Manual floor arm testing

[jdlanning]

Requires #57 to first be completed and merged to main, so do that task first before starting this.

Process is the same as #56 but with the FloorArm instead

[jdlanning]

After #57 is complete you could merge the latest from main into the current arm_testing branch which @KaixWilliams created and then add repeat the same changes for testing but for the floor arm.