diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 1904d8d..c3640d2 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -68,6 +68,10 @@ public final class Constants {
     public static final class IntakeConstants {
         public static final int INTAKE_SPARK_ID = 9;
     }
+    
+    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 = -1;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 5387b64..6fb19d4 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -17,7 +17,9 @@ 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;
@@ -40,6 +42,7 @@ 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();
 
@@ -58,6 +61,8 @@ public class RobotContainer {
         m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
         // drives intake 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
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/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/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,