diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 4ae2df3..3190ee7 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -149,8 +149,17 @@ public static class SystemConstants {
   }
 
   public static class WinchConstants {
-    public static final double WINCH_POWER = -0.25; // Adjust this constant as needed, 15% according to Ryker
-    public static final double WINCH_POWER_BOOST = -0.35; // Adjust this constant as needed, 15% according to Ryker
+    public static final double WINCH_POWER = -0.25; 
+    public static final double WINCH_POWER_BOOST = -0.35;
+    
+    public static final double WINCH_MAX_VEL = 10; // TODO 10 rps cruise velocity
+    public static final double WINCH_MAX_ACCEL = 80; // TODO
+    public static final double WINCH_JERK = 0; // TODO
+    public static final double WINCH_FWD_LIMIT = 20; // TODO
+    public static final double WINCH_REV_LIMIT = 0;
+    public static final double WINCH_STATOR_LIMIT = 15; // TODO
+    public static final double WINCH_SUPPLY_LIMIT = 15; // TODO
+
   }
   
   public static class CANIDs {
diff --git a/src/main/java/frc/robot/subsystems/WinchSubsystem3.java b/src/main/java/frc/robot/subsystems/WinchSubsystem3.java
index e69de29..b4620a2 100644
--- a/src/main/java/frc/robot/subsystems/WinchSubsystem3.java
+++ b/src/main/java/frc/robot/subsystems/WinchSubsystem3.java
@@ -0,0 +1,111 @@
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotionMagicConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.Slot1Configs;
+import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.MotionMagicVoltage;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.GravityTypeValue;
+import frc.robot.Constants.CANIDs;
+import frc.robot.Constants.WinchConstants;
+import frc.robot.Constants.WinchConstants.*;
+
+    
+public class WinchSubsystem3 {
+
+    private TalonFX m_winch;
+
+    // class member variable, Initializes to position 0
+    final MotionMagicVoltage m_winchPose = new MotionMagicVoltage(0);
+
+    public WinchSubsystem3() {
+
+        // Initialize the motor in the constructor with the motor ID and optional canbus
+        m_winch = new TalonFX(CANIDs.WINCH_ID);
+
+         /*
+         * any unmodified configs in a configuration object are *automatically*
+         * factory-defaulted;
+         * user can perform a full factory default by passing a new device configuration
+         * object.
+         * This line should do a full factory reset...?
+         */
+        m_winch.getConfigurator().apply(new TalonFXConfiguration());
+
+        /* Gains or configuration of winch motor for config slot 0 */
+        var winchGains0 = new Slot0Configs();
+        winchGains0.GravityType = GravityTypeValue.Arm_Cosine; /* .Elevator_Static | .Arm_Cosine */
+        m_winch.setInverted(true); // Set to true if you want to invert the motor direction
+        winchGains0.kP = 0.50; /* Proportional Gain */
+        winchGains0.kI = 0.00; /* Integral Gain */
+        winchGains0.kD = 0.00; /* Derivative Gain */
+        winchGains0.kV = 0.00; /* Velocity Feed Forward Gain */
+        winchGains0.kS = 0.00; /*
+                              * Static Feed Forward Gain // NOTE, not MY notes Approximately 0.25V to get the
+                              * mechanism moving
+                              */
+        winchGains0.kA = 0.00; /* Acceleration Feedforward */
+        winchGains0.kG = 0.00; /* Gravity Feedfoward */
+
+        // set Motion Magic settings
+        var winchMotionMagic0 = new MotionMagicConfigs();
+        winchMotionMagic0.MotionMagicCruiseVelocity = WinchConstants.WINCH_MAX_VEL; // 80 rps cruise velocity //
+                                                                                        // FIMXE changed for safety
+                                                                                        // testing
+        winchMotionMagic0.MotionMagicAcceleration = WinchConstants.WINCH_MAX_ACCEL; // 160 rps/s acceleration (0.5
+                                                                                        // seconds) // FIMXE changed for
+                                                                                        // safety testing
+        winchMotionMagic0.MotionMagicJerk = WinchConstants.WINCH_JERK; // 1600 rps/s^2 jerk (0.1 seconds)
+
+        var winchSoftLimit0 = new SoftwareLimitSwitchConfigs();
+        winchSoftLimit0.ForwardSoftLimitEnable = true;
+        winchSoftLimit0.ForwardSoftLimitThreshold = WinchConstants.WINCH_FWD_LIMIT;
+        winchSoftLimit0.ReverseSoftLimitEnable = true;
+        winchSoftLimit0.ReverseSoftLimitThreshold = WinchConstants.WINCH_REV_LIMIT;
+
+        var winchCurrent0 = new CurrentLimitsConfigs();
+        winchCurrent0.StatorCurrentLimitEnable = true;
+        winchCurrent0.StatorCurrentLimit = WinchConstants.WINCH_STATOR_LIMIT;
+        winchCurrent0.SupplyCurrentLimitEnable = true;
+        winchCurrent0.SupplyCurrentLimit = WinchConstants.WINCH_SUPPLY_LIMIT;
+
+        /*
+         * Long form (better for my learning): Applies gains with an optional 50 ms
+         * timeout (I think)
+         */
+        m_winch.getConfigurator().apply(winchGains0, 0.050);
+        m_winch.getConfigurator().apply(winchMotionMagic0, 0.050);
+        m_winch.getConfigurator().apply(winchSoftLimit0, 0.050);
+        m_winch.getConfigurator().apply(winchCurrent0, 0.050);
+
+        /*
+         * Send info about the winch to the Shuffleboard
+         * Defaults to percent output
+         * Only needed for diagnostics
+         */
+        // Shuffleboard.getTab("winch").add("winch Output", m_winch);
+
+    }
+
+    public StatusSignal<Double> getWinchPos() {
+        return m_winch.getPosition();
+    }
+
+    public void setWinchPose(double winchPose) {
+        m_winch.setControl(m_winchPose.withPosition(winchPose));
+    }
+
+    // FIXME
+    /* 
+    public void moveWinchIncrementally(int winchIncrement) {
+        int currentWinchPose = getWinchPos();
+        m_winch.setControl(m_winchPose.withPosition(currentWinchPose + winchIncrement));
+    }
+    */
+
+    } // end of class WinchSubsystem3
\ No newline at end of file