//arm
            if(gamepad1.right_bumper){
                currentLevel++;
                if(currentLevel >= 9){
                    currentLevel = 9;
                    lift.Arm(0, false);
                }
                else if(currentLevel <= 2){
                    lift.runDistance(heightToPivot, 0.5);
                    lift.waitForEncoder();
                    scorer.pivot.setPosition(1);
                    lift.Arm(-0.5,true);
                }
                else if(currentLevel == 3){
                    lift.runDistance(heightToPivot, 0.5);
                    lift.waitForEncoder();
                    scorer.pivot.setPosition(1);
                    lift.runDistance(-4, 0.5);
                    lift.waitForEncoder();
                }
                else {
                    lift.runDistance(heightToPivot + (currentLevel * 4), 0.5);
                    lift.waitForEncoder();
                    scorer.setPivot(1);//out
                }
                telemetry.addData("CurrentLevel: " + currentLevel, "hi");
                telemetry.update();
            }
            if(gamepad1.left_bumper) {
                currentLevel--;
                if (currentLevel < 0) {
                    currentLevel = 0;
                } else if (currentLevel < 3) {
                    lift.Arm(0, false);
                } else{
                    lift.runDistance(-4, 0.5);
                    lift.waitForEncoder();
                }
                telemetry.addData("CurrentLevel: " + currentLevel, "hi");
                telemetry.update();
            }
            if(gamepad1.dpad_down) {
                if (currentLevel > 3) {
                    currentLevel = 0;
                    scorer.setPivot(0.05); // in
                    lift.Arm(-0.5, true);
                    scorer.setGripper(1); //gripper open
                    intake.setHitter(1); //hitter out
                } else if (gamepad1.dpad_down && currentLevel == 3) {
                    currentLevel = 0;
                    lift.runDistance(4, 0.5);
                    lift.waitForEncoder();
                    scorer.setPivot(0.05);
                    lift.Arm(-0.5, true);
                    scorer.setGripper(1); //gripper open
                    intake.setHitter(1); //hitter out
                } else if (gamepad1.dpad_down && currentLevel <= 2) {
                    lift.runDistance(heightToPivot, 0.5);
                    lift.waitForEncoder();
                    scorer.pivot.setPosition(0.05);
                    lift.Arm(-0.5, true);
                    scorer.setGripper(1); //gripper open
                    intake.setHitter(1); //hitter out
                }
                telemetry.addData("CurrentLevel: " + currentLevel, "hi");
                telemetry.update();
            }