How do I code for a robotic arm and Gripper?

[BurritoGod]

I want to know How I even make code for a robot arm and gripper. we are using Java on VScode2023 making a command based robot. I want to know how to even go about coding for the Gripper and arm. I am a new coder and the only one for team 2647.
edit:
-We are using 5 or 6 motors: 4 for the drivetrain and 2 or 1 for the arm and gripper
-we are using Brushed CIM motors and the Motor controllers we are using are 4 VictorSP Motor controllers and I am planning on using 2 or 1 CANSparkMax Motor controllers for the gripper and arm
-plan on using encoders (if not we’ll be using navX but we are trying to go for encoders)
-no pneumatics sadly

[Drakxii]

We will need details, how many motors, what kind of motors, any pneumatics, are there any additional senors, etc…

[BurritoGod]

I edited the post with more details
check it out!

[Hollisms]

Robotic arm spark max controller coding

Hi all! I could use some serious help! I am a second year instructor with robotics, with kiddos who know how to build, but not code. We have built a robotic arm to pick up cones and cubes. It’s almost like a grabber/pincher. We have the base code for driving which is set. The step we need assistance on is the arm. We use spark max controllers, have a snowblower motor, and three air cylinders. The big cylinder slides the arm down, the other two small cylinders pinch the arm. I am learning java…