diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index d789d02..127d562 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -31,6 +31,12 @@ public static class CAN {
     public static final int Victor4 = 4;
     public static final int Talon5 = 5;
     public static final int Falcon = 14;
+    public static final int climberMotor = -1;
+  }
+
+  public static class IDs{
+    public static final int climberLimitHome = -1;
+    public static final int climberLimitExtended = -1;
   }
 
   public static class Swerve {
diff --git a/src/main/java/frc/robot/commands/Climb.java b/src/main/java/frc/robot/commands/Climb.java
new file mode 100644
index 0000000..5664210
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Climb.java
@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Climber;
+import frc.robot.subsystems.ExampleSubsystem;
+
+/** An example command that uses an example subsystem. */
+public class Climb extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final Climber climber;
+
+  public Climb(ExampleSubsystem subsystem) {
+    climber = new Climber();
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(climber);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    climber.goHome();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    climber.stopMoving();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+      return climber.isHome();
+  }
+}
diff --git a/src/main/java/frc/robot/commands/ExtendClimber.java b/src/main/java/frc/robot/commands/ExtendClimber.java
new file mode 100644
index 0000000..857ba44
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ExtendClimber.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Climber;
+import frc.robot.subsystems.ExampleSubsystem;
+
+public class ExtendClimber extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final Climber climber;
+
+  public ExtendClimber(ExampleSubsystem subsystem) {
+    climber = new Climber();
+    addRequirements(climber);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    climber.extend();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    climber.stopMoving();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return climber.isExtended();
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
new file mode 100644
index 0000000..efb2ada
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Climber.java
@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Climber extends SubsystemBase {
+  private final TalonFX climberMotor;
+  private final DigitalInput limitHome;
+  private final DigitalInput limitExtended;
+  private final double climbSpeed = .1;
+
+  public Climber() {
+    climberMotor = new TalonFX(Constants.CAN.climberMotor, "rio");
+    limitHome = new DigitalInput(Constants.IDs.climberLimitHome);
+    limitExtended = new DigitalInput(Constants.IDs.climberLimitExtended);
+    climberMotor.getConfigurator().apply(new TalonFXConfiguration());
+  }
+  public void stopMoving() {
+    climberMotor.set(0);
+  }
+  public void extend() {
+    climberMotor.set(climbSpeed);
+  }
+  public boolean isExtended() {
+    return limitExtended.get();
+  }
+  public void goHome(){climberMotor.set(-climbSpeed);}
+  public boolean isHome() {
+    return limitHome.get();
+  }
+  public boolean exampleCondition() {
+    // Query some boolean state, such as a digital sensor.
+    return false;
+  }
+}