Arm Control Help

[4AngryNutjobs]

My team is currently working on a pickup arm that needs to hold itself in three distinct positions. We originally tried using pid but were unable to get this to work due to the heavy weight of the arm and lack of knowledge. The arm uses a talon encoder to get its positions and needs to hold steady at -4700, -6000, and -3700 ticks with the press of a button. Our team is currently trying to use if statements and while loops to hold the arm but is struggling to move the arm precisely without it swinging down and slamming into our bumpers.

If anyone has sample code or ideas on how to control the arm please help!!!
We are competing at CVR today and are from team 3859.