Here's a
button toggle example.
As the example stands the green output alternates between a 1 or 0. You can eliminate the inside Case statement if you don't put anything inside it.
If you want a real number output use "Boolean To (0,1)" located on the boolean palette.
If the claw is solenoid operated you can just stick the activate inside the toggle where indicated and use this in Teleop.
A motor operated claw would require a longer cycle, but could be used, as is, inside Periodic Tasks or Autonomous Independent, not in Teleop.