Adress some comments

src/main/java/org/sciborgs1155/robot/Robot.java

@@ -148,7 +148,6 @@ private void configureBindings() {
     drive.setDefaultCommand(drive.drive(x, y, omega));
     led.setDefaultCommand(led.scrolling());
 
-    arm.setDefaultCommand(arm.goTo(ArmConstants.DEFAULT_ANGLE));
 
     coroller.setDefaultCommand(coroller.stop());
 
@@ -164,8 +163,6 @@ private void configureBindings() {
         .onTrue(Commands.runOnce(() -> speedMultiplier = Constants.SLOW_SPEED_MULTIPLIER))
         .onFalse(Commands.runOnce(() -> speedMultiplier = Constants.FULL_SPEED_MULTIPLIER));
 
-    // TODO: Add any additional bindings.
-
   }
 
   /**

src/main/java/org/sciborgs1155/robot/arm/Arm.java

@@ -93,6 +93,8 @@ private Arm(ArmIO hardware) {
     fb.setTolerance(POSITION_TOLERANCE.in(Radians));
     fb.reset(STARTING_ANGLE.in(Radians));
     fb.setGoal(STARTING_ANGLE.in(Radians));
+
+    setDefaultCommand(goTo(ArmConstants.DEFAULT_ANGLE));
 
     this.sysIdRoutine =
         new SysIdRoutine(
@@ -137,7 +139,7 @@ public Command goTo(Angle goal) {
   /**
    * Changes the current limit of the arm motor.
    *
-   * @param limit The limit, in amps.
+   * @param limit : The limit, in amps.
    */
   public void currentLimit(double limit) {
     hardware.currentLimit(limit);
@@ -172,28 +174,35 @@ public Command climbSetup() {
    * @return A command to climb.
    */
   public Command climbExecute() {
-    return run(() -> currentLimit(CLIMB_LIMIT.in(Amps))).andThen(goTo(CLIMB_FINAL_ANGLE));
+    return runOnce(() -> currentLimit(CLIMB_LIMIT.in(Amps))).andThen(goTo(CLIMB_INTAKE_ANGLE));
   }
 
-  // funny sysid stuff
+  /** @return A command that runs a quasistatic {@link SysIdRoutine}*/
+  @Log.NT
   public Command quasistaticForward() {
     return sysIdRoutine
         .quasistatic(Direction.kForward)
         .until(() -> position() > MAX_ANGLE.in(Radians) - 0.2);
   }
 
+  /** @return A command that runs a quasistatic {@link SysIdRoutine}*/
+  @Log.NT
   public Command quasistaticBack() {
     return sysIdRoutine
         .quasistatic(Direction.kReverse)
         .until(() -> position() < MIN_ANGLE.in(Radians) + 0.2);
   }
 
+  /** @return A command that runs a dynamic {@link SysIdRoutine}*/
+  @Log.NT
   public Command dynamicForward() {
     return sysIdRoutine
         .dynamic(Direction.kForward)
         .until(() -> position() > MAX_ANGLE.in(Radians) - 0.2);
   }
 
+  /** @return A command that runs a dynamic {@link SysIdRoutine}*/
+  @Log.NT
   public Command dynamicBack() {
     return sysIdRoutine
         .dynamic(Direction.kReverse)