[umangv620]

While that might work, I want to be able to use the joystick to freely move the elevator for when we are hanging a tube in the middle peg or maybe for some other reason.

Could I have PID start slowing down the motor when it reaches 200 rotations close to either limit point? Or should I just use a bunch of case structures and comparisons to give the elevator different speeds based on its position? I've never used or heard of PID before, so I have no clue as to what it can or cant do.

oh, and for the second option above, is there a case structure that would let me run a set of code for a range of values (such as 0<n<200)?