Calibration: Motors wind back, hit the limit switch, and advance forward to determined location.

Get Rotation Angles: Arduino board receives angles of each joint from mounted potentiometers.

Pass to Unity: Via USB.

Holding?: Unity determines if the user is holding a weight or not.

     NO) Return 'rest': send value to motors to position not in contact with brake.

     YES) Get rotations: read rotations.

              Run DH calculation: Runs Denavit-Hartenburg calculations to determine torque values.

              Return torque values: Sends these values to the motor controllers.

Get brake position and unity return: Compares requested position to current position.

Adjust brake: Adjusts to desired position if previous step shows a difference.

Return brake position: Sends position back to confirm final placement.