//Line 135
    //store the initial position of dynamixel
    cm730.ReadWord(JointData::ID_L_SHOULDER_PITCH, MX28::P_PRESENT_POSITION_L, &pitchpos, 0);
    cm730.ReadWord(JointData::ID_L_SHOULDER_ROLL, MX28::P_PRESENT_POSITION_L, &rollpos, 0);

    while (1) {

        //read TCP data from client and store it in disp[] array
        n = read(newsockfd,disp,sizeof(disp));
        if (n < 0) error("ERROR reading from socket");

        //new position for shoulder roll and pitch dynamixel is the sum of initial position and angle inputs from Wii remote
        r_pos = rollpos+11.378*disp[0];
        p_pos = pitchpos+11.378*disp[1];

        if (disp[7] ==1)
        {

            Action::GetInstance()->m_Joint.SetEnableBody(false, false);
            MotionManager::GetInstance()->SetEnable(false);

            //dynamixel limits
            if (rollpos>=2460 || rollpos<=1200)
                printf("Limit has been reached");
            else
                cm730.WriteWord(JointData::ID_L_SHOULDER_ROLL, MX28::P_GOAL_POSITION_L, r_pos, 0); //move shoulder roll

            //dynamixel limits
            if (pitchpos<0 || pitchpos>3038)
                printf("Limit has been reached");
            else
                cm730.WriteWord(JointData::ID_L_SHOULDER_PITCH, MX28::P_GOAL_POSITION_L, p_pos, 0); //move shoulder pitch

        }

        //disp[6] stores states of button A on Wii remote
        //integer stand and sit stores the state of DARwIn-OP
        if (disp[6] == 1)
        {
            if(stand == 0)
            {
                if(Action::GetInstance()->IsRunning() == 0)
                {
                    Action::GetInstance()->m_Joint.SetEnableBody(true, true);
                    MotionManager::GetInstance()->SetEnable(true);
                    Action::GetInstance()->Start(9);
                    stand = 1;
                    sit = 0;
                }
            }
        }
        else if (disp[6] == -1)
        {
            if (sit == 0)
            {
                if(Action::GetInstance()->IsRunning() == 0)
                {
                    Action::GetInstance()->m_Joint.SetEnableBody(true, true);
                    MotionManager::GetInstance()->SetEnable(true);
                    Action::GetInstance()->Start(15);
                    sit = 1;
                    stand = 0;
                }
            }
        }

        n = write(newsockfd,"0",1);
        if (n < 0) error("ERROR writing to socket");
    }