function dirKin(H,posX,posY,posZ)

globalVar;

param1 = bitand(posX,MASK_HIGH) / 256;
param2 = bitand(posX,MASK_LOW);
param3 = bitand(posY,MASK_HIGH) / 256;
param4 = bitand(posY,MASK_LOW);
param5 = bitand(posZ,MASK_HIGH) / 256;
param6 = bitand(posZ,MASK_LOW);

sendServo(H,DIR_KIN,param1,param2,param3,param4,param5,param6);
% [command,return1,return2,return3] = readServo(H);
% 
% if(~(command == DIR_KIN && ~return1 && ~return2 && ~return3))
%     disp('OPERATION FAILED: Testing Direct Kinetic');
% end

end


