H = initcom(1, 115200);

error = 1;
while(error),
    % PWM
    [rx,error,errorstr,tries]=applyjoint(H, 2, 3, [1 1 0]);
    [rx,error,errorstr,tries]=applyjoint(H, 3, 3, [1 1 0]);
    
    % Velocidade
    applyjoint(H,2,1,[50 50 50]);
    applyjoint(H,3,1,[50 50 50]);
    
    % Posição
    applyjoint(H,3,0,[-30 0 0]);
    applyjoint(H,2,0,[-20 10 0]);
end