diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 4fc0de6..d24efca 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -95,8 +95,8 @@ public final class Constants {
     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 Gains SHOULDER_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
+    public static final Gains ELBOW_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
 
     public static final int CLIMBER_TIMEOUT_MS = 100;
   }
diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java
index f8b5e90..a55c329 100644
--- a/src/main/java/frc4388/robot/subsystems/Climber.java
+++ b/src/main/java/frc4388/robot/subsystems/Climber.java
@@ -2,6 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+/*
+Safety
+Hooks
+Add 
+Overextension when lower arm is resting check in processing
+*/
+
 package frc4388.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.NeutralMode;
@@ -18,7 +25,7 @@ public class Climber extends SubsystemBase {
 
   private WPI_PigeonIMU m_gyro;
 
-  private double[] position = {0.d, 0.d}; // TODO change position
+  private double[] position = {ClimberConstants.MIN_ARM_LENGTH, 0.d};
   
   public Climber(WPI_TalonFX shoulder, WPI_TalonFX elbow, WPI_PigeonIMU gyro) {
     m_shoulder = shoulder;
@@ -62,6 +69,7 @@ public class Climber extends SubsystemBase {
     // 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)) /
       (2.d * ClimberConstants.LOWER_ARM_LENGTH * mag));
+      //shoulderAngle = acos(LowerArmLength^2 + mag^2)
     shoulderAngle = theta - shoulderAngle;
     
     double elbowAngle = Math.acos((Math.pow(ClimberConstants.LOWER_ARM_LENGTH, 2) + Math.pow(ClimberConstants.UPPER_ARM_LENGTH, 2) - Math.pow(mag, 2)) /