Changed names of labels

Trying to make the labels more readable by using cammel case.
This way we can see what the labels mean without pulling my
hair out.
Renamed the A to D conversion subroutine
Arm now moves to target location

Apperently the HCS12 has assembly support for signed integers. So
instead of using the BGE and BLE we have to use BHI and BLO for
unsigned integers. Well that was a waste of time.