Potentiometer, need help with programming

[jordan11623]

On our robot for the FRC Competition we have a axle on our grab arm. We'd like to wire a potentiometer to it so that we can control the voltage that goes in and out of it depending on which side it goes to. (Up or down, I guess). And we'd also like to know how we could get the input from that potentiometer and translate it to a program in LabView, whether manually or otherwise. We're not sure if that was explained correctly or in a way that makes sense. The team isn't exactly sure how to do this in any way. We'd like to stop the grab arm from going back down after we bring it up, we want it to lower manually but have it stop and lock automatically after we raise it.
-Team 4641