[Astronouth7303]

Yes, That is simlest.

Our idea was using a pot for 'Target' position and using a sensor with 2 solenoids to make it stop.
Like:

Const Arm_Upper_Stop as Unsigned Int = 150
const Arm Upper_Catch as unsigned int = 140
Const Arm_Upper_Range as Unsigned Int = 130
Const Arm_Target as Unsigned Int = 125
Const Arm_Lower_Range as Unsigned Int = 120
const Arm_Lower_Catch as Unsigned Int = 110
Const Arm_Lower_Stop as Unsigned Int = 100

void inter_ArmSensor(void)
{
 Static iPrevValue as unsigned int
 
 //Continue after catchup
 if (iPrevValue >= Arm_Upper_Stop & ArmSensor < Arm_Upper_Catch)
  {ArmMotor_Go;}
 if (iPrevValue <= Arm_Lower_Stop & ArmSensor > Arm_Lower_Catch)
  {ArmMotor_Go;}
 
 //Emergancy Stops
 if (ArmSensor >= Arm_Upper_Stop)
  {ArmMotor_Stop;}
 if (ArmSensor <= Arm_Lower_Stop)
  {ArmMotor_Stop:}
 
 //Start Cylinder
 if (ArmSensor >= Arm_Upper_Range)
  {ArmCylinder_Out;}
 if (ArmSensor <= Arm_Lower_Range)
  {ArmCylinder_In;}
 
 //Stop Cylinder
 if (ArmSensor < Arm_Upper_Range)
  {ArmCylinder_Stop;}
 if (ArmSensor > Arm_Lower_Range)
  {ArmCylinder_Stop;}
}

But I have a more efficient idea.