//////////////////////////////
// Function Initializations //
//////////////////////////////
void pos_read(void);
void move_down(volatile unsigned int, unsigned int);

...

///////////////////
// Main Function //
///////////////////
volatile unsigned int current_position;

int main(void)
{
	volatile unsigned int favorite_position = 200;
	volatile unsigned int max_position = 575;
	volatile unsigned int min_position = 68;

	...

	//Rotate motor down function call
	else if(rf_input_buffer == RF_DOWN){
		//Command routine
		move_down(current_position, min_position);
	}

	...

#pragma vector = ADC10_VECTOR
__interrupt void ADC_ISR(void)
{
	//ADC channel buffer
	adc_count--;

	...

	//Save A1, Potentiometer input
	else if(adc_count == 1){
		//Save position
		current_position = ADC10MEM0;

		//Enable conversion of next channel
		ADC10CTL0 |= ADC10SC;
	}

	...

	else{
		//Enable conversion of next channel
		ADC10CTL0 |= ADC10SC;
	}
}

...

//////////////////////////////////
// Position read, move function //
//////////////////////////////////

void pos_read(void)
{
	//Enable interrupt
	ADC10IE = ADC10IE0;

	//Enable, start conversion
	ADC10CTL0 |= ADC10ENC + ADC10SC;

	while(ADC10CTL1 & ADC10BUSY);
}

void move_down(volatile unsigned int current_position, unsigned int min_position)
{
	//Detect current position
	pos_read();

	//Limit check
	while(current_position > min_position){
		//Drive motor downwards
		P2OUT_MOTOR &= ~MOTOR_CCW;
		P2OUT_MOTOR |= MOTOR_CW;

		//Detect current position
		pos_read();
	}

	//Stop motor
	P2OUT_MOTOR &= ~(MOTOR_CW + MOTOR_CCW);

	//Disable potentiometer
	P1OUT_POT &= ~POT_EN;
}