arm encoders, and states made, not tested

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/FullRobotControl.java

@@ -23,7 +23,12 @@ public class FullRobotControl extends OpMode {
     DcMotor armMotor;
     Servo gripper;
     Servo wrist;
+    DcMotor arm;
     public ElapsedTime runtime = new ElapsedTime();
+    static final double TICKS_TO_DEGREES = 0.07462686567;
+    static final double COUNTS_PER_MOTOR_REV = 537.6;
+    static final double DRIVE_GEAR_REDUCTION = 1.0;
+    static final double COUNTS_PER_ARM_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (2.7 * Math.PI);
 
 
     /**
@@ -64,6 +69,7 @@ public class FullRobotControl extends OpMode {
         gripper = hardwareMap.servo.get("gripper");
         gripper.setPosition(1);
         wrist = hardwareMap.servo.get("wrist");
+        arm = hardwareMap.dcMotor.get("arm raise");
         wrist.setPosition(1);
 
     }
@@ -165,6 +171,43 @@ public class FullRobotControl extends OpMode {
             gripper.setPosition(1);
         }
 
+        int armState = 0;
+        if(gamepad2.x)
+        {
+            armState = 1;
+          raisearm(0);
+        }
+        if(gamepad2.y)
+        {
+             armState = 2;
+            raisearm(30);
+        }
+        if(gamepad2.y)
+        {
+             armState = 2;
+            raisearm(200);
+        }
+        if(gamepad2.right_bumper)
+        {
+            armState =+ 1;
+        }
+        if(gamepad2.left_bumper)
+        {
+            armState =- 1;
+        }
+        if(armState == 1)
+        {
+            raisearm(0);
+        }
+        if(armState == 2)
+        {
+            raisearm(30);
+        }
+        if(armState == 1)
+        {
+            raisearm(200);
+        }
+
 
 
 
@@ -182,4 +225,34 @@ public class FullRobotControl extends OpMode {
 
         telemetry.update();
     }
-}
+    public void raisearm(int degrees)
+    {
+        armEncoder(.2, degrees*TICKS_TO_DEGREES);
+
+    }
+    public void armEncoder(double speed,
+                           double Inches) {
+        int newarmTarget;
+
+
+        // Determine new target position, and pass to motor controller
+        newarmTarget = arm.getCurrentPosition() + (int) (Inches * COUNTS_PER_ARM_INCH);
+        arm.setTargetPosition(newarmTarget);
+
+        // Turn On RUN_TO_POSITION
+        arm.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+        // reset the timeout time and start motion.
+        runtime.reset();
+        arm.setPower(Math.abs(speed));
+
+
+        arm.setPower(0);
+
+
+        // Turn off RUN_TO_POSITION
+        arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        }
+    }
+