diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index b2ba4d6..9c2e1a0 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -175,7 +175,8 @@ public final class Constants {
     public static final int GYRO_ID = 14;
 
     public static final double INPUT_MULTIPLIER = 0.7;
-    public static final double CLIMBER_SOFT_LIMIT_TOLERANCE = 20.0;
+    public static final double ELBOW_SOFT_LIMIT_TOLERANCE = 20000.0;
+    public static final double SHOULDER_SOFT_LIMIT_TOLERANCE = 12000.0;
   
     // TODO Update this stuff too
     public static final double UPPER_ARM_LENGTH = 26; // Units should be in cm
@@ -195,10 +196,10 @@ public final class Constants {
     public static final double ELBOW_GB_RATIO = 1.d;
     public static final double SHOULDER_GB_RATIO = 1.d;
 
-    public static final double SHOULDER_SOFT_LIMIT_FORWARD = 53869;
-    public static final double SHOULDER_SOFT_LIMIT_REVERSE = 0;
-    public static final double ELBOW_SOFT_LIMIT_FORWARD = 281717;
-    public static final double ELBOW_SOFT_LIMIT_REVERSE = 0;
+    public static final double SHOULDER_FORWARD_SOFT_LIMIT = 53869;
+    public static final double SHOULDER_REVERSE_SOFT_LIMIT = 0;
+    public static final double ELBOW_FORWARD_SOFT_LIMIT = 281717;
+    public static final double ELBOW_REVERSE_SOFT_LIMIT = 0;
 
     // PID Constants
     public static final int SHOULDER_SLOT_IDX = 0;
diff --git a/src/main/java/frc4388/robot/subsystems/ClimberRewrite.java b/src/main/java/frc4388/robot/subsystems/ClimberRewrite.java
index 621b213..78cc123 100644
--- a/src/main/java/frc4388/robot/subsystems/ClimberRewrite.java
+++ b/src/main/java/frc4388/robot/subsystems/ClimberRewrite.java
@@ -37,6 +37,8 @@ public class ClimberRewrite extends SubsystemBase {
   private Point tPoint;
 
   private boolean groundRelative;
+  private double shoulderSpeedLimiter;
+  private double elbowSpeedLimiter;
 
   /** Creates a new ClimberRewrite. */
   public ClimberRewrite(WPI_TalonFX shoulder, WPI_TalonFX elbow, WPI_Pigeon2 gyro, boolean _groundRelative) {
@@ -55,14 +57,14 @@ public class ClimberRewrite extends SubsystemBase {
     // m_shoulder.setSelectedSensorPosition(((ClimberConstants.SHOULDER_RESTING_ANGLE * (Constants.TICKS_PER_ROTATION_FX/2.d)) / Math.PI) * ClimberConstants.SHOULDER_GB_RATIO);
     // m_elbow.setSelectedSensorPosition(((ClimberConstants.ELBOW_RESTING_ANGLE * (Constants.TICKS_PER_ROTATION_FX/2.d)) / Math.PI) * ClimberConstants.SHOULDER_GB_RATIO);
 
-    m_elbow.configForwardSoftLimitThreshold(ClimberConstants.ELBOW_SOFT_LIMIT_FORWARD);
+    m_elbow.configForwardSoftLimitThreshold(ClimberConstants.ELBOW_FORWARD_SOFT_LIMIT);
     m_elbow.configForwardSoftLimitEnable(true);
     // m_elbow.configReverseSoftLimitThreshold(ClimberConstants.ELBOW_SOFT_LIMIT_REVERSE);
     // m_elbow.configReverseSoftLimitEnable(true);
 
-    m_shoulder.configForwardSoftLimitThreshold(ClimberConstants.SHOULDER_SOFT_LIMIT_FORWARD);
+    m_shoulder.configForwardSoftLimitThreshold(ClimberConstants.SHOULDER_FORWARD_SOFT_LIMIT);
     m_shoulder.configForwardSoftLimitEnable(true);
-    m_shoulder.configReverseSoftLimitThreshold(ClimberConstants.SHOULDER_SOFT_LIMIT_REVERSE);
+    m_shoulder.configReverseSoftLimitThreshold(ClimberConstants.SHOULDER_REVERSE_SOFT_LIMIT);
     m_shoulder.configReverseSoftLimitEnable(false);
 
     m_shoulder.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
@@ -78,6 +80,7 @@ public class ClimberRewrite extends SubsystemBase {
       m_gyro = gyro;
     
     groundRelative = _groundRelative;
+    this.elbowSpeedLimiter = 1.0;
   }
 
   public void setClimberGains() {
@@ -129,8 +132,8 @@ public class ClimberRewrite extends SubsystemBase {
   }
 
   public void setMotors(double shoulderOutput, double elbowOutput) {
-    m_shoulder.set(shoulderOutput * ClimberConstants.INPUT_MULTIPLIER);
-    m_elbow.set(elbowOutput * ClimberConstants.INPUT_MULTIPLIER);
+    m_shoulder.set(shoulderOutput * ClimberConstants.INPUT_MULTIPLIER * this.shoulderSpeedLimiter);
+    m_elbow.set(elbowOutput * ClimberConstants.INPUT_MULTIPLIER * this.elbowSpeedLimiter);
   }
 
   public double[] getJointAngles() {
@@ -179,7 +182,40 @@ public class ClimberRewrite extends SubsystemBase {
     SmartDashboard.putNumber("Shoulder", m_shoulder.getSelectedSensorPosition());
     // double[] jointAngles = getTargetJointAngles(tPoint, 0.d);
     // setJointAngles(jointAngles);
-    
+
+    // * speed limiting near ELBOW soft limits. tolerance (distance when ramping starts) is 20000 rotations. speed at hard limits is 0.2 (percent output).
+    double currentElbowPos = this.m_elbow.getSelectedSensorPosition();
+    double forwardElbowDistance = Math.abs(currentElbowPos - ClimberConstants.ELBOW_FORWARD_SOFT_LIMIT);
+    double reverseElbowDistance = Math.abs(currentElbowPos - ClimberConstants.ELBOW_REVERSE_SOFT_LIMIT);
+
+    if (forwardElbowDistance < ClimberConstants.ELBOW_SOFT_LIMIT_TOLERANCE) {
+      this.elbowSpeedLimiter = 0.15 + (forwardElbowDistance * (1 / ClimberConstants.ELBOW_SOFT_LIMIT_TOLERANCE));
+    }
+
+    if (reverseElbowDistance < ClimberConstants.ELBOW_SOFT_LIMIT_TOLERANCE) {
+      this.elbowSpeedLimiter = 0.15 + (reverseElbowDistance * (1 / ClimberConstants.ELBOW_SOFT_LIMIT_TOLERANCE));
+    }
+
+    if ((forwardElbowDistance > ClimberConstants.ELBOW_SOFT_LIMIT_TOLERANCE) && (reverseElbowDistance > ClimberConstants.ELBOW_SOFT_LIMIT_TOLERANCE)) {
+      this.elbowSpeedLimiter = 1.0;
+    }
+
+    // * speed limiting near SHOULDER soft limits. tolerance (distance when ramping starts) is 20000 rotations. speed at hard limits is 0.2 (percent output).
+    double currentShoulderPos = this.m_shoulder.getSelectedSensorPosition();
+    double forwardShoulderDistance = Math.abs(currentShoulderPos - ClimberConstants.SHOULDER_FORWARD_SOFT_LIMIT);
+    double reverseShoulderDistance = Math.abs(currentShoulderPos - ClimberConstants.SHOULDER_REVERSE_SOFT_LIMIT);
+
+    if (forwardShoulderDistance < ClimberConstants.SHOULDER_SOFT_LIMIT_TOLERANCE) {
+      this.shoulderSpeedLimiter = 0.15 + (forwardShoulderDistance * (1 / ClimberConstants.SHOULDER_SOFT_LIMIT_TOLERANCE));
+    }
+
+    if (reverseShoulderDistance < ClimberConstants.SHOULDER_SOFT_LIMIT_TOLERANCE) {
+      this.shoulderSpeedLimiter = 0.15 + (reverseShoulderDistance * (1 / ClimberConstants.SHOULDER_SOFT_LIMIT_TOLERANCE));
+    }
+
+    if ((forwardShoulderDistance > ClimberConstants.SHOULDER_SOFT_LIMIT_TOLERANCE) && (reverseShoulderDistance > ClimberConstants.SHOULDER_SOFT_LIMIT_TOLERANCE)) {
+      this.shoulderSpeedLimiter = 1.0;
+    }
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java
index 0652f4b..5f720d4 100644
--- a/src/main/java/frc4388/robot/subsystems/Hood.java
+++ b/src/main/java/frc4388/robot/subsystems/Hood.java
@@ -68,19 +68,16 @@ public class Hood extends SubsystemBase {
     double reverseDistance = Math.abs(currentPos - ShooterConstants.HOOD_REVERSE_SOFT_LIMIT);
 
     if (forwardDistance < ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE) {
-      this.speedLimiter = 0.2 + (forwardDistance * 0.05);
+      this.speedLimiter = 0.2 + (forwardDistance * (1 / ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE));
     }
 
     if (reverseDistance < ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE) {
-      this.speedLimiter = 0.2 + (reverseDistance * 0.05);
+      this.speedLimiter = 0.2 + (reverseDistance * (1 / ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE));
     }
 
     if ((forwardDistance > ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE) && (reverseDistance > ShooterConstants.HOOD_SOFT_LIMIT_TOLERANCE)) {
       this.speedLimiter = 1.0;
     }
-
-    double hoodCurrent = m_angleAdjusterMotor.getOutputCurrent();
-
   }
 
     /**
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index de1c9eb..9d9e35c 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -152,11 +152,11 @@ public class Turret extends SubsystemBase {
     double reverseDistance = Math.abs(currentPos - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT);
 
     if (forwardDistance < ShooterConstants.TURRET_SOFT_LIMIT_TOLERANCE) {
-      this.speedLimiter = 0.2 + (forwardDistance * 0.05);
+      this.speedLimiter = 0.2 + (forwardDistance * (1 / ShooterConstants.TURRET_SOFT_LIMIT_TOLERANCE));
     }
 
     if (reverseDistance < ShooterConstants.TURRET_SOFT_LIMIT_TOLERANCE) {
-      this.speedLimiter = 0.2 + (reverseDistance * 0.05);
+      this.speedLimiter = 0.2 + (reverseDistance * (1 / ShooterConstants.TURRET_SOFT_LIMIT_TOLERANCE));
     }
 
     if ((forwardDistance > ShooterConstants.TURRET_SOFT_LIMIT_TOLERANCE) && (reverseDistance > ShooterConstants.TURRET_SOFT_LIMIT_TOLERANCE)) {