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Let's focus on the arm. Are you comfortable with letting your drivers move it themselves by eye or do you want your code to be able to know where the arm is?
If it's the former, you'll just need to have one button send a forward command to the Jaguar and one button send a reverse command to the Jaguar.
If it's the latter, you'll need to implement some form of closed loop control. You'll need a sensor on the arm, and some additional logic in code.
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