H = initcom(3, 115200);

error = 1;
while(error),
    % PWM
    [rx,error,errorstr]=applyjoint(H, 3, 3, [1 0 0]);
    [rx,error,errorstr]=applyjoint(H, 1, 3, [1 0 0]);
    
    % Velocidade
    applyjoint(H,3,1,[50 50 50]);
    applyjoint(H,1,1,[50 50 50]);
    
    % Posição
    applyjoint(H,3,0,[0 0 0]);
    applyjoint(H,1,0,[15 30 -20]);
end