function initialization(H)

globalVar;

disp(' ');
disp('** Matlab - PIC **');
sendServo(H,1,TESTAR,123,0,0,0,0,0);
[command,return1] = readServo(H);
disp('Value given by the Matlab: 123');
disp(['Value returned by the PIC: ', num2str(return1)]);
if (return1 == 123)
    disp('Communication Matlab-PIC is working.');
else
    disp('Communication Matlab-PIC is not working.');
end

disp(' ');
disp('** PIC - Servos **');
disp('Reading Servos EEPROM 0x00..0x06');
disp('Address  Data(hex)');
for addr=0:6
    data=readEeprom(H,addr);
    disp([ '  0x0', num2str(addr), '   ', num2str(dec2hex(data))]);
end
data = readEeprom(H,0);
if (data == 20)
    disp('Communication PIC-Servos is working.');
else
    disp('Communication PIC-Servos is not working.');
end

end