I just used config.xlsx to calculate the min/max rad values from the given degrees, and entered them into ZenoArms.py (I could have gotten away with just using 'range' it looks like, but meh) and I attempted to adjust the directions correctly. The arm directions are completely inverted from arm to arm.
I have now entered the pulses (min/max/range) and the directional facings to the best of my ability. It is time to integrate and test.