diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 35ae23d..7da5107 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -137,9 +137,9 @@ public class RobotContainer {
     /* Default Commands */
 
     // moves climber in xy space with two-axis input from the operator controller
-    // m_robotClimber.setDefaultCommand(
-    //   new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX() * 0.4, getOperatorController().getLeftY() * 0.4), 
-    //   m_robotClimber));
+    m_robotClimber.setDefaultCommand(
+      new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX() * 0.2, getOperatorController().getLeftY() * 0.2), 
+      m_robotClimber));
 
 
     // IK command
diff --git a/src/main/java/frc4388/robot/subsystems/ClimberRewrite.java b/src/main/java/frc4388/robot/subsystems/ClimberRewrite.java
index dd75f58..cac715a 100644
--- a/src/main/java/frc4388/robot/subsystems/ClimberRewrite.java
+++ b/src/main/java/frc4388/robot/subsystems/ClimberRewrite.java
@@ -6,6 +6,8 @@ package frc4388.robot.subsystems;
 
 import java.util.HashMap;
 
+import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
+import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonFX;
@@ -45,7 +47,7 @@ public class ClimberRewrite extends SubsystemBase {
     m_elbow.configFactoryDefault();
     m_elbow.setNeutralMode(NeutralMode.Brake);
 
-    setClimberGains();
+    // setClimberGains();
 
     // shoulderStartPosition = m_shoulder.getSelectedSensorPosition();
     // elbowStartPosition = m_elbow.getSelectedSensorPosition();
@@ -62,6 +64,13 @@ public class ClimberRewrite extends SubsystemBase {
     m_shoulder.configReverseSoftLimitThreshold(ClimberConstants.SHOULDER_SOFT_LIMIT_REVERSE);
     m_shoulder.configReverseSoftLimitEnable(false);
 
+    m_shoulder.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
+    m_elbow.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
+    m_shoulder.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
+    
+    m_shoulder.overrideLimitSwitchesEnable(true);
+    m_elbow.overrideLimitSwitchesEnable(true);
+
     tPoint = new Point();
 
     if(groundRelative)