uArm Serial Communication through TX/RX

Hi so originally I tried to write an I2C code to have my arduino to tell the uArm how to move. Now I am trying to use serial communication through the TX/RX. As of now I have a simple code that I will attach below that pretty much says if the arm receives code to move to this coordinate, then move back. Unfortunately, the arm doesn’t move in the x (or rotational) axis. It only moves forward and vertically then returns to its normal position. Can anybody tell me if it is the code or the arm?

Slave:
#include “uarm_library.h”
#include <EEPROM.h>
#include <Wire.h>
#include <Servo.h>
bool alter = false;
void setup() {
// initialize both serial ports:
Serial.begin(9600);

}
byte highiambyte;
void loop() {

if (Serial.available()) {
while(Serial.read()!=-1)
{}

if(alter)
{
  uarm.moveTo(20,-10,20);
}
else
{
  uarm.moveTo(20,-10,20);
}
alter != alter;

}
}

Master:

void setup() {
// initialize both serial ports:
Serial.begin(9600);

}
int i=0;
void loop() {
delay(6000);

Serial.write(i);
i=i+1;
if(i>10)
{i=0;}

what uArm are you using and what firmware version does it have on it @njclayto ?