[rbayer]

A few things I saw after glancing at it:

if (armcounter = 15) //will raise arm.
   pwm06=0;
else 
   armcounter++;
   pwm06=255;

sould be

if (armcounter == 15) //will raise arm.
   pwm06=0;
else {
   armcounter++;
   pwm06=255; 
}

It is VERY rare that you'll actually want to use a single = in an if, so watch out for that, and also be careful with your curly braces.

That said, I believe the code in its original form should have printf'd 15 over and over and over. Was it doing that, or just not printing anything?