revised

src/main/java/frc/robot/Constants.java

@@ -12,4 +12,10 @@
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
-public final class Constants {}
+public final class Constants {
+    public static final int ARM_MOTOR_CAN_ID = 4;
+    public static final int ARM_MOTOR_SWITCH_ID = 0;
+
+    public static final int MOVE_UP = 0.7;
+    public static final int MOVE_DOWN = -0.2;
+}

src/main/java/frc/robot/RobotContainer.java

@@ -18,12 +18,19 @@
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
+  public static XboxController xboxController = new XboxController(0);
+  public static Joystick leftJoystick = new Joystick(1);
+  public static Joystick rightJoystick = new Joystick(2);
 
+  private Arm am;
+  private RotateArm rotateArm;
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
    */
   public RobotContainer() {
     // Configure the button bindings
+    arm = new Arm();
+    rotateArm = new RotateArm(arm);
     configureButtonBindings();
   }
 
@@ -34,6 +41,8 @@ public RobotContainer() {
    * passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
+    JoystickButton rotateArmButton = new JoystickButton(xboxController, XboxController.button.kBumperleft.value);
+    rotateArmButton.whileHeld(new RotateArm(arm))
   }
 
   /**

src/main/java/frc/robot/commands/RotateArm.java

@@ -0,0 +1,40 @@
+package frc.robot.commands;
+
+public class RotateArm extends CommandBase {
+    private Arm am;
+    public RotateArm(Arm arm){
+        this.arm = arm;
+        addRequirements(arm);
+    }
+    @Override
+    public void execute(){
+        boolean leftTriggered = RobotContainer.leftJoystick.getTriggerPressed()
+        boolean rightTriggered = RobotContainer.rightJoystick.getTriggerPressed()
+
+        public void rotate(leftTriggered, rightTriggered){
+            if (leftTriggered && !rightTriggered) {
+                armMotor.moveUp();
+            } else if (rightTriggered && leftTriggered) {
+                armMotor.moveDown();
+            } else {
+                armMotor.setSpeed(0);
+            }
+        }
+
+        if (arm.getLimitSwitch()) {
+            arm.stopRotate();
+        } else {
+            arm.rotate(RobotContainer.leftJoystick, RobotContainer.rightJoystick);
+        }
+    } 
+
+    @Override
+    public void end(boolean interrupted){
+
+    }
+
+    @Override 
+    public boolean isFinished(){
+        return false;
+    }
+}

src/main/java/frc/robot/subsystems/Arm.java

@@ -0,0 +1,29 @@
+import edu.wpi.first.wpilibj.VictorSP;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Arm extends SubsystemBase {
+    private VictorSP armMotor;
+    private DigitalInput limitSwitch;
+
+    public Arm(){
+        armMotor = new VictorSP(Constants.ARM_MOTOR_CAN_ID)
+        limitSwitch = new DigitalInput(Constants.ARM_MOTOR_SWITCH_ID);
+    }
+
+    public boolean getLimitSwitch(){
+        return limitSwitch.get();
+    }
+
+    public void moveUp() {
+        armMotor.setSpeed(Constants.MOVE_UP);
+    }
+
+    public void moveDown() {
+        armMotor.setSpeed(Constants.MOVE_DOWN);
+    }
+
+    public void stopRotate(){
+        armMotor.setSpeed(0);
+    }
+}