diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 27d5359..f4f8c2b 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -68,10 +68,27 @@ public final class Constants {
     public static final class IntakeConstants {
         public static final int INTAKE_SPARK_ID = 1;
     }
-
+    
+    public static final class ClimberConstants {
+        public static final int CLIMBER_SPARK_ID = 10;
+    }
+  
+    public static final class LevelerConstants {
+        public static final int LEVELER_CAN_ID = 9;
+    }
+  
+    public static final class StorageConstants {
+        public static final int STORAGE_CAN_ID = -1;
+        public static final int BEAM_SENSOR_DIO_0 = 0;
+        public static final int BEAM_SENSOR_DIO_1 = 1;
+        public static final int BEAM_SENSOR_DIO_2 = 2;
+        public static final int BEAM_SENSOR_DIO_3 = 3;
+        public static final int BEAM_SENSOR_DIO_4 = 4;
+        public static final int BEAM_SENSOR_DIO_5 = 5;
+    }
+  
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;
-
         public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
     }
 
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index c4cc293..941e086 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -17,10 +17,15 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
 import frc4388.robot.commands.DriveWithJoystick;
+import frc4388.robot.commands.RunClimberWithTriggers;
 import frc4388.robot.commands.RunIntakeWithTriggers;
+import frc4388.robot.subsystems.Climber;
+import frc4388.robot.commands.RunLevelerWithJoystick;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
+import frc4388.robot.subsystems.Leveler;
+import frc4388.robot.subsystems.Storage;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
 import frc4388.utility.controller.XboxController;
@@ -37,6 +42,9 @@ public class RobotContainer {
     private final Drive m_robotDrive = new Drive();
     private final LED m_robotLED = new LED();
     private final Intake m_robotIntake = new Intake();
+    private final Climber m_robotClimber = new Climber();
+    private final Leveler m_robotLeveler = new Leveler();
+    private final Storage m_robotStorage = new Storage();
 
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -53,8 +61,14 @@ public class RobotContainer {
         m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
         // drives motor with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
+        // drives climber with input from triggers on the opperator controller
+        m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
+        // drives the leveler with an axis input from the driver controller
+        m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
+        // runs storage motor at 50 percent
+        m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/commands/RunClimberWithTriggers.java b/src/main/java/frc4388/robot/commands/RunClimberWithTriggers.java
new file mode 100644
index 0000000..9ab4285
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/RunClimberWithTriggers.java
@@ -0,0 +1,63 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Climber;
+import frc4388.utility.controller.IHandController;
+
+public class RunClimberWithTriggers extends CommandBase {
+  private Climber m_climber;
+  private IHandController m_controller;
+
+  /**
+   * Uses input from opperator triggers to control climber motor
+   * @param subsystem the climber subsystem
+   * @param controller the driver controller
+   */
+  public RunClimberWithTriggers(Climber subsystem, IHandController controller) {
+    m_climber = subsystem;
+    m_controller = controller;
+    addRequirements(m_climber);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double rightTrigger = m_controller.getRightTriggerAxis();
+    double leftTrigger = m_controller.getLeftTriggerAxis();
+    double output = 0;
+    if (rightTrigger < .5) {
+      if(rightTrigger > leftTrigger) {
+        output = rightTrigger;
+      }
+      if (leftTrigger > rightTrigger) {
+        output = -leftTrigger;
+      }
+    } else {
+      output = rightTrigger;
+    }
+    m_climber.runClimber(output);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/RunLevelerWithJoystick.java b/src/main/java/frc4388/robot/commands/RunLevelerWithJoystick.java
new file mode 100644
index 0000000..0b91068
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/RunLevelerWithJoystick.java
@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Leveler;
+import frc4388.utility.controller.IHandController;
+
+public class RunLevelerWithJoystick extends CommandBase {
+  private Leveler m_leveler;
+  private IHandController m_controller;
+
+  /**
+   * Creates a new RunLevelerWithJoystick to control the leveler with an Xbox controller.
+   * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public RunLevelerWithJoystick(Leveler subsystem, IHandController controller) {
+    m_leveler = subsystem;
+    m_controller = controller;
+    addRequirements(m_leveler);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double input = m_controller.getLeftXAxis();
+    m_leveler.runLeveler(input);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java
new file mode 100644
index 0000000..6b35036
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Climber.java
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import com.revrobotics.CANDigitalInput;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ClimberConstants;
+
+public class Climber extends SubsystemBase {
+  CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
+  CANDigitalInput m_forwardLimit, m_reverseLimit;
+  /**
+   * Creates a new Climber.
+   */
+  public Climber() {
+    m_climberMotor.restoreFactoryDefaults();
+    
+    m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+
+    m_forwardLimit.enableLimitSwitch(false);
+    m_reverseLimit.enableLimitSwitch(false);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  /**
+   * Runs climber motor
+   * @param input the voltage to run motor at
+   */
+  public void runClimber(double input) {
+    m_climberMotor.set(input);
+  }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index ea2ba9c..a1c1a4c 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -18,6 +18,7 @@ public class Intake extends SubsystemBase {
    * Creates a new Intake.
    */
   public Intake() {
+    
     m_intakeMotor.setInverted(false);
   }
 
diff --git a/src/main/java/frc4388/robot/subsystems/Leveler.java b/src/main/java/frc4388/robot/subsystems/Leveler.java
new file mode 100644
index 0000000..02df406
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Leveler.java
@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.LevelerConstants;
+
+public class Leveler extends SubsystemBase {
+  CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless);
+
+  /**
+   * Creates a new Leveler.
+   */
+  public Leveler() {
+    m_levelerMotor.restoreFactoryDefaults();
+    m_levelerMotor.setIdleMode(IdleMode.kCoast);
+    m_levelerMotor.setInverted(false);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  /**
+   * Runs intake motor
+   * @param input the percent output to run motor at
+   */
+  public void runLeveler(double input) {
+    m_levelerMotor.set(input);
+  }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
new file mode 100644
index 0000000..a7d1bfb
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc4388.robot.Constants.StorageConstants;
+
+public class Storage extends SubsystemBase {
+  private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
+  private DigitalInput[] m_beamSensors = new DigitalInput[6];
+  /**
+   * Creates a new Storage.
+   */
+  public Storage() {
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0);
+    m_beamSensors[1] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1);
+    m_beamSensors[2] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2);
+    m_beamSensors[3] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_3);
+    m_beamSensors[4] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_4);
+    m_beamSensors[5] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_5);
+  }
+
+  @Override
+  public void periodic() {
+    // NO
+  }
+
+  /**
+   * Runs storage motor
+   * @param input the voltage to run motor at
+   */
+  public void runStorage(double input) {
+    m_storageMotor.set(input);
+    boolean beam_on = m_beamSensors[0].get();
+
+    if (beam_on) {
+      System.err.println("Beam on");
+    } else {
+      System.err.println("Beam off");
+    }
+    
+  }
+}
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
index f8d42a4..a633555 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix.json",
     "name": "CTRE-Phoenix",
-    "version": "5.17.3",
+    "version": "5.17.4",
     "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
     "mavenUrls": [
         "http://devsite.ctr-electronics.com/maven/release/"
@@ -11,19 +11,19 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.17.3"
+            "version": "5.17.4"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.17.3"
+            "version": "5.17.4"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -35,7 +35,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "diagnostics",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -47,7 +47,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "canutils",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +58,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "platform-stub",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -69,7 +69,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "core",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -83,7 +83,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -97,7 +97,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -111,7 +111,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -125,7 +125,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "diagnostics",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "libName": "CTRE_PhoenixDiagnostics",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -139,7 +139,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "canutils",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "libName": "CTRE_PhoenixCanutils",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "platform-stub",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "libName": "CTRE_PhoenixPlatform",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -165,7 +165,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "core",
-            "version": "5.17.3",
+            "version": "5.17.4",
             "libName": "CTRE_PhoenixCore",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/REVRobotics.json b/vendordeps/REVRobotics.json
new file mode 100644
index 0000000..63380b6
--- /dev/null
+++ b/vendordeps/REVRobotics.json
@@ -0,0 +1,70 @@
+{
+    "fileName": "REVRobotics.json",
+    "name": "REVRobotics",
+    "version": "1.5.1",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "http://www.revrobotics.com/content/sw/max/sdk/maven/"
+    ],
+    "jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "SparkMax-java",
+            "version": "1.5.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "SparkMax-driver",
+            "version": "1.5.1",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "SparkMax-cpp",
+            "version": "1.5.1",
+            "libName": "SparkMax",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "SparkMax-driver",
+            "version": "1.5.1",
+            "libName": "SparkMaxDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ]
+        }
+    ]
+}
\ No newline at end of file