 }
 
 boolean armFwdRight135() {
-  if(backValue > 0 && backValue < 0) {
-    if(shoulderValue > 0 && shoulderValue < 0) {
-      if(underarmValue > 0 && underarmValue < 0) {
+  if(backValue > (armFR135BackVal - armFR135BackTol) && backValue < (armFR135BackVal + armFR135BackTol)) {
+    if(shoulderValue > (armFR135ShoulderVal - armFR135ShoulderTol) && shoulderValue < (armFR135ShoulderVal + armFR135ShoulderTol)) {
+      if(underarmValue > (armFR135UnderVal - armFR135UnderTol) && underarmValue < (armFR135UnderVal + armFR135UnderTol)) {
         return true;
       }
     }

}

boolean backBentFwd() {
  if(backValue > 0 && backValue < 0) {
    if(shoulderValue > 0 && shoulderValue < 0) {
      if(underarmValue > 0 && underarmValue < 0) {
        return true;
      }
    }

}

boolean armFwdRight90() {
  if(backValue > (armFR90BackVal - armFR90BackTol) && backValue < (armFR90BackVal + armFR90BackTol)) {
    if(shoulderValue > (armFR90ShoulderVal - armFR90ShoulderTol) && shoulderValue < (armFR90ShoulderVal + armFR90ShoulderTol)) {
      if(underarmValue > (armFR90UnderVal - armFR90UnderTol) && underarmValue < (armFR90UnderVal + armFR90UnderTol)) {
        return true;
      }
    }
