Animatics SmartMotor Programming

We need some help programming an Animatics SmartMotor. We have been developing a servomotor-controlled automatic rocking chair with the medical industry in mind, and are on the last steps of getting a fully functional product. However, we have run into some programming issues as we do not have a strong background in programming. The SmartMotor is attached via a shaft to a base frame which the rocking chair sits on, with an input from a digital encoder as well as a potentiometer. The encoder is mounted to the base frame with the string end attached to the rocking chair. It is used to measure the position of the rocking chair as it goes through its back and forth motion. The goal is to have the motor give a quick up and down impulse to the base of the chair every time the chair changes from the backward direction to forward direction (in this case, the encoder values are changing from positive to negative). We would also like to take the input from the potentiometer and use it to scale the amplitude of the impulse up or down to increase of decrease the amplitude of the rocking chair motion. This is so the occupant can change the amplitude to whatever is most comfortable to them. Right now, with the program we have the motor goes through four slow up and down motions to set the rocking chair in motion, and then switches to a loop where it does nothing. While in this loop, we want interrupts to kick in whenever the chair direction changes as described above, and send the quick impulse to the base. After the four initial motions, we have gotten the chair to run through the interrupt once, but afterward it continues in the loop without anymore interrupts. We have a Dropbox link with videos and our program which we can send to anyone interested.