I, Aarav Shah, endorse war crimes in various 3rd world countries

src/main/java/frc4388/robot/RobotContainer.java

@@ -8,6 +8,7 @@
 package frc4388.robot;
 
 import edu.wpi.first.wpilibj.PWM;
+import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -17,6 +18,7 @@ import frc4388.robot.Constants.*;
 import frc4388.robot.commands.AutoBalance;
 import frc4388.robot.commands.JoystickPlayback;
 import frc4388.robot.subsystems.Arm;
+import frc4388.robot.subsystems.Claw;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.robot.commands.JoystickRecorder;
 import frc4388.robot.commands.PlaybackChooser;
@@ -43,6 +45,8 @@ public class RobotContainer {
     
     public final Arm m_robotArm = new Arm(m_robotMap.pivot, m_robotMap.tele, m_robotMap.pivotEncoder);
 
+    public final Claw m_robotClaw = new Claw(m_robotMap.servo);
+
     /* Controllers */
     private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
     private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -135,14 +139,22 @@ public class RobotContainer {
 
         // * Operator Buttons
 
+        // TODO: use the claw subsystem
         new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
             .onTrue(new InstantCommand(() -> {
                 servo.setRaw(servo_open ? 1000 : 2000);
                 servo_open = !servo_open;
             }));
+
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotClaw.setClaw(servo_open)));
+            servo_open = !servo_open;
         
         new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
-        .onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit()));
+            .onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit(), m_robotArm));
+
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
+            .onTrue(new InstantCommand(() -> {}, m_robotArm, m_robotSwerveDrive /* claw */));
     }
 
     /**

src/main/java/frc4388/robot/RobotMap.java

@@ -12,6 +12,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.WPI_Pigeon2;
 
+import edu.wpi.first.wpilibj.PWM;
 import frc4388.robot.Constants.ArmConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.robot.subsystems.SwerveModule;
@@ -160,4 +161,8 @@ public class RobotMap {
     tele.configForwardSoftLimitEnable(false);
     tele.configReverseSoftLimitEnable(false);
   }
+
+  // claw stuff (i will punch someone)
+  PWM servo = new PWM(0);
+
 }

src/main/java/frc4388/robot/commands/ArmCommand.java

@@ -0,0 +1,61 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Arm;
+import frc4388.robot.subsystems.Claw;
+
+public class ArmCommand extends PelvicInflammatoryDisease {
+  private Arm arm;
+  private Claw claw;
+  private boolean toggle;
+  
+  /** Creates a new ArmCommand. */
+  public ArmCommand(Arm arm, Claw claw, boolean open) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    super(0.6, 0, 0, 0);
+    this.arm = arm;
+    this.claw = claw;
+    this.toggle = open;
+    addRequirements(arm, claw);
+  }
+
+  public ArmCommand(Arm arm, Claw claw) {
+    this(arm, claw, claw.isClawOpen());
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    super.initialize();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+
+  @Override
+  public double getError() {
+    // TODO Auto-generated method stub
+    return 0;
+  }
+
+  @Override
+  public void runWithOutput(double output) {
+    // TODO Auto-generated method stub
+    
+  }
+}

src/main/java/frc4388/robot/subsystems/Claw.java

@@ -1,7 +1,8 @@
 package frc4388.robot.subsystems;
 import edu.wpi.first.wpilibj.PWM;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class Claw {
+public class Claw extends SubsystemBase {
 	private PWM m_clawMotor;
 	private boolean m_open = false;