diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
index 3cacf76..0c95756 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
@@ -4,14 +4,35 @@
 
 package org.usfirst.frc4388.robot.subsystems;
 
+import java.util.ArrayList;
+
+import org.usfirst.frc4388.controller.XboxController;
+import org.usfirst.frc4388.robot.Constants;
 import org.usfirst.frc4388.robot.Robot;
 import org.usfirst.frc4388.robot.RobotMap;
 import org.usfirst.frc4388.robot.commands.*;
+import org.usfirst.frc4388.robot.subsystems.Drive.DriveControlMode;
+import org.usfirst.frc4388.utility.CANTalonEncoder;
+import org.usfirst.frc4388.utility.ControlLoopable;
+import org.usfirst.frc4388.utility.PIDParams;
+import org.usfirst.frc4388.utility.SoftwarePIDPositionController;
 
-import edu.wpi.first.wpilibj.DoubleSolenoid;
+import com.ctre.phoenix.motorcontrol.ControlMode;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PIDController;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
+import com.ctre.phoenix.motorcontrol.RemoteLimitSwitchSource;
+import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.SensorCollection;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 
@@ -20,20 +41,36 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
  */
 public class Climber extends Subsystem{
 	
-	private WPI_TalonSRX Climber;
+		//Motors
+	private WPI_TalonSRX climberBack;
+	private WPI_TalonSRX climberFront;
+	private WPI_TalonSRX climberFront2;
+	private WPI_TalonSRX flipOutMotor;
 
-	public boolean on;
+		//Frequency Control
+	static float BACK_FREQ = 1;
+	static float FRONT_FREQ;
+	static float FREQ_RATIO = 0.2443744576F;
+
+		//Limit and Saftey vars
+	LimitSwitchSource limitSwitchSource;
+	SensorCollection isPressed;
+	boolean safetySwitch;
 	
 	public Climber(){
 		
 		try{
-			
-			Climber = new WPI_TalonSRX(RobotMap.CLIMBER_CAN_ID);
-			
-		} catch (Exception e) {
-			
-			System.err.println("An error occurred in the climbing constructor");
-			
+			climberBack = new WPI_TalonSRX(RobotMap.CLIMBER_CAN_ID);
+			climberFront = new WPI_TalonSRX(RobotMap.CLIMBER_WHEEL1_ID);
+			climberFront2 = new WPI_TalonSRX(RobotMap.CLIMBER_WHEEL2_ID);
+			climberFront2.set(ControlMode.Follower, climberFront.getDeviceID());
+
+			climberBack.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
+    		climberBack.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
+			FRONT_FREQ = BACK_FREQ * FREQ_RATIO; // Sets the front motor speed to ~1/4 the back motor speed
+		} 
+		catch (Exception e) {
+			System.err.println("The code broke before the guard did. An error occurred in the climbing constructor");
 		}
 	}
 
@@ -49,20 +86,30 @@ public class Climber extends Subsystem{
 
     }
     
-	public void setClimbSpeed(boolean Climb) {
-		if (Climb==true) {
-			Climber.set(1.0);
+	public void setClimbSpeed(boolean Climb, double speed) {
+		if (Climb && safetySwitch) {
+			if(isPressed.isFwdLimitSwitchClosed()){ //If leg at max height
+				climberBack.set(0);
+				climberFront.set(FRONT_FREQ * speed);
+			}
+			else if (!isPressed.isFwdLimitSwitchClosed()){ //If leg not at max height
+				climberBack.set(BACK_FREQ * speed);
+				climberFront.set(FRONT_FREQ * speed);
+			}		
 		}
-		if (Climb==false) {
-			Climber.set(0);
-		}
-}
-    // Put methods for controlling this subsystem
-    // here. Call these from Commands.
- {
-			// TODO Auto-generated method stub
-			
+		if (!Climb || !safetySwitch) {
+			climberBack.set(0);
+			climberFront.set(0);
 		}
+	}
 
 }
 
+	public void safetySwitch(boolean safetySwitch){
+		this.safetySwitch = safetySwitch;
+	}
+
+	public void flipRatchet(boolean flip, double speed){
+		climberFront.set(FRONT_FREQ * speed);
+	}
+}