            this.btnOPEN.Location = new System.Drawing.Point(16, 25);
+            this.btnOPEN.Name = "btnOPEN";
+            this.btnOPEN.Size = new System.Drawing.Size(107, 47);
+            this.btnOPEN.TabIndex = 3;
+            this.btnOPEN.Text = "OPEN";
+            this.btnOPEN.UseVisualStyleBackColor = true;
+            this.btnOPEN.Click += new System.EventHandler(this.btnOPEN_Click);
+            // 
+            // label5
+            // 
+            this.label5.AutoSize = true;
+            this.label5.Location = new System.Drawing.Point(27, 76);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(102, 20);
+            this.label5.TabIndex = 15;
+            this.label5.Text = "BAUD RATE";
+            // 
+            // label4
+            // 
+            this.label4.AutoSize = true;
+            this.label4.Location = new System.Drawing.Point(35, 114);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(92, 20);
+            this.label4.TabIndex = 14;
+            this.label4.Text = "DATA BITS";
+            // 
+            // label3
+            // 
+            this.label3.AutoSize = true;
+            this.label3.Location = new System.Drawing.Point(35, 151);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(91, 20);
+            this.label3.TabIndex = 13;
+            this.label3.Text = "STOP BITS";
+            // 
+            // label2
+            // 
+            this.label2.AutoSize = true;
+            this.label2.Location = new System.Drawing.Point(19, 187);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(107, 20);
+            this.label2.TabIndex = 12;
+            this.label2.Text = "PARITY BITS";
+            // 
+            // serialPort1
+            // 
+            this.serialPort1.DataReceived += new System.IO.Ports.SerialDataReceivedEventHandler(this.serialPort1_DataReceived);
+            // 
+            // timer1
+            // 
+            this.timer1.Enabled = true;
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            // 
+            // btnINC
+            // 
+            this.btnINC.AutoSize = true;
+            this.btnINC.Location = new System.Drawing.Point(15, 25);
+            this.btnINC.Name = "btnINC";
+            this.btnINC.Size = new System.Drawing.Size(118, 24);
+            this.btnINC.TabIndex = 23;
+            this.btnINC.TabStop = true;
+            this.btnINC.Text = "Incremental";
+            this.btnINC.UseVisualStyleBackColor = true;
+            this.btnINC.CheckedChanged += new System.EventHandler(this.btnINC_CheckedChanged);
+            // 
+            // btnABS
+            // 
+            this.btnABS.AutoSize = true;
+            this.btnABS.Location = new System.Drawing.Point(15, 55);
+            this.btnABS.Name = "btnABS";
+            this.btnABS.Size = new System.Drawing.Size(97, 24);
+            this.btnABS.TabIndex = 24;
+            this.btnABS.TabStop = true;
+            this.btnABS.Text = "Absolute";
+            this.btnABS.UseVisualStyleBackColor = true;
+            this.btnABS.CheckedChanged += new System.EventHandler(this.btnABS_CheckedChanged);
+            // 
+            // groubox5
+            // 
+            this.groubox5.Controls.Add(this.btnINC);
+            this.groubox5.Controls.Add(this.btnABS);
+            this.groubox5.Location = new System.Drawing.Point(686, 25);
+            this.groubox5.Name = "groubox5";
+            this.groubox5.Size = new System.Drawing.Size(200, 100);
+            this.groubox5.TabIndex = 25;
+            this.groubox5.TabStop = false;
+            this.groubox5.Text = "Mode";
+            // 
+            // a1prog
+            // 
+            this.a1prog.Location = new System.Drawing.Point(159, 77);
+            this.a1prog.Name = "a1prog";
+            this.a1prog.Size = new System.Drawing.Size(193, 23);
+            this.a1prog.TabIndex = 35;
+            // 
+            // a2prog
+            // 
+            this.a2prog.Location = new System.Drawing.Point(159, 108);
+            this.a2prog.Name = "a2prog";
+            this.a2prog.Size = new System.Drawing.Size(193, 23);
+            this.a2prog.TabIndex = 36;
+            // 
+            // a5prog
+            // 
+            this.a5prog.Location = new System.Drawing.Point(159, 195);
+            this.a5prog.Name = "a5prog";
+            this.a5prog.Size = new System.Drawing.Size(193, 23);
+            this.a5prog.TabIndex = 37;
+            // 
+            // a4prog
+            // 
+            this.a4prog.Location = new System.Drawing.Point(159, 166);
+            this.a4prog.Name = "a4prog";
+            this.a4prog.Size = new System.Drawing.Size(193, 23);
+            this.a4prog.TabIndex = 38;
+            // 
+            // a3prog
+            // 
+            this.a3prog.Location = new System.Drawing.Point(159, 137);
+            this.a3prog.Name = "a3prog";
+            this.a3prog.Size = new System.Drawing.Size(193, 23);
+            this.a3prog.TabIndex = 39;
+            // 
+            // a6prog
+            // 
+            this.a6prog.Location = new System.Drawing.Point(159, 225);
+            this.a6prog.Name = "a6prog";
+            this.a6prog.Size = new System.Drawing.Size(193, 23);
+            this.a6prog.TabIndex = 40;
+            // 
+            // Form1
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 20F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(1050, 712);
+            this.Controls.Add(this.groupBox1);
+            this.Controls.Add(this.webBrowser1);
+            this.Name = "Form1";
+            this.Text = " ";
+            this.Load += new System.EventHandler(this.Form1_Load_1);
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox1.PerformLayout();
+            this.groupBox4.ResumeLayout(false);
+            this.groupBox3.ResumeLayout(false);
+            this.groupBox3.PerformLayout();
+            this.groupBox2.ResumeLayout(false);
+            this.groubox5.ResumeLayout(false);
+            this.groubox5.PerformLayout();
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.WebBrowser webBrowser1;
+        private System.Windows.Forms.Button btnCLOSE;
+        private System.Windows.Forms.Button btnSENDDATA;
+        private System.Windows.Forms.ComboBox cBoxPARITYBITS;
+        private System.Windows.Forms.ComboBox cBoxSTOPBITS;
+        private System.Windows.Forms.ComboBox cBoxDATABITS;
+        private System.Windows.Forms.ComboBox cBoxBAUDRATE;
+        private System.Windows.Forms.ComboBox cBoxCOMPORT;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.ProgressBar progressBar1;
+        private System.Windows.Forms.TextBox tBoxDATAOUT;
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.GroupBox groupBox2;
+        private System.Windows.Forms.Button btnOPEN;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Label label2;
+        private System.IO.Ports.SerialPort serialPort1;
+        private System.Windows.Forms.Label label7;
+        private System.Windows.Forms.Label label6;
+        private System.Windows.Forms.Timer timer1;
+        private System.Windows.Forms.Label label11;
+        private System.Windows.Forms.Label label18;
+        private System.Windows.Forms.Label label19;
+        private System.Windows.Forms.Label label20;
+        private System.Windows.Forms.Label label21;
+        private System.Windows.Forms.Label label22;
+        private System.Windows.Forms.Label label17;
+        private System.Windows.Forms.Label label16;
+        private System.Windows.Forms.Label label15;
+        private System.Windows.Forms.Label label14;
+        private System.Windows.Forms.Label label13;
+        private System.Windows.Forms.Label label12;
+        private System.Windows.Forms.GroupBox groupBox3;
+        private System.Windows.Forms.Button btnHOME;
+        private System.Windows.Forms.GroupBox groupBox4;
+        private System.Windows.Forms.Button btnMOVE;
+        private System.Windows.Forms.GroupBox groubox5;
+        private System.Windows.Forms.RadioButton btnINC;
+        private System.Windows.Forms.RadioButton btnABS;
+        private System.Windows.Forms.ProgressBar a6prog;
+        private System.Windows.Forms.ProgressBar a3prog;
+        private System.Windows.Forms.ProgressBar a4prog;
+        private System.Windows.Forms.ProgressBar a5prog;
+        private System.Windows.Forms.ProgressBar a2prog;
+        private System.Windows.Forms.ProgressBar a1prog;
+    }
+}
+
diff --git a/src/firmware/arm_firmware/SerialCom1/SerialCom/Form1.cs b/src/firmware/arm_firmware/SerialCom1/SerialCom/Form1.cs
new file mode 100644
index 000000000..ee959d010
--- /dev/null
+++ b/src/firmware/arm_firmware/SerialCom1/SerialCom/Form1.cs
@@ -0,0 +1,257 @@
+#define CRT_SECURE_NO_WARNINGS
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using System.IO.Ports;
+using System.IO;
+
+
+
+
+namespace SerialCom
+{
+
+    public partial class Form1 : Form
+    {
+
+        bool inc_flag;
+        bool abs_flag;
+
+        const int a1_max = 360;
+        const int a2_max = 360;
+        const int a3_max = 90;
+        const int a4_max = 90;
+        const int a5_max = 90;
+        const int a6_max = 90;
+
+        string dataOUT;
+        string homeOUT = "H";
+        string moveOUT = "M";
+        string inc = "I";
+        string abs = "A";
+        string dataIN;
+
+        string A1; //angles
+        string A2;
+        string A3;
+        string A4;
+        string A5;
+        string A6;
+
+        public Form1()
+        {
+            InitializeComponent();
+        }
+
+        private void label1_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void progressBar1_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+
+        }
+
+
+        private void webBrowser1_DocumentCompleted(object sender, WebBrowserDocumentCompletedEventArgs e)
+        {
+
+        }
+
+        private void groupBox1_Enter(object sender, EventArgs e)
+        {
+
+        }
+
+        private void tBoxDATAOUT_TextChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void Form1_Load_1(object sender, EventArgs e)
+        {
+            string[] ports = SerialPort.GetPortNames();
+            cBoxCOMPORT.Items.AddRange(ports);
+        }
+
+        private void btnOPEN_Click(object sender, EventArgs e)
+        {
+
+            try
+            {
+                serialPort1.PortName = cBoxCOMPORT.Text;
+                serialPort1.BaudRate = Convert.ToInt32(cBoxBAUDRATE.Text);
+                serialPort1.DataBits = Convert.ToInt32(cBoxDATABITS.Text);
+                serialPort1.StopBits = (StopBits)Enum.Parse(typeof(StopBits), cBoxSTOPBITS.Text);
+                serialPort1.Parity = (Parity)Enum.Parse(typeof(Parity), cBoxPARITYBITS.Text);
+
+                serialPort1.Open();
+                progressBar1.Value = 100;
+            }
+            catch (Exception err)
+            {
+                MessageBox.Show(err.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+            }
+        }
+
+        private void button2_Click(object sender, EventArgs e) /* Close button */
+        {
+            if(serialPort1.IsOpen)
+            {
+                serialPort1.Close();
+                progressBar1.Value = 0;
+            }
+        }
+
+
+        private void button3_Click(object sender, EventArgs e) /* send data button*/
+        {
+            if (serialPort1.IsOpen)
+            {
+                dataOUT = tBoxDATAOUT.Text;
+
+                if (abs_flag)
+                {
+                    dataOUT = abs + dataOUT;
+                }
+
+                else if(inc_flag)
+                {
+                    dataOUT = inc + dataOUT;
+                }
+                
+                serialPort1.WriteLine(inc+dataOUT);
+                tBoxDATAOUT.Text = "";
+            }    
+        }
+
+        private void label7_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void label6_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void absPosition_TextChanged(object sender, EventArgs e)
+        {
+
+        }
+
+      
+
+        private void label10_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void label11_Click(object sender, EventArgs e)
+        {
+            
+        }
+
+        private void serialPort1_DataReceived(object sender, SerialDataReceivedEventArgs e)
+        {
+            if (serialPort1.ReadLine().Contains('r'))
+            {
+                A1 = serialPort1.ReadLine();
+                A2 = serialPort1.ReadLine();
+                A3 = serialPort1.ReadLine();
+                A4 = serialPort1.ReadLine();
+                A5 = serialPort1.ReadLine();
+                A6 = serialPort1.ReadLine();
+            }
+        }
+
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            label11.Text = A1;
+            label14.Text = A2;
+            label16.Text = A3;
+            label22.Text = A4;
+            label20.Text = A5;
+            label18.Text = A6;
+
+            if (A1 != null)
+            {
+                a1prog.Value = (int)((100 * Int64.Parse(A1)) / a1_max);
+            }
+            if (A2 != null)
+            {
+                a2prog.Value = (int)((100 * Int64.Parse(A2)) / a2_max);
+            }
+            if (A3 != null)
+            {
+                a3prog.Value = (int)((100 * Int64.Parse(A3)) / a3_max);
+            }
+            if (A4 != null)
+            {
+                a4prog.Value = (int)((100 * Int64.Parse(A4)) / a4_max);
+            }
+            if (A5 != null)
+            {
+                a5prog.Value = (int)((100 * Int64.Parse(A5)) / a5_max);
+            }
+            if (A6 != null)
+            {
+                a6prog.Value = (int)((100 * Int64.Parse(A6)) / a6_max);
+            }
+
+        }
+
+        private void button1_Click_1(object sender, EventArgs e)
+        {
+            
+        }
+
+        private void button1_Click_2(object sender, EventArgs e)
+        {
+          
+        }
+
+        private void label15_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void label16_Click(object sender, EventArgs e)
+        {
+
+        }
+
+        private void button1_Click_3(object sender, EventArgs e) // HOME BUTTON // 
+        {
+            serialPort1.WriteLine(homeOUT);
+        }
+
+        private void btnMOVE_Click(object sender, EventArgs e) // MOTION DEMO BUTTON // 
+        {
+            serialPort1.WriteLine(moveOUT);
+        }
+
+        private void btnINC_CheckedChanged(object sender, EventArgs e)
+        {
+            inc_flag = !inc_flag;
+        }
+
+        private void btnABS_CheckedChanged(object sender, EventArgs e)
+        {
+            abs_flag = !abs_flag;
+        }
+    }
+}
diff --git a/src/firmware/arm_firmware/SerialCom1/SerialCom/Program.cs b/src/firmware/arm_firmware/SerialCom1/SerialCom/Program.cs
new file mode 100644
index 000000000..0eb571675
--- /dev/null
+++ b/src/firmware/arm_firmware/SerialCom1/SerialCom/Program.cs
@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Windows.Forms;
+
+namespace SerialCom
+{
+    static class Program
+    {
+        /// <summary>
+        /// The main entry point for the application.
+        /// </summary>
+        [STAThread]
+        static void Main()
+        {
+            Application.EnableVisualStyles();
+            Application.SetCompatibleTextRenderingDefault(false);
+            Application.Run(new Form1());
+        }
+    }
+}
diff --git a/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/AssemblyInfo.cs b/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/AssemblyInfo.cs
new file mode 100644
index 000000000..7f06b7041
--- /dev/null
+++ b/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/AssemblyInfo.cs
@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("SerialCom")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("HP Inc.")]
+[assembly: AssemblyProduct("SerialCom")]
+[assembly: AssemblyCopyright("Copyright © HP Inc. 2021")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible
+// to COM components.  If you need to access a type in this assembly from
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("293c7dfd-2af8-4e61-927a-46072a9f6182")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version
+//      Build Number
+//      Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Resources.Designer.cs b/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Resources.Designer.cs
new file mode 100644
index 000000000..001897ce9
--- /dev/null
+++ b/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Resources.Designer.cs
@@ -0,0 +1,70 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.42000
+//
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+
+namespace SerialCom.Properties
+{
+    /// <summary>
+    ///   A strongly-typed resource class, for looking up localized strings, etc.
+    /// </summary>
+    // This class was auto-generated by the StronglyTypedResourceBuilder
+    // class via a tool like ResGen or Visual Studio.
+    // To add or remove a member, edit your .ResX file then rerun ResGen
+    // with the /str option, or rebuild your VS project.
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources
+    {
+
+        private static global::System.Resources.ResourceManager resourceMan;
+
+        private static global::System.Globalization.CultureInfo resourceCulture;
+
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources()
+        {
+        }
+
+        /// <summary>
+        ///   Returns the cached ResourceManager instance used by this class.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager
+        {
+            get
+            {
+                if ((resourceMan == null))
+                {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("SerialCom.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+
+        /// <summary>
+        ///   Overrides the current thread's CurrentUICulture property for all
+        ///   resource lookups using this strongly typed resource class.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture
+        {
+            get
+            {
+                return resourceCulture;
+            }
+            set
+            {
+                resourceCulture = value;
+            }
+        }
+    }
+}
diff --git a/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Resources.resx b/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Resources.resx
new file mode 100644
index 000000000..af7dbebba
--- /dev/null
+++ b/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Resources.resx
@@ -0,0 +1,117 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>
\ No newline at end of file
diff --git a/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Settings.Designer.cs b/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Settings.Designer.cs
new file mode 100644
index 000000000..7b0b7a545
--- /dev/null
+++ b/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Settings.Designer.cs
@@ -0,0 +1,29 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.42000
+//
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+
+namespace SerialCom.Properties
+{
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")]
+    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase
+    {
+
+        private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
+
+        public static Settings Default
+        {
+            get
+            {
+                return defaultInstance;
+            }
+        }
+    }
+}
diff --git a/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Settings.settings b/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Settings.settings
new file mode 100644
index 000000000..39645652a
--- /dev/null
+++ b/src/firmware/arm_firmware/SerialCom1/SerialCom/Properties/Settings.settings
@@ -0,0 +1,7 @@
+<?xml version='1.0' encoding='utf-8'?>
+<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
+  <Profiles>
+    <Profile Name="(Default)" />
+  </Profiles>
+  <Settings />
+</SettingsFile>
diff --git a/src/firmware/arm_firmware/SerialCom1/SerialCom/SerialCom.csproj b/src/firmware/arm_firmware/SerialCom1/SerialCom/SerialCom.csproj
new file mode 100644
index 000000000..77021c8c6
--- /dev/null
+++ b/src/firmware/arm_firmware/SerialCom1/SerialCom/SerialCom.csproj
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{293C7DFD-2AF8-4E61-927A-46072A9F6182}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <RootNamespace>SerialCom</RootNamespace>
+    <AssemblyName>SerialCom</AssemblyName>
+    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Deployment" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Form1.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Form1.Designer.cs">
+      <DependentUpon>Form1.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <EmbeddedResource Include="Form1.resx">
+      <DependentUpon>Form1.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+      <SubType>Designer</SubType>
+    </EmbeddedResource>
+    <Compile Include="Properties\Resources.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+    </Compile>
+    <None Include="Properties\Settings.settings">
+      <Generator>SettingsSingleFileGenerator</Generator>
+      <LastGenOutput>Settings.Designer.cs</LastGenOutput>
+    </None>
+    <Compile Include="Properties\Settings.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Settings.settings</DependentUpon>
+      <DesignTimeSharedInput>True</DesignTimeSharedInput>
+    </Compile>
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file
diff --git a/src/firmware/arm_firmware/switchInterfaceSketch/switchInterfaceSketch.ino b/src/firmware/arm_firmware/switchInterfaceSketch/switchInterfaceSketch.ino
new file mode 100644
index 000000000..e5f3a19c0
--- /dev/null
+++ b/src/firmware/arm_firmware/switchInterfaceSketch/switchInterfaceSketch.ino
@@ -0,0 +1,482 @@
+/*
+Created By: Tate Kolton, Rowan Zawadzki
+Created On: December 21, 2021
+Updated: April 27, 2022
+Description: Main code for driving 6 axis robotic arm using Nintendo Switch pro (or any XInput type) Controller
+*/
+ 
+#include <AccelStepper.h>
+
+// general parameters
+#define NUM_AXES 6
+#define NUM_AXES_EX_WRIST 4
+#define NUM_AXES_EFF 8
+#define NUM_PARAMS 7
+#define ON 0
+#define OFF 1
+#define SW_ON 0
+#define SW_OFF 1
+#define FWD 1
+#define REV 0
+
+// motor pins
+// **NOTE** axis 3 and 4 are switched and axis 5 and 6 are switched. i.e. stepPins[3] is not axis 4, it is axis 3
+int stepPins[8] =   {11, 9, 5, 7, 1, 3, 1, 3};
+int dirPins[8] =    {10, 8, 4, 6, 0, 2, 0, 2};
+
+// limit switch pins
+int limPins[6] = {23, 22, 20, 21, 18, 19};
+
+// pulses per revolution for motors
+long ppr[6] = {400, 400, 400, 400, 400, 400};
+
+// Gear Reduction Ratios
+float red[6] = {30.0, 161.0, 44.8, 100, 57.34, 57.34};
+
+// Encoder pulses per revolution
+long pprEnc = 512;
+
+// Motor speeds and accelerations
+int maxSpeed[8] = {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200};
+int maxAccel[8] = {900, 3000, 4000, 3000, 5000, 5000, 5000, 5000};
+int homeSpeed[8] = {500, 1200, 600, 400, 2000, 2000, 2000, 2000}; // {500, 1500, 700, 1200, 1200, 1200, 1200, 1200};
+int homeAccel[8] = {500, 2000, 1500, 1000, 1500, 1500, 1500, 1500}; //{500, 2000, 1000, 1500, 1500, 1500, 1500, 1500};
+
+// Range of motion (degrees) for each axis
+int maxAngles[6] = {180, 70, 180, 120, 140, 100};
+
+const unsigned long readInterval = 10;
+unsigned long currentTime;
+unsigned long previousTime = 0;
+
+// stepper motor objects for AccelStepper library
+AccelStepper steppers[8];
+
+// variable declarations
+long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]};
+int axisDir[8] = {1, -1, 1, -1, 1, 1, -1, 1}; 
+int currentAxis = 1;
+int runFlags[] = {0, 0, 0, 0, 0, 0};
+int i;
+static const char fwdValues[] = {'a', 'b'};
+static const char revValues[] = {'c', 'd'};
+static const char fwdWrist[] = {'f', 'g'};
+static const char revWrist[] = {'h', 'i'};
+static const char axisSelect[] = {'m', 'm', 'n', 'n'};
+static const char releaseChars[] = {'q', 'r', 'q', 'r'};
+static const char wristRelease[] = {'j', 'k'};
+static const char homeVal = 'z';
+char garbage;
+bool initFlag = false;
+
+// variables for homing / arm calibration
+long homePosConst = -99000;
+long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst, axisDir[6]*homePosConst, axisDir[7]*homePosConst};
+long homeCompAngles[] = {axisDir[0]*90, axisDir[1]*5, axisDir[2]*93, axisDir[3]*12, axisDir[4]*102, axisDir[5]*102, axisDir[6]*80, axisDir[7]*80};
+long homeCompConst[] = {2000, 2000, 1000, 500, 500, 500, 500, 500};
+long homeComp[] = {axisDir[0]*homeCompConst[0], axisDir[1]*homeCompConst[1], axisDir[2]*homeCompConst[2], axisDir[3]*homeCompConst[3], axisDir[4]*homeCompConst[4], axisDir[5]*homeCompConst[5], axisDir[6]*homeCompConst[6], axisDir[7]*homeCompConst[7]};
+long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0, homeCompAngles[6]*red[4]*ppr[4]/360.0, homeCompAngles[7]*red[5]*ppr[5]/360.0};
+char value;
+
+// values for changing speed
+const int maxSpeedIndex = 2;
+int speedVals[maxSpeedIndex+1][NUM_AXES_EFF] = {{600, 900, 1500, 1250, 1050, 1050, 1050, 1050}, {900, 1200, 2000, 1665, 1460, 1460, 1460, 1460}, {1200, 1800, 3000, 2500, 2200, 2200, 2200, 2200}};
+int speedIndex = maxSpeedIndex;
+char faster = 'l';
+char slower = 's';
+
+void setup() { // setup function to initialize pins and provide initial homing to the arm
+
+  Serial.begin(9600);
+
+  // initializes step pins, direction pins, limit switch pins, and stepper motor objects for accelStepper library
+  for(i = 0; i<NUM_AXES_EFF; i++) {
+    pinMode(dirPins[i], OUTPUT);
+    pinMode(stepPins[i], OUTPUT);
+    pinMode(limPins[i], INPUT_PULLUP);
+    steppers[i] = AccelStepper(1, stepPins[i], dirPins[i]);
+    steppers[i].setMinPulseWidth(200);
+  }
+  // waits for user to press "home" button before rest of functions are available
+  waitForHome();
+}
+
+// main loop where motion functions are called and serial communication occurs
+void loop() {
+
+  currentTime = millis();
+
+  if((currentTime - previousTime) > readInterval) {
+    if(Serial.available() > 0){
+      
+      value = Serial.read();
+     controllerParse(value);
+    }
+    
+    previousTime = currentTime;
+  }
+
+  runSteppers();
+}
+
+void controllerParse(char data) { // parses incoming serial data to control arm motion based on user input
+  
+  // left joystick forward
+  if(data == 'a') {
+    runAxes(FWD, currentAxis);
+  }
+  // left joystick reverse
+  else if(data == 'b') {
+    runAxes(REV, currentAxis);
+  }
+  // right joystick forward
+  else if(data == 'c') {
+    runAxes(FWD, currentAxis+1);
+  }
+  // right joystick reverse
+  else if(data == 'd') {
+    runAxes(REV, currentAxis+1);
+  }
+  // wrist pitch forward
+  else if(data == 'f') {
+    runWrist(FWD, 5);
+  }
+  // wrist pitch reverse
+  else if(data == 'h') {
+    runWrist(REV, 5);
+  }
+  // wrist roll forward
+  else if(data == 'g') {
+    runWrist(FWD, 6);
+  }
+  // wrist roll reverse
+  else if(data == 'i') {
+    runWrist(REV, 6);
+  }
+ else if(data == 'z') {
+    homeArm();
+  }
+  else {
+    releaseEvent(data);
+    changeAxis(data, currentAxis);
+    changeSpeed(data);
+  }
+}
+
+void runAxes(int dir, int axis) { // assigns run flags to indicate forward / reverse motion and sets target position
+
+  if(axis == 3) {
+    dir = !dir;
+  }
+  
+  if(runFlags[axis-1] == 1 && dir == FWD) {
+  }
+
+  else if(runFlags[axis-1] == -1 && dir == REV) {
+  }
+    
+  else if(dir == FWD) {
+    steppers[axis-1].moveTo(max_steps[axis-1]*axisDir[axis-1]);
+    runFlags[axis-1] = 1;
+  }
+
+  else {
+    steppers[axis-1].moveTo(0);
+    runFlags[axis-1] = -1;
+  }
+}
+
+void runWrist(int dir, int axis) { // assigns target position for selected axis based on user input. 
+
+  if(axis == 5) { // axis 5 motion -> both wrist motors spin in opposite directions
+    if(runFlags[5] == 1 && dir == FWD) {
+    }
+
+    else if(runFlags[5] == -1 && dir == REV) {
+    }
+    
+    else if(dir == FWD) {
+      steppers[6].moveTo(axisDir[6]*max_steps[5]);
+      steppers[7].moveTo(axisDir[7]*max_steps[5]);
+      runFlags[5] = 1;
+    }
+
+    else {
+      steppers[6].moveTo(0);
+      steppers[7].moveTo(0);
+      runFlags[5] = -1;
+    } 
+  }
+
+  else if(axis == 6) { // axis 6 motion -> both wrist motors spin in same direction
+    dir = !dir;
+    if(runFlags[4] == 1 && dir == FWD) {
+    }
+
+    else if(runFlags[4] == -1 && dir == REV) {
+    }
+    
+    else if(dir == FWD) {
+      steppers[4].moveTo(axisDir[4]*max_steps[4]);
+      steppers[5].moveTo(axisDir[5]*max_steps[4]);
+      runFlags[4] = 1;
+    }
+
+    else {
+      steppers[4].moveTo(0);
+      steppers[5].moveTo(0);
+      runFlags[4] = -1;
+    }
+  } 
+}
+
+void changeAxis(char value, int axis) { // when user hits specified button, axis targets change
+
+  for(i=0; i<NUM_AXES_EX_WRIST; i+=2) {
+    if(axisSelect[i] == value) {
+      if(axis == i+1) {
+      }
+
+      else {
+        currentAxis = i+1;
+        zeroRunFlags();
+      }
+    }
+  }
+}
+
+void releaseEvent(char value) { // when user releases a joystick serial sends a character
+
+  for(i=currentAxis-1; i<=currentAxis; i++) {
+    if(releaseChars[i] == value) {
+        steppers[i].stop();
+      }
+      runFlags[i] = 0;
+    }
+
+  if(value == wristRelease[0]) { // axis 5 released
+    steppers[6].stop();
+    steppers[7].stop();
+    runFlags[5] = 0;
+  }
+
+  else if(value == wristRelease[1]) { // axis 6 released
+    steppers[4].stop();
+    steppers[5].stop();
+    runFlags[4] = 0;
+  }
+}
+
+void zeroRunFlags() { // when user changes axis to control on switch, slow current moving axes to a stop and reset run flags (all motors stagnant)
+
+  for(i = 0; i<NUM_AXES_EX_WRIST; i++) {
+    steppers[i].stop();
+  }
+
+  for(i=0; i<NUM_AXES_EX_WRIST; i++) {
+    runFlags[i] = 0;
+  }
+}
+
+void homeArm() { // main function for full arm homing
+  initializeWristHomingMotion();
+  homeWrist();
+  initializeHomingMotion();
+  homeBase();
+  initializeMotion();
+}
+
+void homeBase() { // homes axes 1-4
+  
+  bool stopFlags[4] = {false, false, false, false};
+  bool finishFlags[4] = {false, false, false, false};
+  bool completeFlag = false;
+  int count = 0;
+  
+  while(!completeFlag) {
+
+    for(i = 0; i < NUM_AXES_EX_WRIST; i++) {
+
+      if(!finishFlags[i]) {
+
+        if(!digitalRead(limPins[i]) && !stopFlags[i]) {
+          steppers[i].run();
+        }
+
+        else if(!stopFlags[i]) {
+          steppers[i].setCurrentPosition(-homeComp[i]);
+          steppers[i].stop();
+          steppers[i].setMaxSpeed(maxSpeed[i]/2);
+          steppers[i].setAcceleration(homeAccel[i]);
+          steppers[i].moveTo(homeCompSteps[i]);
+          stopFlags[i] = true;
+        }
+
+        else if(steppers[i].distanceToGo() !=0) {
+          steppers[i].run();
+        }
+
+        else {
+          finishFlags[i] = true;
+          count++;
+        }
+      }
+    }
+    if(count == NUM_AXES_EX_WRIST) {
+      completeFlag = true;
+    }
+  }
+  initializeMotion();
+}
+
+void homeWrist() { // homes axes 5-6
+
+  bool stopFlags[2] = {false, false};
+  bool calibFlags[2] = {false, false};
+  bool completeFlag = false;
+
+  while(!completeFlag) {
+
+    if(!digitalRead(limPins[5]) && !stopFlags[0]) {
+      steppers[6].run();
+      steppers[7].run();
+    }
+
+    else if(!stopFlags[0]) {
+      steppers[6].setCurrentPosition(-homeComp[6]);
+      steppers[7].setCurrentPosition(-homeComp[7]);
+      steppers[6].stop();
+      steppers[7].stop();
+      steppers[6].setMaxSpeed(maxSpeed[6]);
+      steppers[7].setMaxSpeed(maxSpeed[7]);
+      steppers[6].setAcceleration(maxAccel[6]);
+      steppers[7].setAcceleration(maxAccel[7]);
+      steppers[6].moveTo(homeCompSteps[6]);
+      steppers[7].moveTo(homeCompSteps[7]);
+      stopFlags[0] = true;      
+    }
+
+    else if(steppers[6].distanceToGo()!= 0 && !calibFlags[0]) {
+      steppers[6].run();
+      steppers[7].run();
+    }
+
+    else if(!calibFlags[0]) {
+      calibFlags[0] = true;
+    }
+
+    else if(!digitalRead(limPins[4]) && !stopFlags[1]) {
+      steppers[4].run();
+      steppers[5].run();
+    }
+
+    else if(!stopFlags[1]) {
+      steppers[4].setCurrentPosition(-homeComp[4]);
+      steppers[5].setCurrentPosition(-homeComp[5]);
+      steppers[4].stop();
+      steppers[5].stop();
+      steppers[4].setMaxSpeed(maxSpeed[4]);
+      steppers[5].setMaxSpeed(maxSpeed[5]);
+      steppers[4].setAcceleration(maxAccel[4]);
+      steppers[5].setAcceleration(maxAccel[5]);
+      steppers[4].moveTo(homeCompSteps[4]);
+      steppers[5].moveTo(homeCompSteps[5]);
+      stopFlags[1] = true;      
+    }
+
+    else if(steppers[4].distanceToGo()!= 0 && !calibFlags[1]) {
+      steppers[4].run();
+      steppers[5].run();
+    }
+
+    else if(!calibFlags[1]) {
+      calibFlags[1] = true;
+      completeFlag = true;
+    }
+  }
+}
+
+void initializeHomingMotion() { // sets homing speed and acceleration for axes 1-4 and sets target homing position
+
+  for(i = 0; i<NUM_AXES_EX_WRIST; i++) {
+
+    steppers[i].setMaxSpeed(homeSpeed[i]);
+    steppers[i].setAcceleration(homeAccel[i]);
+    steppers[i].setCurrentPosition(0);
+    steppers[i].move(homePos[i]);
+  }
+}
+
+void initializeWristHomingMotion() { // sets homing speed and acceleration for axes 5-6 and sets target homing position
+
+  for(i = 4; i<NUM_AXES_EFF; i++) {
+
+    steppers[i].setMaxSpeed(homeSpeed[i]);
+    steppers[i].setAcceleration(homeAccel[i]);
+    steppers[i].setCurrentPosition(0);
+    steppers[i].move(homePos[i]);
+  }
+}
+
+void initializeMotion() { // sets main program speeds for each axis
+
+  for(i = 0; i<NUM_AXES_EFF; i++) {
+    steppers[i].setMaxSpeed(speedVals[maxSpeedIndex][i]);
+    steppers[i].setAcceleration(maxAccel[i]);
+  }
+}
+
+void zeroAxes() { // sets current position of all axes to 0
+
+  for(i = 0; i<NUM_AXES_EFF; i++) {
+    steppers[i].setCurrentPosition(0);
+  }
+}
+
+void runSteppers() { // runs all stepper motors (if no target position has been assigned, stepper will not move)
+    
+  for(i = 0; i<NUM_AXES_EFF; i++) {
+    steppers[i].run();
+  }
+}
+
+void changeSpeed(char speedVal) { // changes speed of all axes based on user input
+  
+  if(speedVal == faster){
+    if(speedIndex < maxSpeedIndex) {
+      speedIndex++;
+      for(i=0;i<NUM_AXES_EFF;i++) {
+        steppers[i].setMaxSpeed(speedVals[speedIndex][i]);
+      }
+    }
+  }
+
+  else if(speedVal == slower) {
+    if(speedIndex > 0) {
+      speedIndex--;
+      for(i=0;i<NUM_AXES_EFF;i++) {
+        steppers[i].setMaxSpeed(speedVals[speedIndex][i]);
+      }
+    }
+  }
+}
+
+void waitForHome() { // stops arm motion until user homes arm after firmware is flashed
+
+  bool initFlag = false;
+  Serial.println("HOME ARM TO UNLOCK MOTION");
+  while(!initFlag) {
+    if(Serial.available()>0){
+      char init = Serial.read();
+      if(init == 'z') {
+        initFlag = true;
+        homeArm();
+      }
+    }
+    delay(readInterval);
+  }
+}
+
+
+
+
diff --git a/src/firmware/arm_firmware/testingInterfaceSketch/testingInterfaceSketch.ino b/src/firmware/arm_firmware/testingInterfaceSketch/testingInterfaceSketch.ino
new file mode 100644
index 000000000..bdcfbd2f7
--- /dev/null
+++ b/src/firmware/arm_firmware/testingInterfaceSketch/testingInterfaceSketch.ino
@@ -0,0 +1,328 @@
+/*
+Created By: Tate Kolton, Rowan Zawadzki
+Created On: December 21, 2021
+Description: Main code for testing 6-axis stepper motor driven arm functionality. Interfaces with windows form through serial communication. Intended for use with Teensy 4.1
+Warning: May run into errors if attempting to use with Arduino Mega, Uno, or Nano. Insufficient DRAM / Flash, and clock speed. 
+*/
+
+#include <AccelStepper.h>
+
+// general parameters
+#define NUM_AXES 6
+#define NUM_PARAMS 7
+#define ON 0
+#define OFF 1
+#define SW_ON 0
+#define SW_OFF 1
+
+// motor pins
+int stepPins[6] = {3, 5, 6, 8, 10, 12};
+int dirPins[6] = {4, 7, 9, 11, 13, 14};
+
+// limit switch pins
+int limPins[6] = {15, 16, 17, 18, 19, 20};
+
+// pulses per revolution for motors
+long ppr[6] = {400, 400, 400, 400, 400, 400};
+
+// Gear Reduction Ratios
+long red[6] = {40, 161, 150, 70, 45, 45};
+
+// Encoder pulses per revolution
+long pprEnc = 512;
+
+// Motor speeds and accelerations
+int maxSpeed[6] = {3000, 3000, 3000, 3000, 3000, 3000};
+int maxAccel[6] = {4000, 4000, 4000, 4000, 4000, 4000};
+int homeSpeed[6] = {1000, 1000, 1000, 1000, 1000, 1000};
+int homeAccel[6] = {2000, 2000, 2000, 2000, 2000, 2000};
+
+// Range of motion (degrees) for each axis
+long maxAngles[6] = {180, 120, 120, 120, 120, 120};
+
+// stepper motor objects for AccelStepper library
+AccelStepper steppers[6];
+
+// variable declarations
+int i, count, axis, temp, flag, sign,int_ang;
+long angle;
+char axisC, garbage, mode, serialBit;
+String char_angle;
+long angles[] = {0, 0, 0, 0, 0, 0};
+long max_steps[] = {red[0]*maxAngles[0]/360.0*ppr[0], red[1]*maxAngles[1]/360.0*ppr[1], red[2]*maxAngles[2]/360.0*ppr[2], red[3]*maxAngles[3]/360.0*ppr[3], red[4]*maxAngles[4]/360.0*ppr[4], red[5]*maxAngles[5]/360.0*ppr[5]};
+int axisDir[6] = {1, 1, 1, 1, 1, 1};
+
+// variables for homing / arm calibration
+long homePosConst = -100000;
+long homeCompConst = 500;
+long homePos[] = {axisDir[0]*homePosConst, axisDir[1]*homePosConst, axisDir[2]*homePosConst, axisDir[3]*homePosConst, axisDir[4]*homePosConst, axisDir[5]*homePosConst};
+long homeComp[] = {axisDir[0]*homeCompConst, axisDir[1]*homeCompConst, axisDir[2]*homeCompConst, axisDir[3]*homeCompConst, axisDir[4]*homeCompConst, axisDir[5]*homeCompConst};
+long homeCompAngles[] = {axisDir[0]*25, axisDir[1]*25, axisDir[2]*25, axisDir[3]*25, axisDir[4]*25, axisDir[5]*25};
+long homeCompSteps[] = {homeCompAngles[0]*red[0]*ppr[0]/360.0, homeCompAngles[1]*red[1]*ppr[1]/360.0, homeCompAngles[2]*red[2]*ppr[2]/360.0, homeCompAngles[3]*red[3]*ppr[3]/360.0, homeCompAngles[4]*red[4]*ppr[4]/360.0, homeCompAngles[5]*red[5]*ppr[5]/360.0}; 
+
+// setup function to initialize pins and provide initial homing to the arm
+void setup() {
+
+  Serial.begin(9600);
+  flag = 0;
+
+  // initializing steppers
+  for(int i=0; i<NUM_AXES; i++) {
+    steppers[i] = AccelStepper(1, stepPins[i], dirPins[i]);
+  }
+
+  // initializing limit switches
+  for(i = 0; i<NUM_AXES; i++) {
+    pinMode(limPins[i], INPUT_PULLUP);
+  }
+
+  // initializing step pins
+  for(i = 0; i<NUM_AXES; i++) {
+    pinMode(stepPins[i], OUTPUT);
+  }
+
+  // initializing direction pins
+  for(i = 0; i<NUM_AXES; i++) {
+    pinMode(dirPins[i], OUTPUT);
+  }
+
+  // initializing max speeds and accelerations for motors
+  initializeMotion();
+  
+  // homes all axes of arm upon powerup
+    home_arm();
+}
+
+// main loop where motion functions are called and serial communication occurs
+void loop() {
+  if (Serial.available() > 0) { // parsing of incoming serial data
+    char first = Serial.read();
+
+    if (first == 'H') {
+      home_arm();
+    }
+
+    else {
+      flag = 1;
+      mode = Serial.read();
+      delay(10);
+      garbage = Serial.read();
+      delay(10);
+      axisC = Serial.read();
+      axis = axisC - '0';
+      delay(10);
+      char_angle = Serial.readStringUntil('\n');
+      int_ang = char_angle.toInt();
+      angle = (long)int_ang;
+
+      while (Serial.available() > 0) {
+        char bufferGarbage = Serial.read();
+      }
+    }
+  }
+
+  if (flag == 1) {
+    step_angle(axis, angle, red[axis-1], ppr[axis-1], maxAngles[axis-1]);
+    flag = 0;
+  }
+
+  delay(100);
+}
+
+// functions for arm motion
+void step_angle(int axis, long ang, long red, long ppr, long max_ang) { 
+  
+  long step_in;
+
+  if (mode == 'I') { 
+    step_in = red*ppr*(ang / 360.0);
+    
+    if(ang == 0) {
+    }
+
+    else if(ang + angles[axis-1] < max_ang && ang + angles[axis-1]>0) {
+      angles[axis - 1] += ang;
+    }
+
+    else {
+      if(ang>0) {
+        step_in = (red*ppr/360.0)*(max_ang - angles[axis-1]);
+        angles[axis-1] = max_ang; 
+      }
+
+      else {
+        step_in = -(red*ppr/360.0)*angles[axis-1];
+        angles[axis-1] = 0; 
+      }
+    }
+
+    step_in = step_in*axisDir[axis-1];
+    incMove(axis, step_in);   
+  } 
+
+  else if (mode == 'A') {
+      
+    if(ang<=0) {
+      step_in = 0;
+      angles[axis-1] = 0;
+    }
+
+    else if(ang>=max_ang) {
+      step_in = red*ppr/360.0*max_ang;
+      angles[axis-1] = max_ang;
+    }
+    
+    else {
+      step_in = red*ppr*ang/360.0;
+      angles[axis - 1] = ang; 
+    }
+
+    step_in = step_in*axisDir[axis-1];
+    absMove(axis, step_in);
+  }
+   
+  limTrig(axis);       
+  sendAngles();
+}
+
+// Function for homing of full arm
+void home_arm() {
+
+  bool stopFlags[6] = {false, false, false, false, false, false};
+  bool finishFlags[6] = {false, false, false, false, false, false};
+  bool completeFlag = false;
+  int count = 0;
+  initializeHomingMotion();
+
+  while(!completeFlag) {
+
+    for(i = 0; i<NUM_AXES; i++) {
+
+      if(!finishFlags[i]) {
+
+        if(!digitalRead(limPins[i]) && !stopFlags[i]) {
+          steppers[i].run();
+        }
+
+        else if(!stopFlags[i]) {
+          steppers[i].setCurrentPosition(-homeComp[i]);
+          steppers[i].stop();
+          steppers[i].setMaxSpeed(maxSpeed[i]/2);
+          steppers[i].setAcceleration(maxAccel[i]/2);
+          steppers[i].moveTo(homeCompSteps[i]);
+          stopFlags[i] = true;
+        }
+
+        else if(steppers[i].distanceToGo() !=0) {
+          steppers[i].run();
+        }
+
+        else {
+          finishFlags[i] = true;
+          count++;
+        }
+      }
+    }
+    if(count == NUM_AXES) {
+      completeFlag = true;
+    }
+  }
+
+  for(i=0; i<NUM_AXES; i++) {
+    angles[i] = abs(homeCompAngles[i]);
+  }
+
+  sendAngles();
+  initializeMotion();
+}
+
+// sets initial speed and acceleration, and sets target position
+void initializeHomingMotion() {
+
+  for(i = 0; i<NUM_AXES; i++) {
+    steppers[i].moveTo(homePos[i]);
+    steppers[i].setMaxSpeed(homeSpeed[i]);
+    steppers[i].setAcceleration(homeAccel[i]);
+  } 
+}
+
+// sets speeds for each axis 
+void initializeMotion() {
+
+  for(i = 0; i<NUM_AXES; i++) {
+    steppers[i].setMaxSpeed(maxSpeed[i]);
+    steppers[i].setAcceleration(maxAccel[i]);
+  }
+}
+
+// sets current position of all axes to 0
+void zeroAxes() { 
+
+  for(i = 0; i<NUM_AXES; i++) {
+    steppers[i].setCurrentPosition(0);
+  }
+}
+
+// Incremental motion of individual axis
+void incMove(int axis, long steps) {
+
+   steppers[axis-1].move(steps);
+   while(steppers[axis-1].distanceToGo() !=0 && !digitalRead(limPins[axis-1])) {
+      steppers[axis-1].run();
+   }
+}
+
+// absolute motion of individual axis
+void absMove(int axis, long steps) {
+
+   steppers[axis-1].moveTo(steps);
+   while(steppers[axis-1].distanceToGo() !=0 && !digitalRead(limPins[axis-1])) {
+       steppers[axis-1].run();
+   }
+}
+
+// routine for if limit switches are triggered unexpectedly during a move
+void limTrig(int axis) {
+
+  if(digitalRead(limPins[axis-1])) {
+    steppers[axis-1].setCurrentPosition(0);
+    steppers[axis-1].stop();
+    steppers[axis-1].move(homeComp[axis-1]);
+    steppers[axis-1].setMaxSpeed(homeSpeed[axis-1]);
+    steppers[axis-1].setAcceleration(homeAccel[axis-1]);
+        
+    while (steppers[axis-1].distanceToGo() != 0) {
+      steppers[axis-1].run();
+    }
+
+    steppers[axis-1].setCurrentPosition(0);
+    steppers[axis-1].setMaxSpeed(maxSpeed[axis-1]);
+    steppers[axis-1].setAcceleration(maxAccel[axis-1]);
+    angles[axis-1] = 0;
+  }
+}
+
+// Sending angles through serial port
+void sendAngles() {
+
+  Serial.println('r');
+  delay(10);
+
+  for (int i = 0; i < NUM_AXES; i++) {
+    Serial.println(angles[i]);
+    delay(10);
+  }
+}
+
+// Sending zero angles through serial port
+void sendZeroAngles() {
+  
+  Serial.println('r');
+  delay(10);
+  
+  for (int i = 0; i < NUM_AXES; i++) {
+    angles[i] = 0;
+    Serial.println(angles[i]);
+    delay(10);
+  }
+}
\ No newline at end of file