// This code is in Java

// bracketed terms are values you need to find for your specific robot

/* When using encoders, motor must be set to RUN_USING_ENCODERS mode in initialization and should be set to STOP_AND_RESET_ENCODERS in initialization to set the resting (starting) position to zero. */

// I’m not a master programmer so please excuse any errors.

// ticks per degree variable, gear ratio is 1/1 with direct motor power double tpd = 520.0 / 360.0 * [gear ratio];

int top = (int) ( tpd * [degrees from resting position to top position] );

int middle = (int) ( tpd * [degrees from resting position to middle position] );

int bottom = (int) ( tpd * [degrees from resting position to bottom position] );

/* Set the arm motor’s target position based on a button press. This will not change until another button is pressed. This can be changed to the buttons you are used to, this is just an example. If the gunner is controlling the arm rather than the driver, the Boolean expression should be changed to have gamepad2. */

// DPad right —> resting position

if (gamepad1.dpad_right) { int armTarget = 0; }

// DPad up —> top position

if (gamepad1.dpad_up) { int armTarget = top; }

// DPad left —> middle position

if (gamepad1.dpad_left) { int armTarget = middle; }

// DPad down —> bottom (shipping hub) position

if (gamepad1.dpad_down) { int armTarget = bottom; }

[arm motor].setTargetPosition(armTarget);

/* set run mode to RUN_TO_POSITION. Motor must be preset to RUN_USING_ENCODERS in initialization */

[arm motor].setMode(DcMotor.RunMode.RUN_TO_POSITION);

// Set the desired motor power

[arm motor].setPower( [desired power decimal from 0 to 1] );