Arm command randomly not working

Technical Programming
1

When we were at the Lake Superior regional we had recurring issues where our arm command would not run. We would intake a cone, return to the grid, and when we hit our arm high button nothing would happen. Here is a video of this occurring, it only ever has occurred on FMS and we cannot recreate it. March 8, 2023 - YouTube The issue occurred at :55 an 1:20, we “fixed” the issue by violently slamming our robot into the wall.

Here is our code

We don’t really know where to start, anything helps!

2

Do you have any type of clamping on the position to say don’t go above or below this value. it almost seems like it might be tucked to far into your robot and the slam is what’s allowing it to get into an acceptable range to then work.