diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
index 8019237..c4b3411 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
@@ -62,9 +62,11 @@ public class OI
 
 
 			JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
-			double speed = m_driverXbox.getRightTriggerAxis();
-			climbUp.whenPressed(new InitiateClimber(speed));
-			climbUp.whenReleased(new InitiateClimber(0));
+			JoystickButton climbDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_TRIGGER_AXIS);
+
+			double speed = m_driverXbox.getRightTriggerAxis() - m_driverXbox.getLeftTriggerAxis();
+			climbUp.whileActive(new InitiateClimber(speed));
+			climbDown.whileActive(new InitiateClimber(speed));
 			
 			JoystickButton ratchetFlip = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON);
 			ratchetFlip.whenPressed(new ratchetFlip(0.5));
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 1546ea5..a4728db 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
@@ -87,11 +87,15 @@ public class Climber extends Subsystem{
     
 	public void setClimbSpeed(double speed) {
 		if (safetySwitch) {
-			if(isPressed.isFwdLimitSwitchClosed()){ //If leg at max height
+			if (isPressed.isRevLimitSwitchClosed() && speed < 0){ //If leg at min height, and the input would retract the leg
+				climberBack.set(0);
+				climberFront.set(0);
+			}
+			if(isPressed.isFwdLimitSwitchClosed() && speed > 0){ //If leg at max height, and the input would extend the leg
 				climberBack.set(0);
 				climberFront.set(FRONT_FREQ * speed);
 			}
-			else if (!isPressed.isFwdLimitSwitchClosed()){ //If leg not at max height
+			else { //If leg not at max height
 				climberBack.set(BACK_FREQ * speed);
 				climberFront.set(FRONT_FREQ * speed);
 			}