diff --git a/javadoc/allclasses-index.html b/javadoc/allclasses-index.html
index e584f0cb..b0cbb583 100644
--- a/javadoc/allclasses-index.html
+++ b/javadoc/allclasses-index.html
@@ -109,130 +109,128 @@ <h1 title="All Classes and Interfaces" class="title">All Classes and Interfaces<
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
 <div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/climber/ClimberToPosition.html" title="class in frc.robot.commands.climber">ClimberToPosition</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/Constants.html" title="class in frc.robot">Constants</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/Constants.html" title="class in frc.robot">Constants</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Add your docs here.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/controls/DebugControls.html" title="class in frc.robot.controls">DebugControls</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/util/DevilBotState.html" title="class in frc.robot.util">DevilBotState</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/controls/DebugControls.html" title="class in frc.robot.controls">DebugControls</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/util/DevilBotState.DriveMode.html" title="enum class in frc.robot.util">DevilBotState.DriveMode</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/util/DevilBotState.PieceDetectionMode.html" title="enum class in frc.robot.util">DevilBotState.PieceDetectionMode</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/util/DevilBotState.html" title="class in frc.robot.util">DevilBotState</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/util/DevilBotState.DriveMode.html" title="enum class in frc.robot.util">DevilBotState.DriveMode</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/util/DevilBotState.SpeakerShootingMode.html" title="enum class in frc.robot.util">DevilBotState.SpeakerShootingMode</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/util/DevilBotState.PieceDetectionMode.html" title="enum class in frc.robot.util">DevilBotState.PieceDetectionMode</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/util/DevilBotState.State.html" title="enum class in frc.robot.util">DevilBotState.State</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/util/DevilBotState.SpeakerShootingMode.html" title="enum class in frc.robot.util">DevilBotState.SpeakerShootingMode</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/util/DevilBotState.TargetMode.html" title="enum class in frc.robot.util">DevilBotState.TargetMode</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/util/DevilBotState.State.html" title="enum class in frc.robot.util">DevilBotState.State</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/drive/Drive.html" title="interface in frc.robot.subsystems.drive">Drive</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/drive/DriveBase.html" title="class in frc.robot.subsystems.drive">DriveBase</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/drive/DriveCommand.html" title="class in frc.robot.commands.drive">DriveCommand</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/util/DevilBotState.TargetMode.html" title="enum class in frc.robot.util">DevilBotState.TargetMode</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/drive/Drive.html" title="interface in frc.robot.subsystems.drive">Drive</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/drive/DriveBase.html" title="class in frc.robot.subsystems.drive">DriveBase</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/controls/DriverControls.html" title="class in frc.robot.controls">DriverControls</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/drive/DriveCommand.html" title="class in frc.robot.commands.drive">DriveCommand</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/drive/DriveSwerveYAGSL.html" title="class in frc.robot.subsystems.drive">DriveSwerveYAGSL</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/controls/DriverControls.html" title="class in frc.robot.controls">DriverControls</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/drive/DriveToYaw.html" title="class in frc.robot.commands.drive">DriveToYaw</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/drive/DriveSwerveYAGSL.html" title="class in frc.robot.subsystems.drive">DriveSwerveYAGSL</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/drive/DriveTrain.html" title="class in frc.robot.subsystems.drive">DriveTrain</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/drive/DriveToYaw.html" title="class in frc.robot.commands.drive">DriveToYaw</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/EjectPiece.html" title="class in frc.robot.commands.assist">EjectPiece</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/drive/DriveTrain.html" title="class in frc.robot.subsystems.drive">DriveTrain</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/IndexPiece.html" title="class in frc.robot.commands.assist">IndexPiece</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/EjectPiece.html" title="class in frc.robot.commands.assist">EjectPiece</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/intake/Intake.html" title="interface in frc.robot.subsystems.intake">Intake</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/intake/IntakeIO.html" title="interface in frc.robot.subsystems.intake">IntakeIO</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/intake/IntakeIO.IntakeIOInputs.html" title="class in frc.robot.subsystems.intake">IntakeIO.IntakeIOInputs</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/IndexPiece.html" title="class in frc.robot.commands.assist">IndexPiece</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/intake/IntakeIOSparkMax.html" title="class in frc.robot.subsystems.intake">IntakeIOSparkMax</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/intake/Intake.html" title="interface in frc.robot.subsystems.intake">Intake</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/intake/IntakeIO.html" title="interface in frc.robot.subsystems.intake">IntakeIO</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/intake/IntakeIO.IntakeIOInputs.html" title="class in frc.robot.subsystems.intake">IntakeIO.IntakeIOInputs</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/intake/IntakeIOStub.html" title="class in frc.robot.subsystems.intake">IntakeIOStub</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/intake/IntakeIOSparkMax.html" title="class in frc.robot.subsystems.intake">IntakeIOSparkMax</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/intake/IntakeIOTalonSRX.html" title="class in frc.robot.subsystems.intake">IntakeIOTalonSRX</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/intake/IntakeIOStub.html" title="class in frc.robot.subsystems.intake">IntakeIOStub</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/intake/IntakeOut.html" title="class in frc.robot.commands.intake">IntakeOut</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/intake/IntakeIOTalonSRX.html" title="class in frc.robot.subsystems.intake">IntakeIOTalonSRX</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/intake/IntakeSubsystem.html" title="class in frc.robot.subsystems.intake">IntakeSubsystem</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/intake/IntakeOut.html" title="class in frc.robot.commands.intake">IntakeOut</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/util/LoggedTunableNumber.html" title="class in frc.robot.util">LoggedTunableNumber</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/intake/IntakeSubsystem.html" title="class in frc.robot.subsystems.intake">IntakeSubsystem</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/util/LoggedTunableNumber.html" title="class in frc.robot.util">LoggedTunableNumber</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Class for a tunable number.</div>
 </div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/Main.html" title="class in frc.robot">Main</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/controls/PitControls.html" title="class in frc.robot.controls">PitControls</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/Main.html" title="class in frc.robot">Main</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/PrepareForIntake.html" title="class in frc.robot.commands.assist">PrepareForIntake</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/controls/PitControls.html" title="class in frc.robot.controls">PitControls</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/PrepareForScore.html" title="class in frc.robot.commands.assist">PrepareForScore</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/PrepareForIntake.html" title="class in frc.robot.commands.assist">PrepareForIntake</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/debug/PrepareForScore.html" title="class in frc.robot.commands.debug">PrepareForScore</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/PrepareForScore.html" title="class in frc.robot.commands.assist">PrepareForScore</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/ProtectArm.html" title="class in frc.robot.commands.assist">ProtectArm</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/debug/PrepareForScore.html" title="class in frc.robot.commands.debug">PrepareForScore</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/Robot.html" title="class in frc.robot">Robot</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/ProtectArm.html" title="class in frc.robot.commands.assist">ProtectArm</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.html" title="class in frc.robot.config">RobotConfig</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/Robot.html" title="class in frc.robot">Robot</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.ArmConstants.html" title="class in frc.robot.config">RobotConfig.ArmConstants</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.html" title="class in frc.robot.config">RobotConfig</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.ClimberConstants.html" title="class in frc.robot.config">RobotConfig.ClimberConstants</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.ArmConstants.html" title="class in frc.robot.config">RobotConfig.ArmConstants</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.DriveConstants.html" title="class in frc.robot.config">RobotConfig.DriveConstants</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.ClimberConstants.html" title="class in frc.robot.config">RobotConfig.ClimberConstants</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.IntakeConstants.html" title="class in frc.robot.config">RobotConfig.IntakeConstants</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.DriveConstants.html" title="class in frc.robot.config">RobotConfig.DriveConstants</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.ShooterConstants.html" title="class in frc.robot.config">RobotConfig.ShooterConstants</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.IntakeConstants.html" title="class in frc.robot.config">RobotConfig.IntakeConstants</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfigInferno.html" title="class in frc.robot.config">RobotConfigInferno</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfig.ShooterConstants.html" title="class in frc.robot.config">RobotConfig.ShooterConstants</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfigPhoenix.html" title="class in frc.robot.config">RobotConfigPhoenix</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfigInferno.html" title="class in frc.robot.config">RobotConfigInferno</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfigSherman.html" title="class in frc.robot.config">RobotConfigSherman</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfigPhoenix.html" title="class in frc.robot.config">RobotConfigPhoenix</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfigStub.html" title="class in frc.robot.config">RobotConfigStub</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfigSherman.html" title="class in frc.robot.config">RobotConfigSherman</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/RobotContainer.html" title="class in frc.robot">RobotContainer</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/config/RobotConfigStub.html" title="class in frc.robot.config">RobotConfigStub</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/ScorePiece.html" title="class in frc.robot.commands.assist">ScorePiece</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/RobotContainer.html" title="class in frc.robot">RobotContainer</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/shooter/SetShooterVelocity.html" title="class in frc.robot.commands.shooter">SetShooterVelocity</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/assist/ScorePiece.html" title="class in frc.robot.commands.assist">ScorePiece</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/shooter/Shooter.html" title="interface in frc.robot.subsystems.shooter">Shooter</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/shooter/ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterIO.ShooterIOInputs.html" title="class in frc.robot.subsystems.shooter">ShooterIO.ShooterIOInputs</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/shooter/SetShooterVelocity.html" title="class in frc.robot.commands.shooter">SetShooterVelocity</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/shooter/Shooter.html" title="interface in frc.robot.subsystems.shooter">Shooter</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/shooter/ShooterIO.html" title="interface in frc.robot.subsystems.shooter">ShooterIO</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterIO.ShooterIOInputs.html" title="class in frc.robot.subsystems.shooter">ShooterIO.ShooterIOInputs</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterIOStub.html" title="class in frc.robot.subsystems.shooter">ShooterIOStub</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/subsystems/shooter/ShooterIOStub.ShooterId.html" title="enum class in frc.robot.subsystems.shooter">ShooterIOStub.ShooterId</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterSubsystem.html" title="class in frc.robot.subsystems.shooter">ShooterSubsystem</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterIOSparkMax.html" title="class in frc.robot.subsystems.shooter">ShooterIOSparkMax</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/controls/SysIdControls.html" title="class in frc.robot.controls">SysIdControls</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterIOStub.html" title="class in frc.robot.subsystems.shooter">ShooterIOStub</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/debug/TestShooterAngle.html" title="class in frc.robot.commands.debug">TestShooterAngle</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/vision/Vision.html" title="interface in frc.robot.subsystems.vision">Vision</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/vision/Vision.VisionPose.html" title="class in frc.robot.subsystems.vision">Vision.VisionPose</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="frc/robot/subsystems/shooter/ShooterIOStub.ShooterId.html" title="enum class in frc.robot.subsystems.shooter">ShooterIOStub.ShooterId</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/shooter/ShooterSubsystem.html" title="class in frc.robot.subsystems.shooter">ShooterSubsystem</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/controls/SysIdControls.html" title="class in frc.robot.controls">SysIdControls</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/vision/VisionCamera.html" title="class in frc.robot.subsystems.vision">VisionCamera</a></div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/commands/debug/TestShooterAngle.html" title="class in frc.robot.commands.debug">TestShooterAngle</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/vision/VisionSubsystem.html" title="class in frc.robot.subsystems.vision">VisionSubsystem</a></div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab1"><a href="frc/robot/subsystems/vision/Vision.html" title="interface in frc.robot.subsystems.vision">Vision</a></div>
+<div class="col-last odd-row-color all-classes-table all-classes-table-tab1">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/vision/Vision.VisionPose.html" title="class in frc.robot.subsystems.vision">Vision.VisionPose</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/vision/VisionCamera.html" title="class in frc.robot.subsystems.vision">VisionCamera</a></div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
+<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="frc/robot/subsystems/vision/VisionSubsystem.html" title="class in frc.robot.subsystems.vision">VisionSubsystem</a></div>
+<div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
 </div>
 </div>
 </div>
diff --git a/javadoc/allpackages-index.html b/javadoc/allpackages-index.html
index 6d59a837..2c498c77 100644
--- a/javadoc/allpackages-index.html
+++ b/javadoc/allpackages-index.html
@@ -61,34 +61,32 @@ <h1 title="All&amp;nbsp;Packages" class="title">All&nbsp;Packages</h1>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><a href="frc/robot/commands/auto/package-summary.html">frc.robot.commands.auto</a></div>
 <div class="col-last odd-row-color">&nbsp;</div>
-<div class="col-first even-row-color"><a href="frc/robot/commands/climber/package-summary.html">frc.robot.commands.climber</a></div>
+<div class="col-first even-row-color"><a href="frc/robot/commands/debug/package-summary.html">frc.robot.commands.debug</a></div>
 <div class="col-last even-row-color">&nbsp;</div>
-<div class="col-first odd-row-color"><a href="frc/robot/commands/debug/package-summary.html">frc.robot.commands.debug</a></div>
+<div class="col-first odd-row-color"><a href="frc/robot/commands/drive/package-summary.html">frc.robot.commands.drive</a></div>
 <div class="col-last odd-row-color">&nbsp;</div>
-<div class="col-first even-row-color"><a href="frc/robot/commands/drive/package-summary.html">frc.robot.commands.drive</a></div>
+<div class="col-first even-row-color"><a href="frc/robot/commands/intake/package-summary.html">frc.robot.commands.intake</a></div>
 <div class="col-last even-row-color">&nbsp;</div>
-<div class="col-first odd-row-color"><a href="frc/robot/commands/intake/package-summary.html">frc.robot.commands.intake</a></div>
+<div class="col-first odd-row-color"><a href="frc/robot/commands/shooter/package-summary.html">frc.robot.commands.shooter</a></div>
 <div class="col-last odd-row-color">&nbsp;</div>
-<div class="col-first even-row-color"><a href="frc/robot/commands/shooter/package-summary.html">frc.robot.commands.shooter</a></div>
+<div class="col-first even-row-color"><a href="frc/robot/config/package-summary.html">frc.robot.config</a></div>
 <div class="col-last even-row-color">&nbsp;</div>
-<div class="col-first odd-row-color"><a href="frc/robot/config/package-summary.html">frc.robot.config</a></div>
+<div class="col-first odd-row-color"><a href="frc/robot/controls/package-summary.html">frc.robot.controls</a></div>
 <div class="col-last odd-row-color">&nbsp;</div>
-<div class="col-first even-row-color"><a href="frc/robot/controls/package-summary.html">frc.robot.controls</a></div>
+<div class="col-first even-row-color"><a href="frc/robot/subsystems/arm/package-summary.html">frc.robot.subsystems.arm</a></div>
 <div class="col-last even-row-color">&nbsp;</div>
-<div class="col-first odd-row-color"><a href="frc/robot/subsystems/arm/package-summary.html">frc.robot.subsystems.arm</a></div>
+<div class="col-first odd-row-color"><a href="frc/robot/subsystems/climber/package-summary.html">frc.robot.subsystems.climber</a></div>
 <div class="col-last odd-row-color">&nbsp;</div>
-<div class="col-first even-row-color"><a href="frc/robot/subsystems/climber/package-summary.html">frc.robot.subsystems.climber</a></div>
+<div class="col-first even-row-color"><a href="frc/robot/subsystems/drive/package-summary.html">frc.robot.subsystems.drive</a></div>
 <div class="col-last even-row-color">&nbsp;</div>
-<div class="col-first odd-row-color"><a href="frc/robot/subsystems/drive/package-summary.html">frc.robot.subsystems.drive</a></div>
+<div class="col-first odd-row-color"><a href="frc/robot/subsystems/intake/package-summary.html">frc.robot.subsystems.intake</a></div>
 <div class="col-last odd-row-color">&nbsp;</div>
-<div class="col-first even-row-color"><a href="frc/robot/subsystems/intake/package-summary.html">frc.robot.subsystems.intake</a></div>
+<div class="col-first even-row-color"><a href="frc/robot/subsystems/shooter/package-summary.html">frc.robot.subsystems.shooter</a></div>
 <div class="col-last even-row-color">&nbsp;</div>
-<div class="col-first odd-row-color"><a href="frc/robot/subsystems/shooter/package-summary.html">frc.robot.subsystems.shooter</a></div>
+<div class="col-first odd-row-color"><a href="frc/robot/subsystems/vision/package-summary.html">frc.robot.subsystems.vision</a></div>
 <div class="col-last odd-row-color">&nbsp;</div>
-<div class="col-first even-row-color"><a href="frc/robot/subsystems/vision/package-summary.html">frc.robot.subsystems.vision</a></div>
+<div class="col-first even-row-color"><a href="frc/robot/util/package-summary.html">frc.robot.util</a></div>
 <div class="col-last even-row-color">&nbsp;</div>
-<div class="col-first odd-row-color"><a href="frc/robot/util/package-summary.html">frc.robot.util</a></div>
-<div class="col-last odd-row-color">&nbsp;</div>
 </div>
 </main>
 </div>
diff --git a/javadoc/constant-values.html b/javadoc/constant-values.html
index bc50098d..d1cf2897 100644
--- a/javadoc/constant-values.html
+++ b/javadoc/constant-values.html
@@ -66,10 +66,10 @@ <h2 title="frc.robot">frc.robot.*</h2>
 <div class="table-header col-last">Value</div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.BUILD_DATE">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#BUILD_DATE">BUILD_DATE</a></code></div>
-<div class="col-last even-row-color"><code>"2024-03-14 18:29:33 EDT"</code></div>
+<div class="col-last even-row-color"><code>"2024-03-14 22:12:21 EDT"</code></div>
 <div class="col-first odd-row-color"><code id="frc.robot.BuildConstants.BUILD_UNIX_TIME">public&nbsp;static&nbsp;final&nbsp;long</code></div>
 <div class="col-second odd-row-color"><code><a href="frc/robot/BuildConstants.html#BUILD_UNIX_TIME">BUILD_UNIX_TIME</a></code></div>
-<div class="col-last odd-row-color"><code>1710455373675L</code></div>
+<div class="col-last odd-row-color"><code>1710468741287L</code></div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.DIRTY">public&nbsp;static&nbsp;final&nbsp;int</code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#DIRTY">DIRTY</a></code></div>
 <div class="col-last even-row-color"><code>0</code></div>
@@ -78,13 +78,13 @@ <h2 title="frc.robot">frc.robot.*</h2>
 <div class="col-last odd-row-color"><code>"main"</code></div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.GIT_DATE">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#GIT_DATE">GIT_DATE</a></code></div>
-<div class="col-last even-row-color"><code>"2024-03-14 18:28:52 EDT"</code></div>
+<div class="col-last even-row-color"><code>"2024-03-14 22:11:39 EDT"</code></div>
 <div class="col-first odd-row-color"><code id="frc.robot.BuildConstants.GIT_REVISION">public&nbsp;static&nbsp;final&nbsp;int</code></div>
 <div class="col-second odd-row-color"><code><a href="frc/robot/BuildConstants.html#GIT_REVISION">GIT_REVISION</a></code></div>
-<div class="col-last odd-row-color"><code>76</code></div>
+<div class="col-last odd-row-color"><code>77</code></div>
 <div class="col-first even-row-color"><code id="frc.robot.BuildConstants.GIT_SHA">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second even-row-color"><code><a href="frc/robot/BuildConstants.html#GIT_SHA">GIT_SHA</a></code></div>
-<div class="col-last even-row-color"><code>"2316db88a63571f7dc467b26df9b7ec2534fd332"</code></div>
+<div class="col-last even-row-color"><code>"8edf2d636d84a6d55f759cd5e01ef2d5b0b8aee6"</code></div>
 <div class="col-first odd-row-color"><code id="frc.robot.BuildConstants.MAVEN_GROUP">public&nbsp;static&nbsp;final&nbsp;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
 <div class="col-second odd-row-color"><code><a href="frc/robot/BuildConstants.html#MAVEN_GROUP">MAVEN_GROUP</a></code></div>
 <div class="col-last odd-row-color"><code>""</code></div>
diff --git a/javadoc/element-list b/javadoc/element-list
index 48f49754..cff0b189 100644
--- a/javadoc/element-list
+++ b/javadoc/element-list
@@ -2,7 +2,6 @@ frc.robot
 frc.robot.commands.arm
 frc.robot.commands.assist
 frc.robot.commands.auto
-frc.robot.commands.climber
 frc.robot.commands.debug
 frc.robot.commands.drive
 frc.robot.commands.intake
diff --git a/javadoc/frc/robot/commands/climber/ClimberToPosition.html b/javadoc/frc/robot/commands/climber/ClimberToPosition.html
deleted file mode 100644
index 8af432fb..00000000
--- a/javadoc/frc/robot/commands/climber/ClimberToPosition.html
+++ /dev/null
@@ -1,203 +0,0 @@
-<!DOCTYPE HTML>
-<html lang="en">
-<head>
-<!-- Generated by javadoc (17) -->
-<title>ClimberToPosition (Crescendo2024 API)</title>
-<meta name="viewport" content="width=device-width, initial-scale=1">
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="description" content="declaration: package: frc.robot.commands.climber, class: ClimberToPosition">
-<meta name="generator" content="javadoc/ClassWriterImpl">
-<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../../../script-dir/jquery-ui.min.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
-<script type="text/javascript" src="../../../../script.js"></script>
-<script type="text/javascript" src="../../../../script-dir/jquery-3.6.1.min.js"></script>
-<script type="text/javascript" src="../../../../script-dir/jquery-ui.min.js"></script>
-</head>
-<body class="class-declaration-page">
-<script type="text/javascript">var evenRowColor = "even-row-color";
-var oddRowColor = "odd-row-color";
-var tableTab = "table-tab";
-var activeTableTab = "active-table-tab";
-var pathtoroot = "../../../../";
-loadScripts(document, 'script');</script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
-</noscript>
-<div class="flex-box">
-<header role="banner" class="flex-header">
-<nav role="navigation">
-<!-- ========= START OF TOP NAVBAR ======= -->
-<div class="top-nav" id="navbar-top">
-<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
-<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
-<li><a href="../../../../index.html">Overview</a></li>
-<li><a href="package-summary.html">Package</a></li>
-<li class="nav-bar-cell1-rev">Class</li>
-<li><a href="package-tree.html">Tree</a></li>
-<li><a href="../../../../index-all.html">Index</a></li>
-<li><a href="../../../../help-doc.html#class">Help</a></li>
-</ul>
-</div>
-<div class="sub-nav">
-<div>
-<ul class="sub-nav-list">
-<li>Summary:&nbsp;</li>
-<li><a href="#nested-class-summary">Nested</a>&nbsp;|&nbsp;</li>
-<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
-<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
-<li><a href="#method-summary">Method</a></li>
-</ul>
-<ul class="sub-nav-list">
-<li>Detail:&nbsp;</li>
-<li>Field&nbsp;|&nbsp;</li>
-<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
-<li><a href="#method-detail">Method</a></li>
-</ul>
-</div>
-<div class="nav-list-search"><label for="search-input">SEARCH:</label>
-<input type="text" id="search-input" value="search" disabled="disabled">
-<input type="reset" id="reset-button" value="reset" disabled="disabled">
-</div>
-</div>
-<!-- ========= END OF TOP NAVBAR ========= -->
-<span class="skip-nav" id="skip-navbar-top"></span></nav>
-</header>
-<div class="flex-content">
-<main role="main">
-<!-- ======== START OF CLASS DATA ======== -->
-<div class="header">
-<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">frc.robot.commands.climber</a></div>
-<h1 title="Class ClimberToPosition" class="title">Class ClimberToPosition</h1>
-</div>
-<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
-<div class="inheritance">edu.wpi.first.wpilibj2.command.Command
-<div class="inheritance">frc.robot.commands.climber.ClimberToPosition</div>
-</div>
-</div>
-<section class="class-description" id="class-description">
-<dl class="notes">
-<dt>All Implemented Interfaces:</dt>
-<dd><code>edu.wpi.first.util.sendable.Sendable</code></dd>
-</dl>
-<hr>
-<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">ClimberToPosition</span>
-<span class="extends-implements">extends edu.wpi.first.wpilibj2.command.Command</span></div>
-</section>
-<section class="summary">
-<ul class="summary-list">
-<!-- ======== NESTED CLASS SUMMARY ======== -->
-<li>
-<section class="nested-class-summary" id="nested-class-summary">
-<h2>Nested Class Summary</h2>
-<div class="inherited-list">
-<h2 id="nested-classes-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h2>
-<code>edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior</code></div>
-</section>
-</li>
-<!-- =========== FIELD SUMMARY =========== -->
-<li>
-<section class="field-summary" id="field-summary">
-<h2>Field Summary</h2>
-<div class="inherited-list">
-<h3 id="fields-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h3>
-<code>m_requirements</code></div>
-</section>
-</li>
-<!-- ======== CONSTRUCTOR SUMMARY ======== -->
-<li>
-<section class="constructor-summary" id="constructor-summary">
-<h2>Constructor Summary</h2>
-<div class="caption"><span>Constructors</span></div>
-<div class="summary-table two-column-summary">
-<div class="table-header col-first">Constructor</div>
-<div class="table-header col-last">Description</div>
-<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(frc.robot.subsystems.climber.Climber,boolean)" class="member-name-link">ClimberToPosition</a><wbr>(<a href="../../subsystems/climber/Climber.html" title="interface in frc.robot.subsystems.climber">Climber</a>&nbsp;climber,
- boolean&nbsp;bExtend)</code></div>
-<div class="col-last even-row-color">&nbsp;</div>
-</div>
-</section>
-</li>
-<!-- ========== METHOD SUMMARY =========== -->
-<li>
-<section class="method-summary" id="method-summary">
-<h2>Method Summary</h2>
-<div id="method-summary-table">
-<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
-<div id="method-summary-table.tabpanel" role="tabpanel">
-<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
-<div class="table-header col-first">Modifier and Type</div>
-<div class="table-header col-second">Method</div>
-<div class="table-header col-last">Description</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#initialize()" class="member-name-link">initialize</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isFinished()" class="member-name-link">isFinished</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-</div>
-</div>
-</div>
-<div class="inherited-list">
-<h3 id="methods-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.Command</h3>
-<code>addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, end, execute, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout</code></div>
-<div class="inherited-list">
-<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
-<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
-</section>
-</li>
-</ul>
-</section>
-<section class="details">
-<ul class="details-list">
-<!-- ========= CONSTRUCTOR DETAIL ======== -->
-<li>
-<section class="constructor-details" id="constructor-detail">
-<h2>Constructor Details</h2>
-<ul class="member-list">
-<li>
-<section class="detail" id="&lt;init&gt;(frc.robot.subsystems.climber.Climber,boolean)">
-<h3>ClimberToPosition</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ClimberToPosition</span><wbr><span class="parameters">(<a href="../../subsystems/climber/Climber.html" title="interface in frc.robot.subsystems.climber">Climber</a>&nbsp;climber,
- boolean&nbsp;bExtend)</span></div>
-</section>
-</li>
-</ul>
-</section>
-</li>
-<!-- ============ METHOD DETAIL ========== -->
-<li>
-<section class="method-details" id="method-detail">
-<h2>Method Details</h2>
-<ul class="member-list">
-<li>
-<section class="detail" id="initialize()">
-<h3>initialize</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">initialize</span>()</div>
-<dl class="notes">
-<dt>Overrides:</dt>
-<dd><code>initialize</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj2.command.Command</code></dd>
-</dl>
-</section>
-</li>
-<li>
-<section class="detail" id="isFinished()">
-<h3>isFinished</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">isFinished</span>()</div>
-<dl class="notes">
-<dt>Overrides:</dt>
-<dd><code>isFinished</code>&nbsp;in class&nbsp;<code>edu.wpi.first.wpilibj2.command.Command</code></dd>
-</dl>
-</section>
-</li>
-</ul>
-</section>
-</li>
-</ul>
-</section>
-<!-- ========= END OF CLASS DATA ========= -->
-</main>
-</div>
-</div>
-</body>
-</html>
diff --git a/javadoc/frc/robot/commands/climber/package-summary.html b/javadoc/frc/robot/commands/climber/package-summary.html
deleted file mode 100644
index 84d3d306..00000000
--- a/javadoc/frc/robot/commands/climber/package-summary.html
+++ /dev/null
@@ -1,81 +0,0 @@
-<!DOCTYPE HTML>
-<html lang="en">
-<head>
-<!-- Generated by javadoc (17) -->
-<title>frc.robot.commands.climber (Crescendo2024 API)</title>
-<meta name="viewport" content="width=device-width, initial-scale=1">
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="description" content="declaration: package: frc.robot.commands.climber">
-<meta name="generator" content="javadoc/PackageWriterImpl">
-<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../../../script-dir/jquery-ui.min.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
-<script type="text/javascript" src="../../../../script.js"></script>
-<script type="text/javascript" src="../../../../script-dir/jquery-3.6.1.min.js"></script>
-<script type="text/javascript" src="../../../../script-dir/jquery-ui.min.js"></script>
-</head>
-<body class="package-declaration-page">
-<script type="text/javascript">var pathtoroot = "../../../../";
-loadScripts(document, 'script');</script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
-</noscript>
-<div class="flex-box">
-<header role="banner" class="flex-header">
-<nav role="navigation">
-<!-- ========= START OF TOP NAVBAR ======= -->
-<div class="top-nav" id="navbar-top">
-<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
-<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
-<li><a href="../../../../index.html">Overview</a></li>
-<li class="nav-bar-cell1-rev">Package</li>
-<li>Class</li>
-<li><a href="package-tree.html">Tree</a></li>
-<li><a href="../../../../index-all.html">Index</a></li>
-<li><a href="../../../../help-doc.html#package">Help</a></li>
-</ul>
-</div>
-<div class="sub-nav">
-<div>
-<ul class="sub-nav-list">
-<li>Package:&nbsp;</li>
-<li>Description&nbsp;|&nbsp;</li>
-<li>Related Packages&nbsp;|&nbsp;</li>
-<li><a href="#class-summary">Classes and Interfaces</a></li>
-</ul>
-</div>
-<div class="nav-list-search"><label for="search-input">SEARCH:</label>
-<input type="text" id="search-input" value="search" disabled="disabled">
-<input type="reset" id="reset-button" value="reset" disabled="disabled">
-</div>
-</div>
-<!-- ========= END OF TOP NAVBAR ========= -->
-<span class="skip-nav" id="skip-navbar-top"></span></nav>
-</header>
-<div class="flex-content">
-<main role="main">
-<div class="header">
-<h1 title="Package frc.robot.commands.climber" class="title">Package frc.robot.commands.climber</h1>
-</div>
-<hr>
-<div class="package-signature">package <span class="element-name">frc.robot.commands.climber</span></div>
-<section class="summary">
-<ul class="summary-list">
-<li>
-<div id="class-summary">
-<div class="caption"><span>Classes</span></div>
-<div class="summary-table two-column-summary">
-<div class="table-header col-first">Class</div>
-<div class="table-header col-last">Description</div>
-<div class="col-first even-row-color class-summary class-summary-tab2"><a href="ClimberToPosition.html" title="class in frc.robot.commands.climber">ClimberToPosition</a></div>
-<div class="col-last even-row-color class-summary class-summary-tab2">&nbsp;</div>
-</div>
-</div>
-</li>
-</ul>
-</section>
-</main>
-</div>
-</div>
-</body>
-</html>
diff --git a/javadoc/frc/robot/commands/climber/package-tree.html b/javadoc/frc/robot/commands/climber/package-tree.html
deleted file mode 100644
index 4069a7dd..00000000
--- a/javadoc/frc/robot/commands/climber/package-tree.html
+++ /dev/null
@@ -1,74 +0,0 @@
-<!DOCTYPE HTML>
-<html lang="en">
-<head>
-<!-- Generated by javadoc (17) -->
-<title>frc.robot.commands.climber Class Hierarchy (Crescendo2024 API)</title>
-<meta name="viewport" content="width=device-width, initial-scale=1">
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="description" content="tree: package: frc.robot.commands.climber">
-<meta name="generator" content="javadoc/PackageTreeWriter">
-<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../../../script-dir/jquery-ui.min.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
-<script type="text/javascript" src="../../../../script.js"></script>
-<script type="text/javascript" src="../../../../script-dir/jquery-3.6.1.min.js"></script>
-<script type="text/javascript" src="../../../../script-dir/jquery-ui.min.js"></script>
-</head>
-<body class="package-tree-page">
-<script type="text/javascript">var pathtoroot = "../../../../";
-loadScripts(document, 'script');</script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
-</noscript>
-<div class="flex-box">
-<header role="banner" class="flex-header">
-<nav role="navigation">
-<!-- ========= START OF TOP NAVBAR ======= -->
-<div class="top-nav" id="navbar-top">
-<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
-<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
-<li><a href="../../../../index.html">Overview</a></li>
-<li><a href="package-summary.html">Package</a></li>
-<li>Class</li>
-<li class="nav-bar-cell1-rev">Tree</li>
-<li><a href="../../../../index-all.html">Index</a></li>
-<li><a href="../../../../help-doc.html#tree">Help</a></li>
-</ul>
-</div>
-<div class="sub-nav">
-<div class="nav-list-search"><label for="search-input">SEARCH:</label>
-<input type="text" id="search-input" value="search" disabled="disabled">
-<input type="reset" id="reset-button" value="reset" disabled="disabled">
-</div>
-</div>
-<!-- ========= END OF TOP NAVBAR ========= -->
-<span class="skip-nav" id="skip-navbar-top"></span></nav>
-</header>
-<div class="flex-content">
-<main role="main">
-<div class="header">
-<h1 class="title">Hierarchy For Package frc.robot.commands.climber</h1>
-<span class="package-hierarchy-label">Package Hierarchies:</span>
-<ul class="horizontal">
-<li><a href="../../../../overview-tree.html">All Packages</a></li>
-</ul>
-</div>
-<section class="hierarchy">
-<h2 title="Class Hierarchy">Class Hierarchy</h2>
-<ul>
-<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" class="type-name-link external-link" title="class or interface in java.lang">Object</a>
-<ul>
-<li class="circle">edu.wpi.first.wpilibj2.command.Command (implements edu.wpi.first.util.sendable.Sendable)
-<ul>
-<li class="circle">frc.robot.commands.climber.<a href="ClimberToPosition.html" class="type-name-link" title="class in frc.robot.commands.climber">ClimberToPosition</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</section>
-</main>
-</div>
-</div>
-</body>
-</html>
diff --git a/javadoc/frc/robot/config/RobotConfig.ArmConstants.html b/javadoc/frc/robot/config/RobotConfig.ArmConstants.html
index 2e47a247..01c844eb 100644
--- a/javadoc/frc/robot/config/RobotConfig.ArmConstants.html
+++ b/javadoc/frc/robot/config/RobotConfig.ArmConstants.html
@@ -120,56 +120,59 @@ <h2>Field Summary</h2>
 <div class="col-second odd-row-color"><code><a href="#intakeAngleInDegrees" class="member-name-link">intakeAngleInDegrees</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#maxAcceleration" class="member-name-link">maxAcceleration</a></code></div>
+<div class="col-second even-row-color"><code><a href="#matchStartArmAngle" class="member-name-link">matchStartArmAngle</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>static double</code></div>
-<div class="col-second odd-row-color"><code><a href="#maxAngleInDegrees" class="member-name-link">maxAngleInDegrees</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#maxAcceleration" class="member-name-link">maxAcceleration</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#maxVelocity" class="member-name-link">maxVelocity</a></code></div>
+<div class="col-second even-row-color"><code><a href="#maxAngleInDegrees" class="member-name-link">maxAngleInDegrees</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>static double</code></div>
-<div class="col-second odd-row-color"><code><a href="#maxVelocityInDegreesPerSecond" class="member-name-link">maxVelocityInDegreesPerSecond</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#maxVelocity" class="member-name-link">maxVelocity</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#minAngleInDegrees" class="member-name-link">minAngleInDegrees</a></code></div>
+<div class="col-second even-row-color"><code><a href="#maxVelocityInDegreesPerSecond" class="member-name-link">maxVelocityInDegreesPerSecond</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>static double</code></div>
-<div class="col-second odd-row-color"><code><a href="#noteScoreAngleInDegrees" class="member-name-link">noteScoreAngleInDegrees</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#minAngleInDegrees" class="member-name-link">minAngleInDegrees</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#pidAngleErrorInDegrees" class="member-name-link">pidAngleErrorInDegrees</a></code></div>
+<div class="col-second even-row-color"><code><a href="#noteScoreAngleInDegrees" class="member-name-link">noteScoreAngleInDegrees</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>static double</code></div>
-<div class="col-second odd-row-color"><code><a href="#pidKd" class="member-name-link">pidKd</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#pidAngleErrorInDegrees" class="member-name-link">pidAngleErrorInDegrees</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#pidKi" class="member-name-link">pidKi</a></code></div>
+<div class="col-second even-row-color"><code><a href="#pidKd" class="member-name-link">pidKd</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>static double</code></div>
-<div class="col-second odd-row-color"><code><a href="#pidKp" class="member-name-link">pidKp</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#pidKi" class="member-name-link">pidKi</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#pidMaxOutput" class="member-name-link">pidMaxOutput</a></code></div>
+<div class="col-second even-row-color"><code><a href="#pidKp" class="member-name-link">pidKp</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>static double</code></div>
-<div class="col-second odd-row-color"><code><a href="#pidMinOutput" class="member-name-link">pidMinOutput</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#pidMaxOutput" class="member-name-link">pidMaxOutput</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#pidSettlingTimeInMilliseconds" class="member-name-link">pidSettlingTimeInMilliseconds</a></code></div>
+<div class="col-second even-row-color"><code><a href="#pidMinOutput" class="member-name-link">pidMinOutput</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>static double</code></div>
-<div class="col-second odd-row-color"><code><a href="#pidTimeoutInSeconds" class="member-name-link">pidTimeoutInSeconds</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#pidSettlingTimeInMilliseconds" class="member-name-link">pidSettlingTimeInMilliseconds</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#stowIntakeAngleInDegrees" class="member-name-link">stowIntakeAngleInDegrees</a></code></div>
+<div class="col-second even-row-color"><code><a href="#pidTimeoutInSeconds" class="member-name-link">pidTimeoutInSeconds</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>static double</code></div>
-<div class="col-second odd-row-color"><code><a href="#subwooferScoreAngleInDegrees" class="member-name-link">subwooferScoreAngleInDegrees</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#stowIntakeAngleInDegrees" class="member-name-link">stowIntakeAngleInDegrees</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#subwooferScoreFromPodiumAngleInDegrees" class="member-name-link">subwooferScoreFromPodiumAngleInDegrees</a></code></div>
+<div class="col-second even-row-color"><code><a href="#subwooferScoreAngleInDegrees" class="member-name-link">subwooferScoreAngleInDegrees</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
+<div class="col-first odd-row-color"><code>static double</code></div>
+<div class="col-second odd-row-color"><code><a href="#subwooferScoreFromPodiumAngleInDegrees" class="member-name-link">subwooferScoreFromPodiumAngleInDegrees</a></code></div>
+<div class="col-last odd-row-color">&nbsp;</div>
 </div>
 </section>
 </li>
@@ -361,6 +364,12 @@ <h3>stowIntakeAngleInDegrees</h3>
 </section>
 </li>
 <li>
+<section class="detail" id="matchStartArmAngle">
+<h3>matchStartArmAngle</h3>
+<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">matchStartArmAngle</span></div>
+</section>
+</li>
+<li>
 <section class="detail" id="defaultSpeedInVolts">
 <h3>defaultSpeedInVolts</h3>
 <div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">defaultSpeedInVolts</span></div>
diff --git a/javadoc/frc/robot/config/RobotConfig.ClimberConstants.html b/javadoc/frc/robot/config/RobotConfig.ClimberConstants.html
index dd866ca0..0d9e00e2 100644
--- a/javadoc/frc/robot/config/RobotConfig.ClimberConstants.html
+++ b/javadoc/frc/robot/config/RobotConfig.ClimberConstants.html
@@ -111,11 +111,20 @@ <h2>Field Summary</h2>
 <div class="col-second even-row-color"><code><a href="#defaultSpeedInVolts" class="member-name-link">defaultSpeedInVolts</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
 <div class="col-first odd-row-color"><code>static double</code></div>
+<div class="col-second odd-row-color"><code><a href="#matchStartPositionRadiansRight" class="member-name-link">matchStartPositionRadiansRight</a></code></div>
+<div class="col-last odd-row-color">&nbsp;</div>
+<div class="col-first even-row-color"><code>static double</code></div>
+<div class="col-second even-row-color"><code><a href="#maxExtendTimeInSeconds" class="member-name-link">maxExtendTimeInSeconds</a></code></div>
+<div class="col-last even-row-color">&nbsp;</div>
+<div class="col-first odd-row-color"><code>static double</code></div>
 <div class="col-second odd-row-color"><code><a href="#maxPositionInRadians" class="member-name-link">maxPositionInRadians</a></code></div>
 <div class="col-last odd-row-color">&nbsp;</div>
 <div class="col-first even-row-color"><code>static double</code></div>
-<div class="col-second even-row-color"><code><a href="#minPositionInRadians" class="member-name-link">minPositionInRadians</a></code></div>
+<div class="col-second even-row-color"><code><a href="#maxRetractTimeInSeconds" class="member-name-link">maxRetractTimeInSeconds</a></code></div>
 <div class="col-last even-row-color">&nbsp;</div>
+<div class="col-first odd-row-color"><code>static double</code></div>
+<div class="col-second odd-row-color"><code><a href="#minPositionInRadians" class="member-name-link">minPositionInRadians</a></code></div>
+<div class="col-last odd-row-color">&nbsp;</div>
 </div>
 </section>
 </li>
@@ -204,6 +213,24 @@ <h3>autoZeroOffset</h3>
 <div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">autoZeroOffset</span></div>
 </section>
 </li>
+<li>
+<section class="detail" id="matchStartPositionRadiansRight">
+<h3>matchStartPositionRadiansRight</h3>
+<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">matchStartPositionRadiansRight</span></div>
+</section>
+</li>
+<li>
+<section class="detail" id="maxExtendTimeInSeconds">
+<h3>maxExtendTimeInSeconds</h3>
+<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxExtendTimeInSeconds</span></div>
+</section>
+</li>
+<li>
+<section class="detail" id="maxRetractTimeInSeconds">
+<h3>maxRetractTimeInSeconds</h3>
+<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxRetractTimeInSeconds</span></div>
+</section>
+</li>
 </ul>
 </section>
 </li>
diff --git a/javadoc/frc/robot/subsystems/climber/Climber.html b/javadoc/frc/robot/subsystems/climber/Climber.html
index a97c6da7..1e1fa9bd 100644
--- a/javadoc/frc/robot/subsystems/climber/Climber.html
+++ b/javadoc/frc/robot/subsystems/climber/Climber.html
@@ -95,16 +95,8 @@ <h2>Method Summary</h2>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)" class="member-name-link">add2dSim</a><wbr>(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d&nbsp;mech2d)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code>default void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#autoZeroMode(boolean)" class="member-name-link">autoZeroMode</a><wbr>(boolean&nbsp;enable)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#enableLimits(boolean)" class="member-name-link">enableLimits</a><wbr>(boolean&nbsp;enable)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5">&nbsp;</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code>default void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#enableLimits(boolean)" class="member-name-link">enableLimits</a><wbr>(boolean&nbsp;enable)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5">&nbsp;</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#extend()" class="member-name-link">extend</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
-<div class="block">Extends climber arms min limit</div>
-</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code>default double</code></div>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#getCurrentPositionLeft()" class="member-name-link">getCurrentPositionLeft</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5">&nbsp;</div>
@@ -129,17 +121,9 @@ <h2>Method Summary</h2>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code>default boolean</code></div>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5"><code><a href="#isAtMinLimitRight()" class="member-name-link">isAtMinLimitRight</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab5">&nbsp;</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>boolean</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#isExtending()" class="member-name-link">isExtending</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">&nbsp;</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#resetPosition()" class="member-name-link">resetPosition</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">&nbsp;</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#retract()" class="member-name-link">retract</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
-<div class="block">Retracts climber to min limit</div>
-</div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#resetPosition()" class="member-name-link">resetPosition</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>void</code></div>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#runVoltage(double)" class="member-name-link">runVoltage</a><wbr>(double&nbsp;volts)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">&nbsp;</div>
@@ -164,20 +148,6 @@ <h2>Method Summary</h2>
 <h2>Method Details</h2>
 <ul class="member-list">
 <li>
-<section class="detail" id="extend()">
-<h3>extend</h3>
-<div class="member-signature"><span class="return-type">void</span>&nbsp;<span class="element-name">extend</span>()</div>
-<div class="block">Extends climber arms min limit</div>
-</section>
-</li>
-<li>
-<section class="detail" id="retract()">
-<h3>retract</h3>
-<div class="member-signature"><span class="return-type">void</span>&nbsp;<span class="element-name">retract</span>()</div>
-<div class="block">Retracts climber to min limit</div>
-</section>
-</li>
-<li>
 <section class="detail" id="runVoltage(double)">
 <h3>runVoltage</h3>
 <div class="member-signature"><span class="return-type">void</span>&nbsp;<span class="element-name">runVoltage</span><wbr><span class="parameters">(double&nbsp;volts)</span></div>
@@ -202,24 +172,12 @@ <h3>resetPosition</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="autoZeroMode(boolean)">
-<h3>autoZeroMode</h3>
-<div class="member-signature"><span class="modifiers">default</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">autoZeroMode</span><wbr><span class="parameters">(boolean&nbsp;enable)</span></div>
-</section>
-</li>
-<li>
 <section class="detail" id="enableLimits(boolean)">
 <h3>enableLimits</h3>
 <div class="member-signature"><span class="modifiers">default</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">enableLimits</span><wbr><span class="parameters">(boolean&nbsp;enable)</span></div>
 </section>
 </li>
 <li>
-<section class="detail" id="isExtending()">
-<h3>isExtending</h3>
-<div class="member-signature"><span class="return-type">boolean</span>&nbsp;<span class="element-name">isExtending</span>()</div>
-</section>
-</li>
-<li>
 <section class="detail" id="getCurrentPositionLeft()">
 <h3>getCurrentPositionLeft</h3>
 <div class="member-signature"><span class="modifiers">default</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getCurrentPositionLeft</span>()</div>
diff --git a/javadoc/frc/robot/subsystems/climber/ClimberSubsystem.html b/javadoc/frc/robot/subsystems/climber/ClimberSubsystem.html
index f9f0bba6..78878f8e 100644
--- a/javadoc/frc/robot/subsystems/climber/ClimberSubsystem.html
+++ b/javadoc/frc/robot/subsystems/climber/ClimberSubsystem.html
@@ -116,42 +116,40 @@ <h2>Method Summary</h2>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)" class="member-name-link">add2dSim</a><wbr>(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d&nbsp;mech2d)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#autoZeroMode(boolean)" class="member-name-link">autoZeroMode</a><wbr>(boolean&nbsp;enable)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#enableLimits(boolean)" class="member-name-link">enableLimits</a><wbr>(boolean&nbsp;enable)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#enableLimits(boolean)" class="member-name-link">enableLimits</a><wbr>(boolean&nbsp;enable)</code></div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAutoZeroCommand()" class="member-name-link">getAutoZeroCommand</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#extend()" class="member-name-link">extend</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Extends climber arms min limit</div>
-</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getCurrentPositionLeft()" class="member-name-link">getCurrentPositionLeft</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getCurrentPositionLeft()" class="member-name-link">getCurrentPositionLeft</a>()</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getCurrentPositionRight()" class="member-name-link">getCurrentPositionRight</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getCurrentPositionRight()" class="member-name-link">getCurrentPositionRight</a>()</code></div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getExtendCommand()" class="member-name-link">getExtendCommand</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getExtendCommand()" class="member-name-link">getExtendCommand</a>()</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPrepareClimberForMatchStartCommand()" class="member-name-link">getPrepareClimberForMatchStartCommand</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRetractCommand()" class="member-name-link">getRetractCommand</a>()</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPrepareClimberToHoldArmCommand()" class="member-name-link">getPrepareClimberToHoldArmCommand</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAtMaxLimitLeft()" class="member-name-link">isAtMaxLimitLeft</a>()</code></div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.wpilibj2.command.Command</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRetractCommand()" class="member-name-link">getRetractCommand</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAtMaxLimitRight()" class="member-name-link">isAtMaxLimitRight</a>()</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAtMaxLimitLeft()" class="member-name-link">isAtMaxLimitLeft</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAtMinLimitLeft()" class="member-name-link">isAtMinLimitLeft</a>()</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAtMaxLimitRight()" class="member-name-link">isAtMaxLimitRight</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAtMinLimitRight()" class="member-name-link">isAtMinLimitRight</a>()</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAtMinLimitLeft()" class="member-name-link">isAtMinLimitLeft</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isExtending()" class="member-name-link">isExtending</a>()</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAtMinLimitRight()" class="member-name-link">isAtMinLimitRight</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
 <div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#periodic()" class="member-name-link">periodic</a>()</code></div>
@@ -160,19 +158,14 @@ <h2>Method Summary</h2>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetPosition()" class="member-name-link">resetPosition</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#retract()" class="member-name-link">retract</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Retracts climber to min limit</div>
-</div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runVoltage(double)" class="member-name-link">runVoltage</a><wbr>(double&nbsp;volts)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runVoltage(double)" class="member-name-link">runVoltage</a><wbr>(double&nbsp;volts)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runVoltageLeft(double)" class="member-name-link">runVoltageLeft</a><wbr>(double&nbsp;volts)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runVoltageLeft(double)" class="member-name-link">runVoltageLeft</a><wbr>(double&nbsp;volts)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runVoltageRight(double)" class="member-name-link">runVoltageRight</a><wbr>(double&nbsp;volts)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#runVoltageRight(double)" class="member-name-link">runVoltageRight</a><wbr>(double&nbsp;volts)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
 </div>
 </div>
 </div>
@@ -222,38 +215,6 @@ <h3>periodic</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="extend()">
-<h3>extend</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">extend</span>()</div>
-<div class="block">Extends climber arms min limit</div>
-<dl class="notes">
-<dt>Specified by:</dt>
-<dd><code><a href="Climber.html#extend()">extend</a></code>&nbsp;in interface&nbsp;<code><a href="Climber.html" title="interface in frc.robot.subsystems.climber">Climber</a></code></dd>
-</dl>
-</section>
-</li>
-<li>
-<section class="detail" id="retract()">
-<h3>retract</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">retract</span>()</div>
-<div class="block">Retracts climber to min limit</div>
-<dl class="notes">
-<dt>Specified by:</dt>
-<dd><code><a href="Climber.html#retract()">retract</a></code>&nbsp;in interface&nbsp;<code><a href="Climber.html" title="interface in frc.robot.subsystems.climber">Climber</a></code></dd>
-</dl>
-</section>
-</li>
-<li>
-<section class="detail" id="isExtending()">
-<h3>isExtending</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">isExtending</span>()</div>
-<dl class="notes">
-<dt>Specified by:</dt>
-<dd><code><a href="Climber.html#isExtending()">isExtending</a></code>&nbsp;in interface&nbsp;<code><a href="Climber.html" title="interface in frc.robot.subsystems.climber">Climber</a></code></dd>
-</dl>
-</section>
-</li>
-<li>
 <section class="detail" id="runVoltage(double)">
 <h3>runVoltage</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">runVoltage</span><wbr><span class="parameters">(double&nbsp;volts)</span></div>
@@ -294,16 +255,6 @@ <h3>resetPosition</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="autoZeroMode(boolean)">
-<h3>autoZeroMode</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">autoZeroMode</span><wbr><span class="parameters">(boolean&nbsp;enable)</span></div>
-<dl class="notes">
-<dt>Specified by:</dt>
-<dd><code><a href="Climber.html#autoZeroMode(boolean)">autoZeroMode</a></code>&nbsp;in interface&nbsp;<code><a href="Climber.html" title="interface in frc.robot.subsystems.climber">Climber</a></code></dd>
-</dl>
-</section>
-</li>
-<li>
 <section class="detail" id="enableLimits(boolean)">
 <h3>enableLimits</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">enableLimits</span><wbr><span class="parameters">(boolean&nbsp;enable)</span></div>
@@ -394,6 +345,24 @@ <h3>getRetractCommand</h3>
 </section>
 </li>
 <li>
+<section class="detail" id="getAutoZeroCommand()">
+<h3>getAutoZeroCommand</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.Command</span>&nbsp;<span class="element-name">getAutoZeroCommand</span>()</div>
+</section>
+</li>
+<li>
+<section class="detail" id="getPrepareClimberToHoldArmCommand()">
+<h3>getPrepareClimberToHoldArmCommand</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.Command</span>&nbsp;<span class="element-name">getPrepareClimberToHoldArmCommand</span>()</div>
+</section>
+</li>
+<li>
+<section class="detail" id="getPrepareClimberForMatchStartCommand()">
+<h3>getPrepareClimberForMatchStartCommand</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.Command</span>&nbsp;<span class="element-name">getPrepareClimberForMatchStartCommand</span>()</div>
+</section>
+</li>
+<li>
 <section class="detail" id="add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)">
 <h3>add2dSim</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">add2dSim</span><wbr><span class="parameters">(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d&nbsp;mech2d)</span></div>
diff --git a/javadoc/frc/robot/util/DevilBotState.html b/javadoc/frc/robot/util/DevilBotState.html
index 22346122..326bb131 100644
--- a/javadoc/frc/robot/util/DevilBotState.html
+++ b/javadoc/frc/robot/util/DevilBotState.html
@@ -44,13 +44,13 @@
 <ul class="sub-nav-list">
 <li>Summary:&nbsp;</li>
 <li><a href="#nested-class-summary">Nested</a>&nbsp;|&nbsp;</li>
-<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method-summary">Method</a></li>
 </ul>
 <ul class="sub-nav-list">
 <li>Detail:&nbsp;</li>
-<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#field-detail">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method-detail">Method</a></li>
 </ul>
@@ -107,6 +107,21 @@ <h2>Nested Class Summary</h2>
 </div>
 </section>
 </li>
+<!-- =========== FIELD SUMMARY =========== -->
+<li>
+<section class="field-summary" id="field-summary">
+<h2>Field Summary</h2>
+<div class="caption"><span>Fields</span></div>
+<div class="summary-table three-column-summary">
+<div class="table-header col-first">Modifier and Type</div>
+<div class="table-header col-second">Field</div>
+<div class="table-header col-last">Description</div>
+<div class="col-first even-row-color"><code>static boolean</code></div>
+<div class="col-second even-row-color"><code><a href="#climberNeedsToBeZeroedAtStart" class="member-name-link">climberNeedsToBeZeroedAtStart</a></code></div>
+<div class="col-last even-row-color">&nbsp;</div>
+</div>
+</section>
+</li>
 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
 <li>
 <section class="constructor-summary" id="constructor-summary">
@@ -191,6 +206,20 @@ <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from cl
 </section>
 <section class="details">
 <ul class="details-list">
+<!-- ============ FIELD DETAIL =========== -->
+<li>
+<section class="field-details" id="field-detail">
+<h2>Field Details</h2>
+<ul class="member-list">
+<li>
+<section class="detail" id="climberNeedsToBeZeroedAtStart">
+<h3>climberNeedsToBeZeroedAtStart</h3>
+<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">climberNeedsToBeZeroedAtStart</span></div>
+</section>
+</li>
+</ul>
+</section>
+</li>
 <!-- ========= CONSTRUCTOR DETAIL ======== -->
 <li>
 <section class="constructor-details" id="constructor-detail">
diff --git a/javadoc/index-all.html b/javadoc/index-all.html
index 1b8964ba..b5eabe1e 100644
--- a/javadoc/index-all.html
+++ b/javadoc/index-all.html
@@ -200,10 +200,6 @@ <h2 class="title" id="I:A">A</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/config/RobotConfig.ClimberConstants.html#autoZeroMinVelocity" class="member-name-link">autoZeroMinVelocity</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ClimberConstants.html" title="class in frc.robot.config">RobotConfig.ClimberConstants</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/subsystems/climber/Climber.html#autoZeroMode(boolean)" class="member-name-link">autoZeroMode(boolean)</a> - Method in interface frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/Climber.html" title="interface in frc.robot.subsystems.climber">Climber</a></dt>
-<dd>&nbsp;</dd>
-<dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html#autoZeroMode(boolean)" class="member-name-link">autoZeroMode(boolean)</a> - Method in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="frc/robot/config/RobotConfig.ClimberConstants.html#autoZeroOffset" class="member-name-link">autoZeroOffset</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ClimberConstants.html" title="class in frc.robot.config">RobotConfig.ClimberConstants</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/config/RobotConfig.ClimberConstants.html#autoZeroVoltage" class="member-name-link">autoZeroVoltage</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ClimberConstants.html" title="class in frc.robot.config">RobotConfig.ClimberConstants</a></dt>
@@ -246,14 +242,12 @@ <h2 class="title" id="I:C">C</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/climber/ClimberIOStub.html#%3Cinit%3E()" class="member-name-link">ClimberIOStub()</a> - Constructor for class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberIOStub.html" title="class in frc.robot.subsystems.climber">ClimberIOStub</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/util/DevilBotState.html#climberNeedsToBeZeroedAtStart" class="member-name-link">climberNeedsToBeZeroedAtStart</a> - Static variable in class frc.robot.util.<a href="frc/robot/util/DevilBotState.html" title="class in frc.robot.util">DevilBotState</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html" class="type-name-link" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a> - Class in <a href="frc/robot/subsystems/climber/package-summary.html">frc.robot.subsystems.climber</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html#%3Cinit%3E(frc.robot.subsystems.climber.ClimberIO,frc.robot.subsystems.climber.ClimberIO)" class="member-name-link">ClimberSubsystem(ClimberIO, ClimberIO)</a> - Constructor for class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/commands/climber/ClimberToPosition.html" class="type-name-link" title="class in frc.robot.commands.climber">ClimberToPosition</a> - Class in <a href="frc/robot/commands/climber/package-summary.html">frc.robot.commands.climber</a></dt>
-<dd>&nbsp;</dd>
-<dt><a href="frc/robot/commands/climber/ClimberToPosition.html#%3Cinit%3E(frc.robot.subsystems.climber.Climber,boolean)" class="member-name-link">ClimberToPosition(Climber, boolean)</a> - Constructor for class frc.robot.commands.climber.<a href="frc/robot/commands/climber/ClimberToPosition.html" title="class in frc.robot.commands.climber">ClimberToPosition</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/auto/AutoNamedCommands.html#configure()" class="member-name-link">configure()</a> - Static method in class frc.robot.commands.auto.<a href="frc/robot/commands/auto/AutoNamedCommands.html" title="class in frc.robot.commands.auto">AutoNamedCommands</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/Constants.html" class="type-name-link" title="class in frc.robot">Constants</a> - Class in <a href="frc/robot/package-summary.html">frc.robot</a></dt>
@@ -404,14 +398,6 @@ <h2 class="title" id="I:E">E</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/drive/DriveToYaw.html#execute()" class="member-name-link">execute()</a> - Method in class frc.robot.commands.drive.<a href="frc/robot/commands/drive/DriveToYaw.html" title="class in frc.robot.commands.drive">DriveToYaw</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/subsystems/climber/Climber.html#extend()" class="member-name-link">extend()</a> - Method in interface frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/Climber.html" title="interface in frc.robot.subsystems.climber">Climber</a></dt>
-<dd>
-<div class="block">Extends climber arms min limit</div>
-</dd>
-<dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html#extend()" class="member-name-link">extend()</a> - Method in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></dt>
-<dd>
-<div class="block">Extends climber arms min limit</div>
-</dd>
 </dl>
 <h2 class="title" id="I:F">F</h2>
 <dl class="index">
@@ -447,8 +433,6 @@ <h2 class="title" id="I:F">F</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/auto/package-summary.html">frc.robot.commands.auto</a> - package frc.robot.commands.auto</dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/commands/climber/package-summary.html">frc.robot.commands.climber</a> - package frc.robot.commands.climber</dt>
-<dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/debug/package-summary.html">frc.robot.commands.debug</a> - package frc.robot.commands.debug</dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/drive/package-summary.html">frc.robot.commands.drive</a> - package frc.robot.commands.drive</dt>
@@ -502,6 +486,8 @@ <h2 class="title" id="I:G">G</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/RobotContainer.html#getAutonomousCommand()" class="member-name-link">getAutonomousCommand()</a> - Method in class frc.robot.<a href="frc/robot/RobotContainer.html" title="class in frc.robot">RobotContainer</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html#getAutoZeroCommand()" class="member-name-link">getAutoZeroCommand()</a> - Method in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/vision/Vision.html#getBestTargetId()" class="member-name-link">getBestTargetId()</a> - Method in interface frc.robot.subsystems.vision.<a href="frc/robot/subsystems/vision/Vision.html" title="interface in frc.robot.subsystems.vision">Vision</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/vision/VisionSubsystem.html#getBestTargetId()" class="member-name-link">getBestTargetId()</a> - Method in class frc.robot.subsystems.vision.<a href="frc/robot/subsystems/vision/VisionSubsystem.html" title="class in frc.robot.subsystems.vision">VisionSubsystem</a></dt>
@@ -582,6 +568,10 @@ <h2 class="title" id="I:G">G</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/drive/DriveSwerveYAGSL.html#getPose()" class="member-name-link">getPose()</a> - Method in class frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/DriveSwerveYAGSL.html" title="class in frc.robot.subsystems.drive">DriveSwerveYAGSL</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html#getPrepareClimberForMatchStartCommand()" class="member-name-link">getPrepareClimberForMatchStartCommand()</a> - Method in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html#getPrepareClimberToHoldArmCommand()" class="member-name-link">getPrepareClimberToHoldArmCommand()</a> - Method in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/arm/Arm.html#getRelativeAngle()" class="member-name-link">getRelativeAngle()</a> - Method in interface frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/Arm.html" title="interface in frc.robot.subsystems.arm">Arm</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/arm/ArmSubsystem.html#getRelativeAngle()" class="member-name-link">getRelativeAngle()</a> - Method in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmSubsystem.html" title="class in frc.robot.subsystems.arm">ArmSubsystem</a></dt>
@@ -697,8 +687,6 @@ <h2 class="title" id="I:I">I</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/auto/AutoScorePiece.html#initialize()" class="member-name-link">initialize()</a> - Method in class frc.robot.commands.auto.<a href="frc/robot/commands/auto/AutoScorePiece.html" title="class in frc.robot.commands.auto">AutoScorePiece</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/commands/climber/ClimberToPosition.html#initialize()" class="member-name-link">initialize()</a> - Method in class frc.robot.commands.climber.<a href="frc/robot/commands/climber/ClimberToPosition.html" title="class in frc.robot.commands.climber">ClimberToPosition</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/drive/DriveToYaw.html#initialize()" class="member-name-link">initialize()</a> - Method in class frc.robot.commands.drive.<a href="frc/robot/commands/drive/DriveToYaw.html" title="class in frc.robot.commands.drive">DriveToYaw</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/intake/IntakeOut.html#initialize()" class="member-name-link">initialize()</a> - Method in class frc.robot.commands.intake.<a href="frc/robot/commands/intake/IntakeOut.html" title="class in frc.robot.commands.intake">IntakeOut</a></dt>
@@ -781,10 +769,6 @@ <h2 class="title" id="I:I">I</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html#isAtMinLimitRight()" class="member-name-link">isAtMinLimitRight()</a> - Method in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/subsystems/climber/Climber.html#isExtending()" class="member-name-link">isExtending()</a> - Method in interface frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/Climber.html" title="interface in frc.robot.subsystems.climber">Climber</a></dt>
-<dd>&nbsp;</dd>
-<dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html#isExtending()" class="member-name-link">isExtending()</a> - Method in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="frc/robot/util/DevilBotState.html#isFieldOriented()" class="member-name-link">isFieldOriented()</a> - Static method in class frc.robot.util.<a href="frc/robot/util/DevilBotState.html" title="class in frc.robot.util">DevilBotState</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/subsystems/drive/Drive.html#isFieldOrientedDrive()" class="member-name-link">isFieldOrientedDrive()</a> - Method in interface frc.robot.subsystems.drive.<a href="frc/robot/subsystems/drive/Drive.html" title="interface in frc.robot.subsystems.drive">Drive</a></dt>
@@ -803,8 +787,6 @@ <h2 class="title" id="I:I">I</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/auto/AutoScorePiece.html#isFinished()" class="member-name-link">isFinished()</a> - Method in class frc.robot.commands.auto.<a href="frc/robot/commands/auto/AutoScorePiece.html" title="class in frc.robot.commands.auto">AutoScorePiece</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/commands/climber/ClimberToPosition.html#isFinished()" class="member-name-link">isFinished()</a> - Method in class frc.robot.commands.climber.<a href="frc/robot/commands/climber/ClimberToPosition.html" title="class in frc.robot.commands.climber">ClimberToPosition</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/drive/DriveToYaw.html#isFinished()" class="member-name-link">isFinished()</a> - Method in class frc.robot.commands.drive.<a href="frc/robot/commands/drive/DriveToYaw.html" title="class in frc.robot.commands.drive">DriveToYaw</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/commands/shooter/SetShooterVelocity.html#isFinished()" class="member-name-link">isFinished()</a> - Method in class frc.robot.commands.shooter.<a href="frc/robot/commands/shooter/SetShooterVelocity.html" title="class in frc.robot.commands.shooter">SetShooterVelocity</a></dt>
@@ -865,6 +847,10 @@ <h2 class="title" id="I:M">M</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/controls/DriverControls.html#mainController" class="member-name-link">mainController</a> - Static variable in class frc.robot.controls.<a href="frc/robot/controls/DriverControls.html" title="class in frc.robot.controls">DriverControls</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/config/RobotConfig.ArmConstants.html#matchStartArmAngle" class="member-name-link">matchStartArmAngle</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ArmConstants.html" title="class in frc.robot.config">RobotConfig.ArmConstants</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="frc/robot/config/RobotConfig.ClimberConstants.html#matchStartPositionRadiansRight" class="member-name-link">matchStartPositionRadiansRight</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ClimberConstants.html" title="class in frc.robot.config">RobotConfig.ClimberConstants</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/BuildConstants.html#MAVEN_GROUP" class="member-name-link">MAVEN_GROUP</a> - Static variable in class frc.robot.<a href="frc/robot/BuildConstants.html" title="class in frc.robot">BuildConstants</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/BuildConstants.html#MAVEN_NAME" class="member-name-link">MAVEN_NAME</a> - Static variable in class frc.robot.<a href="frc/robot/BuildConstants.html" title="class in frc.robot">BuildConstants</a></dt>
@@ -875,8 +861,12 @@ <h2 class="title" id="I:M">M</h2>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/config/RobotConfig.DriveConstants.html#maxAngularVelocityRadiansSec" class="member-name-link">maxAngularVelocityRadiansSec</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.DriveConstants.html" title="class in frc.robot.config">RobotConfig.DriveConstants</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/config/RobotConfig.ClimberConstants.html#maxExtendTimeInSeconds" class="member-name-link">maxExtendTimeInSeconds</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ClimberConstants.html" title="class in frc.robot.config">RobotConfig.ClimberConstants</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/config/RobotConfig.ClimberConstants.html#maxPositionInRadians" class="member-name-link">maxPositionInRadians</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ClimberConstants.html" title="class in frc.robot.config">RobotConfig.ClimberConstants</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="frc/robot/config/RobotConfig.ClimberConstants.html#maxRetractTimeInSeconds" class="member-name-link">maxRetractTimeInSeconds</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ClimberConstants.html" title="class in frc.robot.config">RobotConfig.ClimberConstants</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="frc/robot/config/RobotConfig.ArmConstants.html#maxVelocity" class="member-name-link">maxVelocity</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ArmConstants.html" title="class in frc.robot.config">RobotConfig.ArmConstants</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/config/RobotConfig.ArmConstants.html#maxVelocityInDegreesPerSecond" class="member-name-link">maxVelocityInDegreesPerSecond</a> - Static variable in class frc.robot.config.<a href="frc/robot/config/RobotConfig.ArmConstants.html" title="class in frc.robot.config">RobotConfig.ArmConstants</a></dt>
@@ -994,14 +984,6 @@ <h2 class="title" id="I:R">R</h2>
 </dd>
 <dt><a href="frc/robot/subsystems/arm/ArmIOSparkMax.html#resetRelativeEncoder(double)" class="member-name-link">resetRelativeEncoder(double)</a> - Method in class frc.robot.subsystems.arm.<a href="frc/robot/subsystems/arm/ArmIOSparkMax.html" title="class in frc.robot.subsystems.arm">ArmIOSparkMax</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="frc/robot/subsystems/climber/Climber.html#retract()" class="member-name-link">retract()</a> - Method in interface frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/Climber.html" title="interface in frc.robot.subsystems.climber">Climber</a></dt>
-<dd>
-<div class="block">Retracts climber to min limit</div>
-</dd>
-<dt><a href="frc/robot/subsystems/climber/ClimberSubsystem.html#retract()" class="member-name-link">retract()</a> - Method in class frc.robot.subsystems.climber.<a href="frc/robot/subsystems/climber/ClimberSubsystem.html" title="class in frc.robot.subsystems.climber">ClimberSubsystem</a></dt>
-<dd>
-<div class="block">Retracts climber to min limit</div>
-</dd>
 <dt><a href="frc/robot/Robot.html" class="type-name-link" title="class in frc.robot">Robot</a> - Class in <a href="frc/robot/package-summary.html">frc.robot</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="frc/robot/Robot.html#%3Cinit%3E()" class="member-name-link">Robot()</a> - Constructor for class frc.robot.<a href="frc/robot/Robot.html" title="class in frc.robot">Robot</a></dt>
diff --git a/javadoc/index.html b/javadoc/index.html
index 8967fe08..7979064b 100644
--- a/javadoc/index.html
+++ b/javadoc/index.html
@@ -62,34 +62,32 @@ <h1 class="title">Crescendo2024 API</h1>
 <div class="col-last even-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
 <div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/commands/auto/package-summary.html">frc.robot.commands.auto</a></div>
 <div class="col-last odd-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/commands/climber/package-summary.html">frc.robot.commands.climber</a></div>
+<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/commands/debug/package-summary.html">frc.robot.commands.debug</a></div>
 <div class="col-last even-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/commands/debug/package-summary.html">frc.robot.commands.debug</a></div>
+<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/commands/drive/package-summary.html">frc.robot.commands.drive</a></div>
 <div class="col-last odd-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/commands/drive/package-summary.html">frc.robot.commands.drive</a></div>
+<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/commands/intake/package-summary.html">frc.robot.commands.intake</a></div>
 <div class="col-last even-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/commands/intake/package-summary.html">frc.robot.commands.intake</a></div>
+<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/commands/shooter/package-summary.html">frc.robot.commands.shooter</a></div>
 <div class="col-last odd-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/commands/shooter/package-summary.html">frc.robot.commands.shooter</a></div>
+<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/config/package-summary.html">frc.robot.config</a></div>
 <div class="col-last even-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/config/package-summary.html">frc.robot.config</a></div>
+<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/controls/package-summary.html">frc.robot.controls</a></div>
 <div class="col-last odd-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/controls/package-summary.html">frc.robot.controls</a></div>
+<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/arm/package-summary.html">frc.robot.subsystems.arm</a></div>
 <div class="col-last even-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/arm/package-summary.html">frc.robot.subsystems.arm</a></div>
+<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/climber/package-summary.html">frc.robot.subsystems.climber</a></div>
 <div class="col-last odd-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/climber/package-summary.html">frc.robot.subsystems.climber</a></div>
+<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/drive/package-summary.html">frc.robot.subsystems.drive</a></div>
 <div class="col-last even-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/drive/package-summary.html">frc.robot.subsystems.drive</a></div>
+<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/intake/package-summary.html">frc.robot.subsystems.intake</a></div>
 <div class="col-last odd-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/intake/package-summary.html">frc.robot.subsystems.intake</a></div>
+<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/shooter/package-summary.html">frc.robot.subsystems.shooter</a></div>
 <div class="col-last even-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/shooter/package-summary.html">frc.robot.subsystems.shooter</a></div>
+<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/vision/package-summary.html">frc.robot.subsystems.vision</a></div>
 <div class="col-last odd-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/subsystems/vision/package-summary.html">frc.robot.subsystems.vision</a></div>
+<div class="col-first even-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/util/package-summary.html">frc.robot.util</a></div>
 <div class="col-last even-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
-<div class="col-first odd-row-color all-packages-table all-packages-table-tab1"><a href="frc/robot/util/package-summary.html">frc.robot.util</a></div>
-<div class="col-last odd-row-color all-packages-table all-packages-table-tab1">&nbsp;</div>
 </div>
 </div>
 </main>
diff --git a/javadoc/member-search-index.js b/javadoc/member-search-index.js
index 76a20022..07dbe137 100644
--- a/javadoc/member-search-index.js
+++ b/javadoc/member-search-index.js
@@ -1 +1 @@
-memberSearchIndex = [{"p":"frc.robot.subsystems.arm","c":"ArmIO.ArmIOInputs","l":"absoluteEncoderConnected"},{"p":"frc.robot.config","c":"RobotConfig.ArmConstants","l":"absoluteEncoderInversion"},{"p":"frc.robot.subsystems.arm","c":"ArmIO.ArmIOInputs","l":"absolutePositionDegree"},{"p":"frc.robot.config","c":"RobotConfig.ArmConstants","l":"absolutePositionOffset"},{"p":"frc.robot.subsystems.arm","c":"ArmIO.ArmIOInputs","l":"absolutePositionRad"},{"p":"frc.robot.subsystems.arm","c":"ArmIO.ArmIOInputs","l":"absolutePositionRaw"},{"p":"frc.robot.subsystems.arm","c":"Arm","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.arm","c":"ArmSubsystem","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.climber","c":"Climber","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.climber","c":"ClimberSubsystem","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.intake","c":"Intake","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.intake","c":"IntakeSubsystem","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.shooter","c":"Shooter","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"add2dSim(Mechanism2d)","u":"add2dSim(edu.wpi.first.wpilibj.smartdashboard.Mechanism2d)"},{"p":"frc.robot.util","c":"DevilBotState.TargetMode","l":"AMP"},{"p":"frc.robot.config","c":"RobotConfig.ArmConstants","l":"ampScoreAngleInDegrees"},{"p":"frc.robot.config","c":"RobotConfig.ShooterConstants","l":"ampScoreVelocityInRPMs"},{"p":"frc.robot.config","c":"RobotConfig.DriveConstants","l":"anglePidKd"},{"p":"frc.robot.config","c":"RobotConfig.DriveConstants","l":"anglePidKi"},{"p":"frc.robot.config","c":"RobotConfig.DriveConstants","l":"anglePidKp"},{"p":"frc.robot.subsystems.arm","c":"ArmIO.ArmIOInputs","l":"appliedVolts"},{"p":"frc.robot.subsystems.climber","c":"ClimberIO.ClimberIOInputs","l":"appliedVolts"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO.IntakeIOInputs","l":"appliedVolts"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO.ShooterIOInputs","l":"appliedVolts"},{"p":"frc.robot.subsystems.drive","c":"DriveTrain","l":"arcadeDrive(double, double)","u":"arcadeDrive(double,double)"},{"p":"frc.robot.config","c":"RobotConfig","l":"arm"},{"p":"frc.robot.commands.auto","c":"AutoNamedCommands.AutoScoreConstants","l":"armAngleInDegrees"},{"p":"frc.robot.commands.arm","c":"ArmCommand","l":"ArmCommand(Arm, DoubleSupplier)","u":"%3Cinit%3E(frc.robot.subsystems.arm.Arm,java.util.function.DoubleSupplier)"},{"p":"frc.robot.config","c":"RobotConfig.ArmConstants","l":"ArmConstants()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.arm","c":"ArmIO.ArmIOInputs","l":"ArmIOInputs()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.arm","c":"ArmIOSparkMax","l":"ArmIOSparkMax(int)","u":"%3Cinit%3E(int)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOSparkMax","l":"ArmIOSparkMax(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOStub","l":"ArmIOStub()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.arm","c":"ArmSubsystem","l":"ArmSubsystem(ArmIO)","u":"%3Cinit%3E(frc.robot.subsystems.arm.ArmIO)"},{"p":"frc.robot.commands.arm","c":"ArmToPosition","l":"ArmToPosition(Arm, DoubleSupplier)","u":"%3Cinit%3E(frc.robot.subsystems.arm.Arm,java.util.function.DoubleSupplier)"},{"p":"frc.robot.commands.arm","c":"ArmToPositionTP","l":"ArmToPositionTP(DoubleSupplier, Arm)","u":"%3Cinit%3E(java.util.function.DoubleSupplier,frc.robot.subsystems.arm.Arm)"},{"p":"frc.robot.util","c":"DevilBotState.State","l":"AUTO"},{"p":"frc.robot.config","c":"RobotConfig","l":"autoChooser"},{"p":"frc.robot.commands.auto","c":"AutoNamedCommands.AutoConstants","l":"AutoConstants()","u":"%3Cinit%3E()"},{"p":"frc.robot.commands.auto","c":"AutoIndexPiece","l":"AutoIndexPiece(Intake)","u":"%3Cinit%3E(frc.robot.subsystems.intake.Intake)"},{"p":"frc.robot.commands.auto","c":"AutoIndexPiece","l":"AutoIndexPiece(Intake, DoubleSupplier)","u":"%3Cinit%3E(frc.robot.subsystems.intake.Intake,java.util.function.DoubleSupplier)"},{"p":"frc.robot.commands.auto","c":"AutoNamedCommands","l":"AutoNamedCommands()","u":"%3Cinit%3E()"},{"p":"frc.robot","c":"Robot","l":"autonomousExit()"},{"p":"frc.robot","c":"Robot","l":"autonomousInit()"},{"p":"frc.robot","c":"Robot","l":"autonomousPeriodic()"},{"p":"frc.robot.commands.auto","c":"AutoPrepareForIntake","l":"AutoPrepareForIntake(Arm, 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\ No newline at end of file
diff --git a/javadoc/overview-tree.html b/javadoc/overview-tree.html
index a347d8b5..f03793f4 100644
--- a/javadoc/overview-tree.html
+++ b/javadoc/overview-tree.html
@@ -54,7 +54,6 @@ <h1 class="title">Hierarchy For All Packages</h1>
 <li><a href="frc/robot/commands/arm/package-tree.html">frc.robot.commands.arm</a>, </li>
 <li><a href="frc/robot/commands/assist/package-tree.html">frc.robot.commands.assist</a>, </li>
 <li><a href="frc/robot/commands/auto/package-tree.html">frc.robot.commands.auto</a>, </li>
-<li><a href="frc/robot/commands/climber/package-tree.html">frc.robot.commands.climber</a>, </li>
 <li><a href="frc/robot/commands/debug/package-tree.html">frc.robot.commands.debug</a>, </li>
 <li><a href="frc/robot/commands/drive/package-tree.html">frc.robot.commands.drive</a>, </li>
 <li><a href="frc/robot/commands/intake/package-tree.html">frc.robot.commands.intake</a>, </li>
@@ -91,7 +90,6 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li class="circle">frc.robot.commands.arm.<a href="frc/robot/commands/arm/ArmToPosition.html" class="type-name-link" title="class in frc.robot.commands.arm">ArmToPosition</a></li>
 <li class="circle">frc.robot.commands.auto.<a href="frc/robot/commands/auto/AutoIndexPiece.html" class="type-name-link" title="class in frc.robot.commands.auto">AutoIndexPiece</a></li>
 <li class="circle">frc.robot.commands.auto.<a href="frc/robot/commands/auto/AutoScorePiece.html" class="type-name-link" title="class in frc.robot.commands.auto">AutoScorePiece</a></li>
-<li class="circle">frc.robot.commands.climber.<a href="frc/robot/commands/climber/ClimberToPosition.html" class="type-name-link" title="class in frc.robot.commands.climber">ClimberToPosition</a></li>
 <li class="circle">frc.robot.commands.drive.<a href="frc/robot/commands/drive/DriveCommand.html" class="type-name-link" title="class in frc.robot.commands.drive">DriveCommand</a></li>
 <li class="circle">frc.robot.commands.drive.<a href="frc/robot/commands/drive/DriveToYaw.html" class="type-name-link" title="class in frc.robot.commands.drive">DriveToYaw</a></li>
 <li class="circle">frc.robot.commands.assist.<a href="frc/robot/commands/assist/IndexPiece.html" class="type-name-link" title="class in frc.robot.commands.assist">IndexPiece</a></li>
diff --git a/javadoc/package-search-index.js b/javadoc/package-search-index.js
index 4acbd1bf..8405153d 100644
--- a/javadoc/package-search-index.js
+++ b/javadoc/package-search-index.js
@@ -1 +1 @@
-packageSearchIndex = [{"l":"All Packages","u":"allpackages-index.html"},{"l":"frc.robot"},{"l":"frc.robot.commands.arm"},{"l":"frc.robot.commands.assist"},{"l":"frc.robot.commands.auto"},{"l":"frc.robot.commands.climber"},{"l":"frc.robot.commands.debug"},{"l":"frc.robot.commands.drive"},{"l":"frc.robot.commands.intake"},{"l":"frc.robot.commands.shooter"},{"l":"frc.robot.config"},{"l":"frc.robot.controls"},{"l":"frc.robot.subsystems.arm"},{"l":"frc.robot.subsystems.climber"},{"l":"frc.robot.subsystems.drive"},{"l":"frc.robot.subsystems.intake"},{"l":"frc.robot.subsystems.shooter"},{"l":"frc.robot.subsystems.vision"},{"l":"frc.robot.util"}];updateSearchResults();
\ No newline at end of file
+packageSearchIndex = [{"l":"All Packages","u":"allpackages-index.html"},{"l":"frc.robot"},{"l":"frc.robot.commands.arm"},{"l":"frc.robot.commands.assist"},{"l":"frc.robot.commands.auto"},{"l":"frc.robot.commands.debug"},{"l":"frc.robot.commands.drive"},{"l":"frc.robot.commands.intake"},{"l":"frc.robot.commands.shooter"},{"l":"frc.robot.config"},{"l":"frc.robot.controls"},{"l":"frc.robot.subsystems.arm"},{"l":"frc.robot.subsystems.climber"},{"l":"frc.robot.subsystems.drive"},{"l":"frc.robot.subsystems.intake"},{"l":"frc.robot.subsystems.shooter"},{"l":"frc.robot.subsystems.vision"},{"l":"frc.robot.util"}];updateSearchResults();
\ No newline at end of file
diff --git a/javadoc/type-search-index.js b/javadoc/type-search-index.js
index c5fca1c5..f7f6059b 100644
--- a/javadoc/type-search-index.js
+++ b/javadoc/type-search-index.js
@@ -1 +1 @@
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