diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
index 5b091a0..7b59f10 100644
--- a/src/main/java/frc/robot/subsystems/Climber.java
+++ b/src/main/java/frc/robot/subsystems/Climber.java
@@ -1,22 +1,47 @@
 package frc.robot.subsystems;
 
 import static edu.wpi.first.units.Units.Amps;
-import static edu.wpi.first.units.Units.DegreesPerSecond;
 import static edu.wpi.first.units.Units.Meters;
 
+import com.pathplanner.lib.util.swerve.SwerveSetpoint;
+import edu.wpi.first.math.filter.Debouncer;
+import edu.wpi.first.math.filter.Debouncer.DebounceType;
+import edu.wpi.first.units.AngleUnit;
+import edu.wpi.first.units.VoltageUnit;
+import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.lib.W8.io.motor.MotorIO.PIDSlot;
 import frc.lib.W8.mechanisms.linear.LinearMechanism;
+import frc.lib.W8.mechanisms.rotary.RotaryMechanism;
 import frc.robot.Constants.ClimberConstants;
 
 public class Climber extends SubsystemBase {
+  private final RotaryMechanism _climber;
+  private Debouncer homedDebounce = new Debouncer(0.1, DebounceType.kRising);
+  private Trigger homedTrigger;
+  private AngleUnit Degrees;
+  private VoltageUnit Volts;
   private LinearMechanism _io;
+  RotaryMechanism climber;
   Distance goalDistance;
+  SwerveSetpoint STOW;
+  SwerveSetpoint setpoint;
 
   public Climber(LinearMechanism io) {
     _io = io;
+    _climber = climber;
+    homedTrigger =
+        new Trigger(
+            () ->
+                homedDebounce.calculate(
+                    _climber
+                        .getSupplyCurrent()
+                        .gte(Amps.of(ClimberConstants.HARD_STOP_CURRENT_LIMIT))));
   }
 
   // public void Position(double position) {
@@ -72,44 +97,11 @@ public Command runClimber() {
   }
 
   public Command calibrateClimber() {
-    System.out.println(ClimberConstants.CALIBRATE_VELOCITY);
-    System.out.println(ClimberConstants.ACCELERATION);
-    return this.run(
-            () ->
-                _io.runVelocity(
-                    ClimberConstants.CALIBRATE_VELOCITY,
-                    ClimberConstants.ACCELERATION,
-                    PIDSlot.SLOT_0))
-        .until(() -> isAboveCurrentLimit());
-  }
-
-  public Command stopClimber() {
-    return this.run(
-        () ->
-            _io.runVelocity(
-                DegreesPerSecond.of(0.0), ClimberConstants.ACCELERATION, PIDSlot.SLOT_0));
-  }
-
-  public Command raiseClimber() {
-    System.out.println(ClimberConstants.CRUISE_VELOCITY);
-    System.out.println(ClimberConstants.ACCELERATION);
-    return this.run(
-            () ->
-                _io.runVelocity(
-                    ClimberConstants.CRUISE_VELOCITY,
-                    ClimberConstants.ACCELERATION,
-                    PIDSlot.SLOT_0))
-        .until(() -> isAboveCurrentLimit());
-  }
-
-  public Command lowerClimber() {
-    System.out.println(ClimberConstants.LOWER_VELOCITY);
-    System.out.println(ClimberConstants.ACCELERATION);
-    return this.run(
-            () ->
-                _io.runVelocity(
-                    ClimberConstants.LOWER_VELOCITY, ClimberConstants.ACCELERATION, PIDSlot.SLOT_0))
-        .until(() -> isAboveCurrentLimit());
+    return Commands.sequence(
+        runOnce(() -> _climber.runVoltage(Voltage.ofBaseUnits(-1, Volts))),
+        Commands.waitUntil(homedTrigger),
+        runOnce(() -> _climber.setEncoderPosition(Angle.ofBaseUnits(0, Degrees))),
+        runOnce(() -> _climber.runVoltage(Voltage.ofBaseUnits(0, Volts))));
   }
 
   public boolean nearGoalposition() {