[dmitch]

I am going to be using Jaguars to control the arm motors. And by encoders do you mean I need to attach the US digital encoders to the motor axles?

If so, how do I wire these?(I'll look at the sensor manual but I'm hopeless with technical diagrams)

Is there not a way to have a case structure that holds a set motor vi and I can set the motor to run EITHER at x speed for y seconds OR for x degrees??
It seems to me that this would be quite a bit easier.

I'm going to look over your code tonight and try to make sense of what everything does. I'll probably be able to post tomorrow to ask questions and clarify some stuff. Thank You!