while (1) 
    { 
        // The Slave Reads commands sent from the Master via UART  
        command = EUSART_Read();  
        if (command == '1') // A '1' signifies a muscle flex and we intend to turn the motor ON   
        { 
            // LED D4 on Curiosity HPC is turned on for servo hold(clockwise)  

            LED_RA6_SetHigh();

            //Loop though dutycycle values for continuous motor rotation clockwise  
            for (dutycycle = 20; dutycycle <= 85; dutycycle++) 
            {  
                PWM6_LoadDutyValue(dutycycle);  
                __delay_ms(20);  
            }  
        } 
     else if (command == '0') // A '0' signifies a muscle release and we intend to turn the motor OFF  
        { 
            // LED D4 on Curiosity HPC is turned off for servo release(counter clockwise)  

            LED_RA6_SetLow(); 

            //Loop though dutycycle values for continuous motor rotation counter-clockwise  
            for (dutycycle = 85; dutycycle >= 20; dutycycle--) 
            {  
                PWM6_LoadDutyValue(dutycycle);  
                __delay_ms(20);  
            }  
        }  
    }