[WizenedEE]

Didn't you post this in another thread also?

Anyway, one problem is that you have two robot drives. The robot drive vi is only meant for the wheels. For other motors (like on your arm, or your claw), you want to use the normal "motorcontrol" vi (it's under actuators).

You open it in begin the same way you would for the robot drive motors. In teleop, you just wire the joystick value to it and it's golden.