 
 boolean armFwdRight180() {
   if(backValue > (armFR180BackVal - armFR180BackTol) && backValue < (armFR180BackVal + armFR180BackTol)) {
-    if(shoulderValue > (armFR180ShoulderVal - armFR180ShoulderTol) && shoulderValue < (armFR180ShoulderVal + armFR180ShoulderTol)) {
-      if(underarmValue > (armFR180UnderVal - armFR180UnderTol) && underarmValue < (armFR180UnderVal + armFR180UnderTol)) {
-        return true;
-      }
-    }
-  }
-  return false;
-}
+    if(rShoulderValue > (armFR180ShoulderVal - armFR180ShoulderTol) && rShoulderValue < (armFR180ShoulderVal + armFR180ShoulderTol)) {
+      if(rUnderarmValue > (armFR180UnderVal - armFR180UnderTol) && rUnderarmValue < (armFR180UnderVal + armFR180UnderTol)) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+// ------------------------- Left -------------------------
+
+boolean armAtSideLeft() {
+  if(backValue > (armSLBackVal - armSLBackTol) && backValue < (armSLBackVal + armSLBackTol)) {
+    if(lShoulderValue > (armSLShoulderVal - armSLShoulderTol) && lShoulderValue < (armSLShoulderVal + armSLShoulderTol)) {
+      if(lUnderarmValue > (armSLUnderVal - armSLUnderTol) && lUnderarmValue < (armSLUnderVal + armSLUnderTol) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armSideLeft45() {
+  if(backValue > (armSL45BackVal - armSL45BackTol) && backValue < (armSL45BackVal + armSL45BackTol)) {
+    if(lShoulderValue > (armSL45ShoulderVal - armSL45ShoulderTol) && lShoulderValue < (armSL45ShoulderVal + armSL45ShoulderTol)) {
+      if(lUnderarmValue > (armSL45UnderVal - armSL45UnderTol) && lUnderarmValue < (armSL45UnderVal + armSL45UnderTol)) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armSideLeft90() {
+  if(backValue > (armSL90BackVal - armSL90BackTol) && backValue < (armSL90BackVal + armSL90BackTol)) {
+    if(lShoulderValue > (armSL90ShoulderVal - armSL90ShoulderTol) && lShoulderValue < (armSL90ShoulderVal + armSL90ShoulderTol)) {
+      if(lUnderarmValue > (armSL90UnderVal - armSL90UnderTol) && lUnderarmValue < (armSL90UnderVal + armSL90UnderTol)) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armSideLeft135() {
+  if(backValue > (armSL135BackVal - armSL135BackTol) && backValue < (armSL135BackVal + armSL135BackTol)) {
+    if(lShoulderValue > (armSL135ShoulderVal - armSL135ShoulderTol) && lShoulderValue < (armSL135ShoulderVal + armSL135ShoulderTol)) {
+      if(lUnderarmValue > (armSL135UnderVal - armSL135UnderTol) && lUnderarmValue < (armSL135UnderVal + armSL135UnderTol)) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armSideLeft180() {
+  if(backValue > (armSL180BackVal - armSL180BackTol) && backValue < (armSL180BackVal + armSL180BackTol)) {
+    if(lShoulderValue > (armSL180ShoulderVal - armSL180ShoulderTol) && lShoulderValue < (armSL180ShoulderVal + armSL180ShoulderTol)) {
+      if(lUnderarmValue > (armSL180UnderVal - armSL180UnderTol) && lUnderarmValue < (armSL180UnderVal + armSL180UnderTol)) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armFwdLeft45() {
+  if(backValue > (armFL45BackVal - armFL45BackTol) && backValue < (armFL45BackVal + armFL45BackTol)) {
+    if(lShoulderValue > (armFL45ShoulderVal - armFL45ShoulderTol) && lShoulderValue < (armFL45ShoulderVal + armFL45ShoulderTol)) {
+      if(lUnderarmValue > (armFL45UnderVal - armFL45UnderTol) && lUnderarmValue < (armFL45UnderVal + armFL45UnderTol)) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armFwdLeft90() {
+  if(backValue > (armFL90BackVal - armFL90BackTol) && backValue < (armFL90BackVal + armFL90BackTol)) {
+    if(lShoulderValue > (armFL90ShoulderVal - armFL90ShoulderTol) && lShoulderValue < (armFL90ShoulderVal + armFL90ShoulderTol)) {
+      if(lUnderarmValue > (armFL90UnderVal - armFL90UnderTol) && lUnderarmValue < (armFL90UnderVal + armFL90UnderTol)) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armFwdLeft135() {
+  if(backValue > (armFL135BackVal - armFL135BackTol) && backValue < (armFL135BackVal + armFL135BackTol)) {
+    if(lShoulderValue > (armFL135ShoulderVal - armFL135ShoulderTol) && lShoulderValue < (armFL135ShoulderVal + armFL135ShoulderTol)) {
+      if(lUnderarmValue > (armFL135UnderVal - armFL135UnderTol) && lUnderarmValue < (armFL135UnderVal + armFL135UnderTol)) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armFwdLeft180() {
+  if(backValue > (armFL180BackVal - armFL180BackTol) && backValue < (armFL180BackVal + armFL180BackTol)) {
+    if(lShoulderValue > (armFL180ShoulderVal - armFL180ShoulderTol) && lShoulderValue < (armFL180ShoulderVal + armFL180ShoulderTol)) {
+      if(lUnderarmValue > (armFL180UnderVal - armFL180UnderTol) && lUnderarmValue < (armFL180UnderVal + armFL180UnderTol)) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+// ------------------------- Back -------------------------
 
 boolean backStraight() {
   if(backValue > (backStraightBackVal - backStraightBackTol) && backValue < (backStraightBackVal + backStraightBackTol)) {
-    if(shoulderValue > (backStraightShoulderVal - backStraightShoulderTol) && shoulderValue < (backStraightShoulderVal + backStraightShoulderTol)) {
-      if(underarmValue > (backStraightUnderVal - backStraightUnderTol) && underarmValue < (backStraightUnderVal + backStraightUnderTol)) {
-        return true;
-      }
-    }
+    //if(shoulderValue > (backStraightShoulderVal - backStraightShoulderTol) && shoulderValue < (backStraightShoulderVal + backStraightShoulderTol)) {
+      //if(underarmValue > (backStraightUnderVal - backStraightUnderTol) && underarmValue < (backStraightUnderVal + backStraightUnderTol)) {
+        return true;
+      //}
+    //}
   }
   return false;
 }
 
 boolean backBentFwd() {
   if(backValue > (backBentFBackVal - backBentFBackTol) && backValue < (backBentFBackVal + backBentFBackTol)) {
-    if(shoulderValue > (backBentFShoulderVal - backBentFShoulderTol) && shoulderValue < (backBentFShoulderVal + backBentFShoulderTol)) {
-      if(underarmValue > (backBentFUnderVal - backBentFUnderTol) && underarmValue < (backBentFUnderVal + backBentFUnderTol)) {
-        return true;
-      }
-    }
+    //if(shoulderValue > (backBentFShoulderVal - backBentFShoulderTol) && shoulderValue < (backBentFShoulderVal + backBentFShoulderTol)) {
+      //if(underarmValue > (backBentFUnderVal - backBentFUnderTol) && underarmValue < (backBentFUnderVal + backBentFUnderTol)) {
+        return true;
+      //}
+    //}
   }
   return false;
 }
 
 boolean backBentBack() {
   if(backValue > (backBentBBackVal - backBentBBackTol) && backValue < (backBentBBackVal + backBentBBackTol)) {
-    if(shoulderValue > (backBentBShoulderVal - backBentBShoulderTol) && shoulderValue < (backBentBShoulderVal + backBentBShoulderTol)) {
-      if(underarmValue > (backBentBUnderVal - backBentBUnderTol) && underarmValue < (backBentBUnderVal + backBentBUnderTol)) {
-        return true;
-      }
-    }
-  }
-  return false;
-}
+    //if(shoulderValue > (backBentBShoulderVal - backBentBShoulderTol) && shoulderValue < (backBentBShoulderVal + backBentBShoulderTol)) {
+      //if(underarmValue > (backBentBUnderVal - backBentBUnderTol) && underarmValue < (backBentBUnderVal + backBentBUnderTol)) {
+        return true;
+      //}
+    //}
+  }
+  return false;
+}


boolean armSideRight90() {
  if(backValue > (armSR90BackVal - armSR90BackTol) && backValue < (armSR90BackVal + armSR90BackTol)) {
    if(shoulderValue > (armSR90ShoulderVal - armSR90ShoulderTol) && shoulderValue < (armSR90ShoulderVal + armSR90ShoulderTol)) {
      if(underarmValue > (armSR90UnderVal - armSR90UnderTol) && underarmValue < (armSR90UnderVal + armSR90UnderTol)) {
        return true;
      }
    }

/*
 * Position Functions
 * Kylie Dale and Michael Guida
 */

// ------------------------ Right ------------------------

boolean armAtSideRight() {
  if(backValue > (armSRBackVal - armSRBackTol) && backValue < (armSRBackVal + armSRBackTol)) {
    if(rShoulderValue > (armSRShoulderVal - armSRShoulderTol) && rShoulderValue < (armSRShoulderVal + armSRShoulderTol)) {
      if(rUnderarmValue > (armSRUnderVal - armSRUnderTol) && rUnderarmValue < (armSRUnderVal + armSRUnderTol) {
        return true;
      }
    }
