•	TogglePickupArm and ToggleSecondaryArm classes renamed to PickupArm and SecondaryArm, and added constructor enum parameters for OPEN, CLOSE, and TOGGLE. The TOGGLE mode is used for the joystick controller, but now Autonomous mode can use the OPEN parameter to create a command that will always set the Pickup and Secondary Arms to open, regardless of which state they started in (if the arms were already open, this should do nothing).
•	Minor change to set done = false in the initialize method, instead of the class constructor. I don’t know how these commands ever worked a second time.
•	Changed the maxTime on PickupArm from 125 ticks to 50 ticks – to match the maxTime on SecondaryArm. If someone knows why it should take the PickupArm 2.5 seconds to open/close when we apparently believed the SecondaryArm could do this in one second, please let me know. Yes, we’d better test this, or it might be possible to shoot before the arms are open. On the other hand, if it turns out that it really takes a second or less to open the arms, then we’ve been needlessly slowing down our shooting.