void liftClaw(int16 dist, int dir) {
    int32 pdist = 0;
    int32 psdist = 0; // starting distance

    int32 pdistSE = dist*PULLEY_DIST_COEFF; // Xdist converted to QuadDec counter value

    int done=0;

    // start shaft encoders
    psdist = (getDistance(2,0)); // get right starting dist

    // set speed
    if (dir) {
        PWM_2_WriteCompare(pllspeed);
    } else {
        PWM_2_WriteCompare(pllspeed/2);
    }

    // set direction
    A5_Write(!dir);
    A6_Write(dir);

    // poll SEs every 20ms, when both shaft encoders read X distance, stop
    while (!done) {

//        CyDelay(5); // the smaller this value, the more often the SEs are polled and hence the more accurate the distance

        // get relative pulley travel distance
        pdist = (getDistance(2,psdist));

        if (!DRIVESILENT) {
            UART_1_PutString("\nPdist = ");
            printNumUART(pdist);
        }

        /* When pulley reaches target distance, stop it */
        if (abs(pdist)>=pdistSE) {
            A5_Write(0);
            A6_Write(0);
            done=1;
        }
    }

    CyDelay(10);

}