[joelg236]

package Subsystems;

import Hardware.Arm;
import Hardware.Sensors.Sensors;
import edu.wpi.first.wpilibj.command.PIDSubsystem;

/**
 * PIDarm - 
 * @author Joel Gallant
 */
public class PIDarm extends PIDSubsystem {
    private static final double Kp = 6.0;
    private static final double Ki = 0.0;
    private static final double Kd = 0.0;
    
    private Arm arm = new Arm();


    public PIDarm() {
        super("PIDarm", Kp, Ki, Kd);

        // setSetpoint() -  Sets where the PID controller should move the system to.
        // setStepointRange() - Sets the range that the setpoint may be in.
        // enable() - Enables the PID controller.
        setSetpointRange(arm.HIGH, arm.LOW);
    }
    
    public void initDefaultCommand() {
        // Set the default command for a subsystem here.
    }

    protected double returnPIDInput() {
        // Return your input value for the PID loop.
        return Sensors.getArmPosition();
    }

    protected void usePIDOutput(double output) {
        // Use output to drive your system, like a motor.
        arm.move(output);
    }
}

That's as simple as it gets. Yet it does nothing.
For further detail into the PIDOutput...

    public void move(double speed){
        if(speed > -0.05 && Sensors.getBack() && Sensors.getArmPosition() < HIGH) {
            leftArm().set(speed*maxArmSpeed);
            rightArm().set(speed*maxArmSpeed);
        }else if(speed > 0.05 && Sensors.getFront() && Sensors.getArmPosition() > LOW) {
            leftArm().set(speed*maxArmSpeed);
            rightArm().set(speed*maxArmSpeed);
        }else {
            leftArm().set(0);
            rightArm().set(0);
        }
    }

That's the method used for move arm.

leftArm() and rightArm() are as followed

private SpeedController leftArm;
    private SpeedController rightArm;
    
    private SpeedController leftArm() {
        if(leftArm == null) {
            leftArm = new Victor(PortMapping.armLeftChannel);
        }
        return leftArm;
    }
    private SpeedController rightArm() {
        if(rightArm == null) {
            rightArm = new Victor(PortMapping.armRightChannel);
        }
        return rightArm;
    }

Maybe I am not seeing something, but this should not create a new allocation of the PWM.
BTW PWM port 5 is leftArm, which is the one that gets allocated wrongly.