Explanation.

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Answered - If i were to tweak the distance out a bit to give me the degrees, could that be used instead of the ticks?

Answered - Is the number of the ticks the numeric values in true and false structure connected to the PIDs?

Answered - Could i use this to rotate a motor a certain degrees?

Answered - Can anyone explain to me to whats going on here. I do understand most of it but when it says "Arm Binary" i am confused. I do know its a global variable. Is it the current position of the arm? Any help is greatly appreciated.