diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 227779f..4fc0de6 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -87,6 +87,18 @@ public final class Constants {
     public static final double MIN_ARM_LENGTH = Math.abs(LOWER_ARM_LENGTH + UPPER_ARM_LENGTH);
     
     public static final double MOVE_SPEED = 50; // cm per second
+
+    // PID Constants
+    public static final int SHOULDER_SLOT_IDX = 0;
+    public static final int SHOULDER_PID_LOOP_IDX = 1;
+
+    public static final int ELBOW_SLOT_IDX = 0;
+    public static final int ELBOW_PID_LOOP_IDX = 1;
+
+    public static final Gains SHOULDER_GAINS = new Gains(1.0, 1.0, 1.0, 1.0, 0, 1.0);
+    public static final Gains ELBOW_GAINS = new Gains(1.0, 1.0, 1.0, 1.0, 0, 1.0);
+
+    public static final int CLIMBER_TIMEOUT_MS = 100;
   }
   /**
    * The OIConstants class contains the ID for the XBox controllers
diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java
index 74f08c3..f8b5e90 100644
--- a/src/main/java/frc4388/robot/subsystems/Climber.java
+++ b/src/main/java/frc4388/robot/subsystems/Climber.java
@@ -4,6 +4,8 @@
 
 package frc4388.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.WPI_PigeonIMU;
 
@@ -16,11 +18,17 @@ public class Climber extends SubsystemBase {
 
   private WPI_PigeonIMU m_gyro;
 
-  private double[] position = {0.d, 0.d};
+  private double[] position = {0.d, 0.d}; // TODO change position
   
   public Climber(WPI_TalonFX shoulder, WPI_TalonFX elbow, WPI_PigeonIMU gyro) {
     m_shoulder = shoulder;
+    m_shoulder.configFactoryDefault();
+    m_shoulder.setNeutralMode(NeutralMode.Brake);
+
     m_elbow = elbow;
+    m_elbow.configFactoryDefault();
+    m_elbow.setNeutralMode(NeutralMode.Brake);
+
     m_gyro = gyro;
   }
 
@@ -82,12 +90,33 @@ public class Climber extends SubsystemBase {
     return Math.toRadians(ypr[1]); // Pitch
   }
 
+  public void setClimberGains() {
+    // shoulder PIDs
+    m_shoulder.selectProfileSlot(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_PID_LOOP_IDX);
+    m_shoulder.config_kF(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.m_kF, ClimberConstants.CLIMBER_TIMEOUT_MS);
+    m_shoulder.config_kP(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.m_kP, ClimberConstants.CLIMBER_TIMEOUT_MS);
+    m_shoulder.config_kI(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.m_kI, ClimberConstants.CLIMBER_TIMEOUT_MS);
+    m_shoulder.config_kD(ClimberConstants.SHOULDER_SLOT_IDX, ClimberConstants.SHOULDER_GAINS.m_kD, ClimberConstants.CLIMBER_TIMEOUT_MS);
+
+    // elbow PIDs
+    m_elbow.selectProfileSlot(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_PID_LOOP_IDX);
+    m_elbow.config_kF(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.m_kF, ClimberConstants.CLIMBER_TIMEOUT_MS);
+    m_elbow.config_kP(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.m_kP, ClimberConstants.CLIMBER_TIMEOUT_MS);
+    m_elbow.config_kI(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.m_kI, ClimberConstants.CLIMBER_TIMEOUT_MS);
+    m_elbow.config_kD(ClimberConstants.ELBOW_SLOT_IDX, ClimberConstants.ELBOW_GAINS.m_kD, ClimberConstants.CLIMBER_TIMEOUT_MS);
+  }
+
   public void setJointAngles(double[] angles) {
     setJointAngles(angles[0], angles[1]);
   }
 
   public void setJointAngles(double shoulderAngle, double elbowAngle) {
-    // Set PIDs
+    // Convert radians to ticks
+    double shoulderPosition = (shoulderAngle * 1024.d) / Math.PI;
+    double elbowPosition = (elbowAngle * 1024.d) / Math.PI;
+
+    m_shoulder.set(TalonFXControlMode.Position, shoulderPosition);
+    m_elbow.set(TalonFXControlMode.Position, elbowPosition);
   }
 
   public void controlWithInput(double xInput, double yInput) {