if( (m_encoder.getDistance() < 3) || (m_encoder.getDistance() >25) || (Math.abs(m_encoder.getDistance()-targetDistance) < 3) ){
  elevatorSpeedAct = elevatorSpeedSlow;
}
else{
  elevatorSpeedAct = elevatorSpeedFast;
}

boolean elevatorButtonPressed = (m_joystick2.getRawButton(bHomeLevel)) || (m_joystick2.getRawButton(bHatchLevel2)) || (m_joystick2.getRawButton(bHatchLevel3)) || (m_joystick.getRawButton(bDriveLevel));

if(m_joystick2.getRawButton(bHomeLevel)){
  targetDistance = homeLevel;
}
if(m_joystick2.getRawButton(bHatchLevel2)){
  targetDistance = hatchLevel2;
}
if(m_joystick2.getRawButton(bHatchLevel3)){
  targetDistance = hatchLevel3;
}
if(m_joystick.getRawButton(bDriveLevel)){
  targetDistance = driveLevel;
}


if(elevatorButtonPressed){

boolean TooLow = (m_encoder.getDistance()-targetDistance) < -0.5;
boolean TooHigh = (m_encoder.getDistance()-targetDistance) > 0.5;

  if (TooLow) {
    elevatorSpark.set(elevatorSpeedAct);
  }
  else if (TooHigh){
    elevatorSpark.set(-elevatorSpeedAct);
  }
  else {
    elevatorSpark.set(elevatorSpeedStop);
  }
}
else{
  elevatorSpark.set(0);
}