Put in smartdashboard links for debugging and (maybe :D) found a easier way to do things in sidearm.

So i got rid of the while loop in side arm and just told open to call
the thread so it would run once. You can all laugh at my code tonight
since i won't be there :D. Also I added a way to tell how far the
program gets and if it returns from already being activated. Sorry I
won't be there tonight. Good luck!