diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index c6b23bf..a0dcc1e 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -114,9 +114,13 @@ public final class Constants {
   public static final class HooksConstants {
     public static final int LEFT_HOOK_ID = -1;
     public static final int RIGHT_HOOK_ID = -1;
+    public static final int LEFT_LIMIT_ID = -1;
+    public static final int RIGHT_LIMIT_ID = -1;
 
     public static final double OPEN_POSITION = 0;
     public static final double CLOSE_POSITION = 0;
+
+    public static final double CALIBRATION_SPEED = 0;
   }
   /**
    * The OIConstants class contains the ID for the XBox controllers
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 9b8923b..4d2bad0 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -45,7 +45,7 @@ public class RobotContainer {
 
   private final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
 
-  //private final Hooks m_hooks = new Hooks(m_robotMap.leftHook, m_robotMap.rightHook);
+  private final Hooks m_hooks = new Hooks(m_robotMap.leftHook, m_robotMap.rightHook, m_robotMap.leftHookLimit, m_robotMap.rightHookLimit);
 
   /* Controllers */
   private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -87,9 +87,9 @@ public class RobotContainer {
         .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
         .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
     
-    // new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
-    //     .whenPressed(() -> m_hooks.setOpen(true))
-    //     .whenReleased(() -> m_hooks.setOpen(false));
+    new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
+        .whenPressed(() -> m_hooks.setOpen(true))
+        .whenReleased(() -> m_hooks.setOpen(false));
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 6de2f65..6483ebc 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -4,10 +4,15 @@
 
 package frc4388.robot;
 
+import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.WPI_PigeonIMU;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.CAN;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import frc4388.robot.Constants.ClimberConstants;
@@ -102,6 +107,9 @@ public class RobotMap {
   public final WPI_PigeonIMU gyro = null;//new WPI_PigeonIMU(ClimberConstants.GYRO_ID); // TODO
 
   /* Hooks Subsystem */
-  //public final Servo leftHook = new Servo(HooksConstants.LEFT_HOOK_ID);
-  //public final Servo rightHook = new Servo(HooksConstants.RIGHT_HOOK_ID);
+  public final CANSparkMax leftHook = new CANSparkMax(HooksConstants.LEFT_HOOK_ID, MotorType.kBrushless);
+  public final CANSparkMax rightHook = new CANSparkMax(HooksConstants.RIGHT_HOOK_ID, MotorType.kBrushless);
+
+  public final DigitalInput leftHookLimit = new DigitalInput(HooksConstants.LEFT_LIMIT_ID);
+  public final DigitalInput rightHookLimit = new DigitalInput(HooksConstants.RIGHT_LIMIT_ID);
 }
diff --git a/src/main/java/frc4388/robot/subsystems/Hooks.java b/src/main/java/frc4388/robot/subsystems/Hooks.java
index de07e93..0348ccb 100644
--- a/src/main/java/frc4388/robot/subsystems/Hooks.java
+++ b/src/main/java/frc4388/robot/subsystems/Hooks.java
@@ -3,6 +3,7 @@ package frc4388.robot.subsystems;
 import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
 import com.revrobotics.CANSparkMax;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.HooksConstants;
 
@@ -10,23 +11,25 @@ public class Hooks extends SubsystemBase {
   private CANSparkMax m_leftHook;
   private CANSparkMax m_rightHook;
 
-  private LimitSwitchNormal m_limitSwitch;
+  private DigitalInput m_leftLimitSwitch;
+  private DigitalInput m_rightLimitSwitch;
 
   private double m_leftOffset;
   private double m_rightOffset;
 
   private boolean m_open;
 
-  public Hooks(CANSparkMax leftHook, CANSparkMax rightHook, LimitSwitchNormal limitSwitch) {
+  public Hooks(CANSparkMax leftHook, CANSparkMax rightHook, DigitalInput leftLimitSwitch, DigitalInput rightLimitSwitch) {
     m_leftHook = leftHook;
     m_rightHook = rightHook;
 
-    m_limitSwitch = limitSwitch;
+    m_leftLimitSwitch = leftLimitSwitch;
+    m_rightLimitSwitch = rightLimitSwitch;
 
     m_open = false;
 
-    m_leftHook.set(.1);
-    m_rightHook.set(.1);
+    m_leftHook.set(HooksConstants.CALIBRATION_SPEED);
+    m_rightHook.set(HooksConstants.CALIBRATION_SPEED);
   }
 
   public void setOpen(boolean open) {
@@ -47,9 +50,10 @@ public class Hooks extends SubsystemBase {
 
   @Override
   public void periodic() {
-    if(m_limitSwitch.compareTo(LimitSwitchNormal.NormallyClosed) == 1) {
+    if(m_leftLimitSwitch.get())
       m_leftOffset = m_leftHook.getEncoder().getPosition();
-      m_leftOffset = m_leftHook.getEncoder().getPosition();
-    }
+    
+    if(m_rightLimitSwitch.get())
+      m_rightOffset = m_rightHook.getEncoder().getPosition();
   }
 }