diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 691d448..bc62e9f 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -42,7 +42,7 @@ public class RobotContainer {
 
   private final LED m_robotLED = new LED(m_robotMap.LEDController);
 
-  private final Climber m_climber = new Climber(m_robotMap.shoulder, m_robotMap.elbow);
+  private final Climber m_climber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro);
   /* Controllers */
   private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
   private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java
index 8a170b3..2cd8cdd 100644
--- a/src/main/java/frc4388/robot/subsystems/Climber.java
+++ b/src/main/java/frc4388/robot/subsystems/Climber.java
@@ -44,12 +44,13 @@ public class Climber extends SubsystemBase {
 
     // The angle to the target point
     double theta = Math.atan(yTarget / xTarget) + tiltAngle; // TODO rename variable
+    
     // Correct target position for tilt
     xTarget = Math.cos(theta) * mag;
     yTarget = Math.sin(theta) * mag;
     
     // Law and Order: Cosines edition
-    double shoulderAngle = Math.acos((Math.pow(ClimberConstants.LOWER_ARM_LENGTH, 2) + Math.pow(mag, 2) -Math.pow(ClimberConstants.UPPER_ARM_LENGTH, 2)) /
+    double shoulderAngle = Math.acos((Math.pow(ClimberConstants.LOWER_ARM_LENGTH, 2) + Math.pow(mag, 2) - Math.pow(ClimberConstants.UPPER_ARM_LENGTH, 2)) /
       (2.d * ClimberConstants.LOWER_ARM_LENGTH * mag));
     shoulderAngle = theta - shoulderAngle;
     
@@ -73,6 +74,12 @@ public class Climber extends SubsystemBase {
     return angles;
   }
 
+  public double getRobotTilt() {
+    double[] ypr = new double[3];
+    m_gyro.getYawPitchRoll(ypr);
+    return ypr[1]; // Pitch
+  }
+
   public void setJointAngles(double[] angles) {
     setJointAngles(angles[0], angles[1]);
   }