SOLVED !!!!
thank fully i figured this one out on my own but thank all of you who tried to give me some derction
i used a series on while statements to calibrate each move i tried this before but some thing was wrong at the end of the while statement i used it was not checking my sensor to brake its self from the loop but adding a check inside the while statement seemed to clear up my bug i think the code is a mess at this point but it is working just as i had hoped few more tweaks and it should be smooth sailing ...
if i get a video posted ill link it when i got a sec
the code as it is now ill share here.