help with operator control

[d25inferno]

we are having a problem controlling our "arm" which is run by 2 relay switches connected to 1 motor each. When we enable our robot the arm shoots upwards but cannot be controlled by the joystick. We are controlling our "claw" with buttons on the joystick which work (the claw motor is also connected to the motor). I have attached an image of our code. Please help! Thank
you.

http://img229.imageshack.us/img229/7555/picnr1.png

[Kingofl337]

Two things change the while loops to "If" and set a off state for the relay.

If ( Y >= (117 && Y <= 137) {
SetRelay ( Off )
}
else if (Y >= 138 ) {
SetRelay ( Forward)
}
else if (Y <=116 ) {
SetRelay ( Reverse)
}