(rosco) Integrate Arm Subsystem

[Trip-kun]

https://github.com/Trip-kun/Robotics5183/blob/Rosco/src/main/java/frc/robot/subsystem/Arm.java
for reference.
This code should be relatively similar despite robot changes.

[Trip-kun]

New developments show that this may now be shared with the claw too because the programming side of them are so similar