[Arhowk]

If you are having the issue of the arm slamming into the bumpers than what helped for our team was using a slow voltage ramp rate when the PID is arm level

Additionally, to make your code nicer, I'd carefully tune a feed forward constant. Multiply this by the cosine of the CURRENT (not desired) arm position to get the force required to hold the arm at that position. From there, you may find it easier to use traditional PID tuning methods as you are not fighting the force of gravity