// Testing for autonomous arm movement in teleop
            if (gamepad2.dpad_left)
            {
                int targetArm = 75; // ideal position for arm at top of cycle, provided arm starts at the lowest setting

                robot.armDrive.setTargetPosition(targetArm);

                robot.armDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                while(robot.armDrive.isBusy() && opModeIsActive())
                {
                    robot.armDrive.setPower(1);
                }
                robot.armDrive.setPower(0);
                robot.armDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
            }

            if (gamepad2.dpad_right)
            {
                int targetArm = 75;

                robot.armDrive.setTargetPosition(robot.armDrive.getCurrentPosition() - targetArm);

                robot.armDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
                while(robot.armDrive.isBusy() && opModeIsActive())
                {
                    robot.armDrive.setPower(1);
                }
                robot.armDrive.setPower(0);
                robot.armDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
            }