if (gamepad2.x)
            {
                robot.armServo.setPosition(robot.CLAW_LOCK);
            }

            if (gamepad2.y)
            {
                robot.armServo.setPosition(robot.CLAW_MID_UNLOCK); // unlocks enough to fit inside intake
            }

            if (gamepad2.dpad_left)
            {
                robot.armServo.setPosition(robot.CLAW_UNLOCK); // fully unlocks
            }


            arm = (armLeftStickY/Math.abs(armLeftStickY))*(Math.sqrt(Math.abs(armLeftStickY)));