why isnt anything working graaah

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

@@ -57,4 +57,5 @@ public static final class VisionConstants {
   }
 
   public static final String OperatorConstast = null;
+public boolean isDriveCommandFinished = false;
 }

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

@@ -11,6 +11,7 @@
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.commands.*;
 import frc.robot.subsystems.*;
@@ -282,4 +283,7 @@ public void robotPeriodic() {
     Logger.updateEntries();
     timeWidget.setDouble(DriverStation.getMatchTime());
   }
+
+
+
 }

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

@@ -4,6 +4,8 @@
 
 package frc.robot.commands;
 
+import java.security.Guard;
+
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.Constants;
@@ -14,6 +16,9 @@ public class DriveCommand extends CommandBase {
   @SuppressWarnings({ "PMD.UnusedPrivateField", "PMD.SingularField" })
   private final Tank m_drivebase;
 
+
+
+
   public DriveCommand(Tank subsystem) {
     m_drivebase = subsystem;
     addRequirements(m_drivebase);
@@ -27,6 +32,7 @@ public void initialize() {
   @Override
   public void execute() {
     // double check getMaxSpeed(), might be wrong
+
     Tank.arcadeDrive(
         /* rotation */RobotContainer.getAdjustedTurningStickInput() * Constants.CanConstants.maxSpeed,
         /* speed */RobotContainer.getAdjustedForwardStickInput() * 0.7);
@@ -41,7 +47,9 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-    return false;
+    // we need to return the value in Constants.isDriveCommandFinished but in a static way while keeping the value non-static in Constants
+    private static final boolean x = Constants.isDriveCommandFinished;
+    return x;
   }
 
   @Override

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

@@ -0,0 +1,21 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class Tracking extends ParallelDeadlineGroup {
+  /** Creates a new Tracking. */
+  public Tracking() {
+    // Add the deadline command in the super() call. Add other commands using
+    // addCommands().
+    super(new InstantCommand());
+    // addCommands(new FooCommand(), new BarCommand());
+  }
+}

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

@@ -0,0 +1,45 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.subsystems.Tank;
+import frc.robot.subsystems.Tracking.Target;
+import frc.robot.RobotContainer;
+import frc.robot.commands.*;
+
+public class XTracking extends CommandBase {
+
+  private double tx;
+  /** Creates a new XTracking. */
+  public XTracking(Tank tank, Target target) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(tank, target);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    // stop the DriveCommand
+
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    tx = Target.getTX();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -21,6 +21,9 @@
 
 public class Arm extends SubsystemBase {
 
+  public double armToFrontAngle = 3;
+  public double armToBackAngle = -3;
+
   public CANSparkMax armMotor;
   public DigitalInput allTheWayDownRear = new DigitalInput(1);
   public double desiredArmAngle;
@@ -96,11 +99,15 @@ public void moveArm(double value) {
     armMotor.set(motorDrive);
   }
 
-  public void moveArmToZeroDeg() {
-  }
+
 
   @Override
   public void simulationPeriodic() {
     // This method will be called once per scheduler run during simulation
   }
+
+  public void setArmAngle(double angle) {
+    desiredArmAngle = angle;
+    armPID.setReference(angle, CANSparkMax.ControlType.kPosition);
+  }
 }

src/main/java/frc/robot/subsystems/Tracking/Target.java

@@ -20,7 +20,7 @@
 import frc.robot.LimelightHelpers;
 
 public class Target extends SubsystemBase {
-  private String name = "limelight";
+  private static String name = "limelight";
   private double tx;
   private double ty;
   private double ta;
@@ -36,6 +36,7 @@ public class Target extends SubsystemBase {
   private GenericEntry taEntry;
   private GenericEntry tclassEntry;
   private GenericEntry targetedEntry;
+  private static LimelightHelpers limelightHelpers = new LimelightHelpers();
 
   /** Creates a new Target. */
   public Target() {
@@ -65,14 +66,27 @@ public Target() {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    tx = LimelightHelpers.getTX(name);
-    ty = LimelightHelpers.getTY(name);
-    ta = LimelightHelpers.getTA(name);
+    tx = limelightHelpers.getTX(name);
+    ty = limelightHelpers.getTY(name);
+    ta = limelightHelpers.getTA(name);
     tclass = NetworkTableInstance.getDefault().getTable(name).getEntry("tclass").getDouble(0);
 
     txEntry.setDouble(tx);
     tyEntry.setDouble(ty);
     taEntry.setDouble(ta);
     tclassEntry.setDouble(tclass);
   }
+
+  public static double getTX() {
+    return NetworkTableInstance.getDefault().getTable(name).getEntry("tx").getDouble(0);
+  }
+  public double getTY() {
+    return NetworkTableInstance.getDefault().getTable(name).getEntry("ty").getDouble(0);
+  }
+  public double getTA() {
+    return NetworkTableInstance.getDefault().getTable(name).getEntry("ta").getDouble(0);
+  }
+  public double getTClass() {
+    return NetworkTableInstance.getDefault().getTable(name).getEntry("tclass").getDouble(0);
+  }
 }