1X: lifts arm
    10: resets arm position
    11: top layer from front
    12: middle layer from front
    13: bottom layer from front
    14: max position
2X: grabber motions
    20: closes grabber and lifts up a little
        START WITH THIS ONE!!!!
    21: close grabber
    22: open grabber
3X: carousel movements
    31: turn right
    32: turn left