function [servoPositions, servoSpeeds] = kinematic(T)
 
global servoPositions;
global servoSpeeds;
global serialConnectionAvailable;

display(T);

serialConnectionAvailable = checkSerialConnection;
  
    servoPositions=[T(1) T(2) 0 T(4) 0 0 0 0 0 0 0 0 0 0 0 0];
    servoSpeeds=[12 4 12 4 12 12 12 12 12 12 12 12 12 12 12 12];
    sendCommands(servoPositions,servoSpeeds);
    
end