diff --git a/positionCapture/positionCapture.pde b/positionCapture/positionCapture.pde
new file mode 100644
index 0000000..1648450
--- /dev/null
+++ b/positionCapture/positionCapture.pde
@@ -0,0 +1,161 @@
+import processing.serial.*;
+String serial_port="COM3";
+Serial serial;
+String serialString=""; //last read string
+int serial_endchar=10; //10=ASCII Linefeed
+
+static int SERVO_COUNT=5;
+int servoPositionsActual[]=new int[SERVO_COUNT];
+
+PrintWriter fileoutput;
+String recorddir="recordings/";
+
+boolean recording=false;
+String filename="";
+int recordingStartTime;
+int linesWritten;
+
+void setup() {
+  size(800,600);
+  background(0);
+  
+
+  printArray(Serial.list());
+  // Open the port you are using at the rate you want:
+  serial = new Serial(this, serial_port, 57600);
+  
+  serial.clear();
+  // Throw out the first reading, in case we started reading 
+  // in the middle of a string from the sender.
+  println("readUntil");
+  serialString = serial.readStringUntil(serial_endchar);
+  println("read:"+serialString);
+  serialString = null;
+
+
+  
+}
+
+void draw() {
+  clear();
+  int valRange=1024; //maximum value for bargraph scale
+  
+  String[] list=readSerial();
+  if (list!=null) {
+    
+    if (list[0].equalsIgnoreCase("dxlgp")) { //is position message
+        
+      boolean firstValueWritten=false;
+      for (int i=1;i<list.length;i++) {
+        String _number=list[i].replaceAll("[^0-9.]", ""); //remove non digit characters
+        print(i); print("="); print(_number); print(" parsed="); println(parseInt(_number));
+        servoPositionsActual[i-1]=parseInt(_number);
+         
+         
+        if (recording) {
+          if (!firstValueWritten) {
+            fileoutput.print( (millis()-recordingStartTime)/1000.0); //write time
+          }else{
+            fileoutput.print(","); 
+          }
+          fileoutput.print(_number);
+        }
+        firstValueWritten=true;
+        
+      }
+      
+      if (recording) {
+        linesWritten++;
+        fileoutput.println();
+        fileoutput.flush();
+      }
+      
+        
+      
+      
+      
+    }
+  }
+  
+
+  //Draw Recording Info
+  if (recording) {
+    textSize(16);
+    textAlign(RIGHT);
+    text(filename,width-10,10+50+20);
+    text("t="+nf((millis()-recordingStartTime)/1000.0, 1,3) ,width-10,10+50+20+20);
+    text("lines="+linesWritten ,width-10,10+50+20+20+20);
+    
+    fill(255,0,0);
+  }else{
+    fill(50,50,50);
+  }
+  rect(width-50-10,10,50,50);
+  
+  
+  for (int i=0;i<servoPositionsActual.length;i++) {
+    
+    drawBargraph(servoPositionsActual[i],valRange,10,30+50*i);
+  }
+  
+}
+
+void keyPressed() {
+  if (key == CODED) {
+    
+  }else{
+    //print("Code=");println(keyCode);
+    if (keyCode==82) { //r
+      if (!recording) {
+        filename=year()+"-"+month()+"-"+day()+"_"+hour()+"-"+minute()+"-"+second()+".txt";
+        fileoutput = createWriter(recorddir+""+filename);
+        print("Recording started. Filename: "); println(filename);
+        recording=true;
+        recordingStartTime=millis();
+        
+        //Write header
+        fileoutput.println("time,servo0,servo1,servo2,servo3,servo4");
+      }
+      
+    }else if(keyCode==83) { //s
+      if (recording) {
+        fileoutput.close();
+        recording=false;
+        println("Stopped Recording");
+      }
+    }
+  }
+}
+
+
+
+
+void drawBargraph(float val, float maxvalue, int posX, int posY) {
+  int graphW=300;
+  int graphH=20;
+  
+  fill(255);
+  rect(posX,posY,val*graphW/maxvalue,graphH); //graph
+  
+  noFill();
+  stroke(127);
+  rect(posX,posY,graphW,graphH); //border
+  
+  textAlign(CENTER);
+  textSize(20);
+  text(val,posX+graphW/2,posY);
+}
+
+
+String[] readSerial() {
+  if (serial.available() > 0) {
+      serialString = serial.readStringUntil(serial_endchar);
+      //println("read:"+serialString);
+      if (serialString != null) {
+        println(serialString);
+        String[] list = split(serialString, ',');
+        return list;
+      }
+  }
+  return null;
+}