 }
 
 boolean armFwdRight180() {
-  if(backValue > 0 && backValue < 0) {
-    if(shoulderValue > 0 && shoulderValue < 0) {
-      if(underarmValue > 0 && underarmValue < 0) {
-        return true;
-      }
-    }
-  }
-  return false;
-}
-
-boolean armSideRight45() {
-  if(backValue > 0 && backValue < 0) {
-    if(shoulderValue > 0 && shoulderValue < 0) {
-      if(underarmValue > 0 && underarmValue < 0) {
-        return true;
-      }
-    }
-  }
-  return false;
-}
-
-boolean armSideRight90() {
-  if(backValue > 0 && backValue < 0) {
-    if(shoulderValue > 0 && shoulderValue < 0) {
-      if(underarmValue > 0 && underarmValue < 0) {
-        return true;
-      }
-    }
-  }
-  return false;
-}
-
-boolean armSideRight135() {
-  if(backValue > 0 && backValue < 0) {
-    if(shoulderValue > 0 && shoulderValue < 0) {
-      if(underarmValue > 0 && underarmValue < 0) {
-        return true;
-      }
-    }
-  }
-  return false;
-}
-
-boolean armSideRight180() {
-  if(backValue > 0 && backValue < 0) {
-    if(shoulderValue > 0 && shoulderValue < 0) {
-      if(underarmValue > 0 && underarmValue < 0) {
+  if(backValue > (armFR180BackVal - armFR180BackTol) && backValue < (armFR180BackVal + armFR180BackTol)) {
+    if(shoulderValue > (armFR180ShoulderVal - armFR180ShoulderTol) && shoulderValue < (armFR180ShoulderVal + armFR180ShoulderTol)) {
+      if(underarmValue > (armFR180UnderVal - armFR180UnderTol) && underarmValue < (armFR180UnderVal + armFR180UnderTol)) {
         return true;
       }
     }

}

boolean armFwdRight45() {
  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;
      }
    }
