 */
 
 boolean armAtSideRight() {
-  if(backValue > 0 && backValue < 0) {
-    if(shoulderValue > 0 && shoulderValue < 0) {
-      if(underarmValue > 0 && underarmValue < 0) {
+  if(backValue > (armSRBackVal - armSRBackTol) && backValue < (armSRBackVal + armSRBackTol)) {
+    if(shoulderValue > (armSRShoulderVal - armSRShoulderTol) && shoulderValue < (armSRShoulderVal + armSRShoulderTol)) {
+      if(underarmValue > (armSRUnderVal - armSRUnderTol) && underarmValue < (armSRUnderVal + armSRUnderTol) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armSideRight45() {
+  if(backValue > (armSR45BackVal - armSR45BackTol) && backValue < (armSR45BackVal + armSR45BackTol)) {
+    if(shoulderValue > (armSR45ShoulderVal - armSR45ShoulderTol) && shoulderValue < (armSR45ShoulderVal + armSR45ShoulderTol)) {
+      if(underarmValue > (armSR45UnderVal - armSR45UnderTol) && underarmValue < (armSR45UnderVal + armSR45UnderTol)) {
+        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;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armSideRight135() {
+  if(backValue > (armSR135BackVal - armSR135BackTol) && backValue < (armSR135BackVal + armSR135BackTol)) {
+    if(shoulderValue > (armSR135ShoulderVal - armSR135ShoulderTol) && shoulderValue < (armSR135ShoulderVal + armSR135ShoulderTol)) {
+      if(underarmValue > (armSR135UnderVal - armSR135UnderTol) && underarmValue < (armSR135UnderVal + armSR135UnderTol)) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+boolean armSideRight180() {
+  if(backValue > (armSR180BackVal - armSR180BackTol) && backValue < (armSR180BackVal + armSR180BackTol)) {
+    if(shoulderValue > (armSR180ShoulderVal - armSR180ShoulderTol) && shoulderValue < (armSR180ShoulderVal + armSR180ShoulderTol)) {
+      if(underarmValue > (armSR180UnderVal - armSR180UnderTol) && underarmValue < (armSR180UnderVal + armSR180UnderTol)) {
         return true;
       }
     }

}

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) {
        return true;
      }
    }

}

boolean armFwdRight45() {
  if(backValue > (armFR45BackVal - armFR45BackTol) && backValue < (armFR45BackVal + armFR45BackTol)) {
    if(shoulderValue > (armFR45ShoulderVal - armFR45ShoulderTol) && shoulderValue < (armFR45ShoulderVal + armFR45ShoulderTol)) {
      if(underarmValue > (armFR45UnderVal - armFR45UnderTol) && underarmValue < (armFR45UnderVal + armFR45UnderTol)) {
        return true;
      }
    }
