diff --git a/src/main/driverStation/GOAT DRIVERSTATION.json b/src/main/driverStation/GOAT DRIVERSTATION.json
new file mode 100644
index 0000000..486a0fe
--- /dev/null
+++ b/src/main/driverStation/GOAT DRIVERSTATION.json	
@@ -0,0 +1,1152 @@
+{
+  "tabPane": [
+    {
+      "title": "SmartDashboard",
+      "autoPopulate": true,
+      "autoPopulatePrefix": "SmartDashboard/",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "tiles": {
+          "0,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/limelight_Stream",
+              "_title": "limelight_Stream"
+            }
+          },
+          "1,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/limelight_PipelineName",
+              "_title": "limelight_PipelineName"
+            }
+          },
+          "2,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/limelight_Interface",
+              "_title": "limelight_Interface"
+            }
+          },
+          "3,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Auto?",
+              "_title": "Auto?"
+            }
+          },
+          "4,0": {
+            "size": [
+              2,
+              2
+            ],
+            "content": {
+              "_type": "Gyro",
+              "_source0": "network_table:///SmartDashboard/Pigeon Gyro",
+              "_title": "Pigeon Gyro",
+              "Visuals/Major tick spacing": 45.0,
+              "Visuals/Starting angle": 180.0,
+              "Visuals/Show tick mark ring": true,
+              "Visuals/Counter clockwise": false
+            }
+          },
+          "6,0": {
+            "size": [
+              3,
+              2
+            ],
+            "content": {
+              "_type": "Differential Drivebase",
+              "_source0": "network_table:///SmartDashboard/Drive Train",
+              "_title": "Drive Train",
+              "Wheels/Number of wheels": 4,
+              "Wheels/Wheel diameter": 80.0,
+              "Visuals/Show velocity vectors": true
+            }
+          },
+          "9,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Left Motor Position Raw",
+              "_title": "Left Motor Position Raw"
+            }
+          },
+          "0,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Right Motor Position Raw",
+              "_title": "Right Motor Position Raw"
+            }
+          },
+          "1,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Average Motor Position Raw",
+              "_title": "Average Motor Position Raw"
+            }
+          },
+          "2,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Avg Speed MPH",
+              "_title": "Avg Speed MPH"
+            }
+          },
+          "3,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Gear Shift",
+              "_title": "Gear Shift",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "9,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Drum Velocity",
+              "_title": "Drum Velocity"
+            }
+          },
+          "0,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Drum Velocity CSV",
+              "_title": "Drum Velocity CSV"
+            }
+          },
+          "1,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Shooter Temp C",
+              "_title": "Shooter Temp C"
+            }
+          },
+          "2,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Shooter Current",
+              "_title": "Shooter Current"
+            }
+          },
+          "3,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Drum Ready",
+              "_title": "Drum Ready",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "4,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Turret Angle Raw",
+              "_title": "Turret Angle Raw"
+            }
+          },
+          "5,2": {
+            "size": [
+              2,
+              2
+            ],
+            "content": {
+              "_type": "Gyro",
+              "_source0": "network_table:///SmartDashboard/Turret Angle",
+              "_title": "Turret Angle",
+              "Visuals/Major tick spacing": 45.0,
+              "Visuals/Starting angle": 180.0,
+              "Visuals/Show tick mark ring": true,
+              "Visuals/Counter clockwise": false
+            }
+          },
+          "7,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Turret Aimed",
+              "_title": "Turret Aimed",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "8,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Fire Angle CSV",
+              "_title": "Fire Angle CSV"
+            }
+          },
+          "9,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Hood Angle Raw",
+              "_title": "Hood Angle Raw"
+            }
+          },
+          "0,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Climber Safety",
+              "_title": "Climber Safety",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "1,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Rachet",
+              "_title": "Rachet",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "2,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Intake Beam",
+              "_title": "Intake Beam",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "3,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Storage Beam",
+              "_title": "Storage Beam",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "4,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Upper Beam",
+              "_title": "Upper Beam",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "7,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Shooter Beam",
+              "_title": "Shooter Beam",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "8,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Distance to Target",
+              "_title": "Distance to Target"
+            }
+          },
+          "9,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/!Ball in Intake!",
+              "_title": "!Ball in Intake!",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "0,4": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/!Ball Storage!",
+              "_title": "!Ball Storage!",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "1,4": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/!Ball Shooter!",
+              "_title": "!Ball Shooter!",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "2,4": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Center Displacement",
+              "_title": "Center Displacement"
+            }
+          },
+          "3,4": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Is Auto Start?",
+              "_title": "Is Auto Start?"
+            }
+          },
+          "4,4": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/trajectoryPath Initial",
+              "_title": "trajectoryPath Initial"
+            }
+          },
+          "5,4": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Left Motor Pos Inches",
+              "_title": "Left Motor Pos Inches"
+            }
+          },
+          "6,4": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Right Motor Pos Inches",
+              "_title": "Right Motor Pos Inches"
+            }
+          },
+          "7,4": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Left Motor Pos Meters",
+              "_title": "Left Motor Pos Meters"
+            }
+          },
+          "8,4": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Right Motor Pos Meters",
+              "_title": "Right Motor Pos Meters"
+            }
+          },
+          "9,4": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Odometry Values Meters",
+              "_title": "Odometry Values Meters"
+            }
+          },
+          "0,5": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Trajectory Total Time",
+              "_title": "Trajectory Total Time"
+            }
+          }
+        }
+      }
+    },
+    {
+      "title": "LiveWindow",
+      "autoPopulate": true,
+      "autoPopulatePrefix": "LiveWindow/",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "tiles": {
+          "0,0": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/Climber",
+              "_title": "Climber",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          },
+          "2,0": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/Ungrouped",
+              "_title": "Ungrouped",
+              "Layout/Label position": "BOTTOM",
+              "_children": [
+                {
+                  "_type": "Speed Controller",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [5]",
+                  "_title": "Talon FX [5]",
+                  "Visuals/Orientation": "HORIZONTAL"
+                },
+                {
+                  "_type": "Differential Drivebase",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DifferentialDrive[1]",
+                  "_title": "DifferentialDrive[1]",
+                  "Wheels/Number of wheels": 4,
+                  "Wheels/Wheel diameter": 80.0,
+                  "Visuals/Show velocity vectors": true
+                },
+                {
+                  "_type": "Speed Controller",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [3]",
+                  "_title": "Talon FX [3]",
+                  "Visuals/Orientation": "HORIZONTAL"
+                },
+                {
+                  "_type": "Speed Controller",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/Spark[0]",
+                  "_title": "Spark[0]",
+                  "Visuals/Orientation": "HORIZONTAL"
+                },
+                {
+                  "_type": "Speed Controller",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [8]",
+                  "_title": "Talon FX [8]",
+                  "Visuals/Orientation": "HORIZONTAL"
+                },
+                {
+                  "_type": "Text View",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/Servo[4]/Value",
+                  "_title": "Servo[4]/Value"
+                },
+                {
+                  "_type": "Boolean Box",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DigitalInput[3]/Value",
+                  "_title": "DigitalInput[3]/Value",
+                  "Colors/Color when true": "#7CFC00FF",
+                  "Colors/Color when false": "#8B0000FF"
+                },
+                {
+                  "_type": "Boolean Box",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DigitalInput[1]/Value",
+                  "_title": "DigitalInput[1]/Value",
+                  "Colors/Color when true": "#7CFC00FF",
+                  "Colors/Color when false": "#8B0000FF"
+                },
+                {
+                  "_type": "Text View",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DoubleSolenoid[7,0]/Value",
+                  "_title": "DoubleSolenoid[7,0]/Value"
+                },
+                {
+                  "_type": "Boolean Box",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DigitalInput[4]/Value",
+                  "_title": "DigitalInput[4]/Value",
+                  "Colors/Color when true": "#7CFC00FF",
+                  "Colors/Color when false": "#8B0000FF"
+                },
+                {
+                  "_type": "Boolean Box",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DigitalInput[2]/Value",
+                  "_title": "DigitalInput[2]/Value",
+                  "Colors/Color when true": "#7CFC00FF",
+                  "Colors/Color when false": "#8B0000FF"
+                },
+                {
+                  "_type": "Text View",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DoubleSolenoid[7,3]/Value",
+                  "_title": "DoubleSolenoid[7,3]/Value"
+                },
+                {
+                  "_type": "Boolean Box",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DigitalInput[13]/Value",
+                  "_title": "DigitalInput[13]/Value",
+                  "Colors/Color when true": "#7CFC00FF",
+                  "Colors/Color when false": "#8B0000FF"
+                },
+                {
+                  "_type": "Boolean Box",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DigitalInput[11]/Value",
+                  "_title": "DigitalInput[11]/Value",
+                  "Colors/Color when true": "#7CFC00FF",
+                  "Colors/Color when false": "#8B0000FF"
+                },
+                {
+                  "_type": "Boolean Box",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DigitalInput[14]/Value",
+                  "_title": "DigitalInput[14]/Value",
+                  "Colors/Color when true": "#7CFC00FF",
+                  "Colors/Color when false": "#8B0000FF"
+                },
+                {
+                  "_type": "Boolean Box",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/DigitalInput[12]/Value",
+                  "_title": "DigitalInput[12]/Value",
+                  "Colors/Color when true": "#7CFC00FF",
+                  "Colors/Color when false": "#8B0000FF"
+                },
+                {
+                  "_type": "Speed Controller",
+                  "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [15]",
+                  "_title": "Talon FX [15]",
+                  "Visuals/Orientation": "HORIZONTAL"
+                }
+              ]
+            }
+          },
+          "4,0": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/LimeLight",
+              "_title": "LimeLight",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          },
+          "6,0": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/Leveler",
+              "_title": "Leveler",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          },
+          "8,0": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/Drive",
+              "_title": "Drive",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          },
+          "0,4": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/Intake",
+              "_title": "Intake",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          },
+          "2,4": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/ShooterHood",
+              "_title": "ShooterHood",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          },
+          "4,4": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/LED",
+              "_title": "LED",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          },
+          "6,4": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/Shooter",
+              "_title": "Shooter",
+              "Layout/Label position": "BOTTOM",
+              "_children": [
+                {
+                  "_type": "Subsystem Layout",
+                  "_source0": "network_table:///LiveWindow/ShooterHood",
+                  "_title": "LiveWindow/ShooterHood",
+                  "Layout/Label position": "BOTTOM",
+                  "_children": []
+                },
+                {
+                  "_type": "Subsystem Layout",
+                  "_source0": "network_table:///LiveWindow/ShooterAim",
+                  "_title": "LiveWindow/ShooterAim",
+                  "Layout/Label position": "BOTTOM",
+                  "_children": []
+                }
+              ]
+            }
+          },
+          "8,4": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/Camera",
+              "_title": "Camera",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          }
+        }
+      }
+    },
+    {
+      "title": "Driver Station",
+      "autoPopulate": false,
+      "autoPopulatePrefix": "",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "tiles": {
+          "0,0": {
+            "size": [
+              4,
+              4
+            ],
+            "content": {
+              "_type": "Camera Stream",
+              "_source0": "camera_server://front",
+              "_title": "front",
+              "Crosshair/Show crosshair": true,
+              "Crosshair/Crosshair color": "#FFFFFFFF",
+              "Controls/Show controls": true,
+              "Controls/Rotation": "NONE",
+              "compression": -1.0,
+              "fps": -1,
+              "imageWidth": 0,
+              "imageHeight": 0
+            }
+          },
+          "3,4": {
+            "size": [
+              5,
+              5
+            ],
+            "content": {
+              "_type": "Camera Stream",
+              "_source0": "camera_server://limelight",
+              "_title": "limelight",
+              "Crosshair/Show crosshair": true,
+              "Crosshair/Crosshair color": "#FFFFFFFF",
+              "Controls/Show controls": true,
+              "Controls/Rotation": "NONE",
+              "compression": -1.0,
+              "fps": -1,
+              "imageWidth": 0,
+              "imageHeight": 0
+            }
+          },
+          "8,4": {
+            "size": [
+              2,
+              1
+            ],
+            "content": {
+              "_type": "Simple Dial",
+              "_source0": "network_table:///SmartDashboard/Drum Velocity",
+              "_title": "SmartDashboard/Drum Velocity",
+              "Range/Min": 0.0,
+              "Range/Max": 20000.0,
+              "Visuals/Show value": true
+            }
+          },
+          "4,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Gear Shift",
+              "_title": "Gear Shift",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "5,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Rachet",
+              "_title": "Rachet",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "6,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Climber Safety",
+              "_title": "Climber Safety",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "4,1": {
+            "size": [
+              3,
+              2
+            ],
+            "content": {
+              "_type": "Differential Drivebase",
+              "_source0": "network_table:///SmartDashboard/Drive Train",
+              "_title": "SmartDashboard/Drive Train",
+              "Wheels/Number of wheels": 4,
+              "Wheels/Wheel diameter": 80.0,
+              "Visuals/Show velocity vectors": true
+            }
+          },
+          "8,8": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Turret Aimed",
+              "_title": "/SmartDashboard/Turret Aimed",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "9,8": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Drum Ready",
+              "_title": "/SmartDashboard/Drum Ready",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "6,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Upper Beam",
+              "_title": "/SmartDashboard/Upper Beam",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "5,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Storage Beam",
+              "_title": "/SmartDashboard/Storage Beam",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "7,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Shooter Beam",
+              "_title": "/SmartDashboard/Shooter Beam",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "4,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Intake Beam",
+              "_title": "/SmartDashboard/Intake Beam",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          },
+          "8,6": {
+            "size": [
+              2,
+              2
+            ],
+            "content": {
+              "_type": "Gyro",
+              "_source0": "network_table:///SmartDashboard/Turret Angle",
+              "_title": "SmartDashboard/Turret Angle",
+              "Visuals/Major tick spacing": 45.0,
+              "Visuals/Starting angle": 180.0,
+              "Visuals/Show tick mark ring": true,
+              "Visuals/Counter clockwise": false
+            }
+          },
+          "7,1": {
+            "size": [
+              3,
+              3
+            ],
+            "content": {
+              "_type": "Gyro",
+              "_source0": "network_table:///SmartDashboard/Pigeon Gyro",
+              "_title": "SmartDashboard/Pigeon Gyro",
+              "Visuals/Major tick spacing": 45.0,
+              "Visuals/Starting angle": 180.0,
+              "Visuals/Show tick mark ring": true,
+              "Visuals/Counter clockwise": false
+            }
+          },
+          "8,0": {
+            "size": [
+              2,
+              1
+            ],
+            "content": {
+              "_type": "Simple Dial",
+              "_source0": "network_table:///SmartDashboard/Avg Speed MPH",
+              "_title": "SmartDashboard/Avg Speed MPH",
+              "Range/Min": 0.0,
+              "Range/Max": 100.0,
+              "Visuals/Show value": true
+            }
+          },
+          "8,5": {
+            "size": [
+              2,
+              1
+            ],
+            "content": {
+              "_type": "Simple Dial",
+              "_source0": "network_table:///SmartDashboard/Hood Angle Raw",
+              "_title": "SmartDashboard/Hood Angle Raw",
+              "Range/Min": 0.0,
+              "Range/Max": 66.0,
+              "Visuals/Show value": true
+            }
+          }
+        }
+      }
+    },
+    {
+      "title": "Tab 5",
+      "autoPopulate": false,
+      "autoPopulatePrefix": "",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "tiles": {
+          "3,0": {
+            "size": [
+              3,
+              3
+            ],
+            "content": {
+              "_type": "Camera Stream",
+              "_source0": "camera_server://limelight",
+              "_title": "limelight",
+              "Crosshair/Show crosshair": true,
+              "Crosshair/Crosshair color": "#FFFFFFFF",
+              "Controls/Show controls": true,
+              "Controls/Rotation": "NONE",
+              "compression": -1.0,
+              "fps": -1,
+              "imageWidth": 0,
+              "imageHeight": 0
+            }
+          },
+          "7,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Fire Angle CSV",
+              "_title": "/SmartDashboard/Fire Angle CSV"
+            }
+          },
+          "7,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Drum Velocity CSV",
+              "_title": "/SmartDashboard/Drum Velocity CSV"
+            }
+          },
+          "6,1": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Distance to Target",
+              "_title": "/SmartDashboard/Distance to Target"
+            }
+          },
+          "3,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Distance to Target",
+              "_title": "/SmartDashboard/Distance to Target"
+            }
+          },
+          "0,0": {
+            "size": [
+              2,
+              2
+            ],
+            "content": {
+              "_type": "Graph",
+              "_source0": "network_table:///SmartDashboard/Drum Velocity",
+              "_title": "/SmartDashboard/Drum Velocity",
+              "Graph/Visible time": 30.0,
+              "Y-axis/Automatic bounds": true,
+              "Y-axis/Upper bound": 1.0,
+              "Y-axis/Lower bound": -1.0,
+              "Visible data/SmartDashboard/Drum Velocity": true
+            }
+          },
+          "6,2": {
+            "size": [
+              4,
+              2
+            ],
+            "content": {
+              "_type": "Graph",
+              "_source0": "network_table:///SmartDashboard/Drum Velocity",
+              "_title": "/SmartDashboard/Drum Velocity",
+              "Graph/Visible time": 30.0,
+              "Y-axis/Automatic bounds": true,
+              "Y-axis/Upper bound": 1.0,
+              "Y-axis/Lower bound": -1.0,
+              "Visible data/SmartDashboard/Drum Velocity": true
+            }
+          },
+          "4,3": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Turret Angle Raw",
+              "_title": "/SmartDashboard/Turret Angle Raw"
+            }
+          },
+          "6,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_source0": "network_table:///SmartDashboard/Drum Ready",
+              "_title": "/SmartDashboard/Drum Ready",
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          }
+        }
+      }
+    }
+  ],
+  "windowGeometry": {
+    "x": -6.400000095367432,
+    "y": 1.600000023841858,
+    "width": 1547.199951171875,
+    "height": 828.7999877929688
+  }
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/commands/climber/RunClimberWithTriggers.java b/src/main/java/frc4388/robot/commands/climber/RunClimberWithTriggers.java
index de3acd9..3c649dd 100644
--- a/src/main/java/frc4388/robot/commands/climber/RunClimberWithTriggers.java
+++ b/src/main/java/frc4388/robot/commands/climber/RunClimberWithTriggers.java
@@ -37,7 +37,7 @@ public class RunClimberWithTriggers extends CommandBase {
     double rightTrigger = m_controller.getRightTriggerAxis();
     double leftTrigger = m_controller.getLeftTriggerAxis();
     double output = 0;
-    if (rightTrigger < .5) {
+    /*if (rightTrigger < .5) {
       if(rightTrigger > leftTrigger) {
         output = rightTrigger;
       }
@@ -48,7 +48,8 @@ public class RunClimberWithTriggers extends CommandBase {
       }
     } else {
       output = rightTrigger;
-    }
+    }*/
+    output = rightTrigger - leftTrigger;
     m_climber.runClimber(output);
   }
 
diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java
index 61409b0..02b82fd 100644
--- a/src/main/java/frc4388/robot/subsystems/Climber.java
+++ b/src/main/java/frc4388/robot/subsystems/Climber.java
@@ -38,7 +38,7 @@ public class Climber extends SubsystemBase {
     m_climberMotor.restoreFactoryDefaults();
 
     m_climberMotor.setIdleMode(IdleMode.kBrake);
-    m_climberMotor.setInverted(true);
+    m_climberMotor.setInverted(false);
     
     m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
     m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);