diff --git a/PathWeaver/Groups/3ball5ball b/PathWeaver/Groups/3ball5ball
new file mode 100644
index 0000000..09331f6
--- /dev/null
+++ b/PathWeaver/Groups/3ball5ball
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+TurnToShoot
+GoGetTrenchBalls
+ShortTrenchShot
diff --git a/PathWeaver/Paths/GoGetTrenchBalls b/PathWeaver/Paths/GoGetTrenchBalls
new file mode 100644
index 0000000..eebd7dd
--- /dev/null
+++ b/PathWeaver/Paths/GoGetTrenchBalls
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+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
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diff --git a/PathWeaver/Paths/ShortTrenchShot b/PathWeaver/Paths/ShortTrenchShot
new file mode 100644
index 0000000..7fd8317
--- /dev/null
+++ b/PathWeaver/Paths/ShortTrenchShot
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+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
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diff --git a/PathWeaver/Paths/TurnToShoot b/PathWeaver/Paths/TurnToShoot
new file mode 100644
index 0000000..7f78a1d
--- /dev/null
+++ b/PathWeaver/Paths/TurnToShoot
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+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
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diff --git a/PathWeaver/output/GoGet.wpilib.json b/PathWeaver/output/GoGet.wpilib.json
new file mode 100644
index 0000000..696acb8
--- /dev/null
+++ b/PathWeaver/output/GoGet.wpilib.json
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diff --git a/PathWeaver/output/GoGetTrenchBalls.wpilib.json b/PathWeaver/output/GoGetTrenchBalls.wpilib.json
new file mode 100644
index 0000000..859ece3
--- /dev/null
+++ b/PathWeaver/output/GoGetTrenchBalls.wpilib.json
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diff --git a/PathWeaver/output/ShortTrenchShot.wpilib.json b/PathWeaver/output/ShortTrenchShot.wpilib.json
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\ No newline at end of file
diff --git a/PathWeaver/output/Turn.wpilib.json b/PathWeaver/output/Turn.wpilib.json
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diff --git a/PathWeaver/output/TurnToShoot.wpilib.json b/PathWeaver/output/TurnToShoot.wpilib.json
new file mode 100644
index 0000000..9699f0c
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diff --git a/PathWeaver/output/Unnamed.wpilib.json b/PathWeaver/output/Unnamed.wpilib.json
new file mode 100644
index 0000000..5708391
--- /dev/null
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\ No newline at end of file
diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json
new file mode 100644
index 0000000..da4edf0
--- /dev/null
+++ b/PathWeaver/pathweaver.json
@@ -0,0 +1,8 @@
+{
+  "lengthUnit": "Foot",
+  "maxVelocity": 10.0,
+  "maxAcceleration": 10.0,
+  "wheelBase": 2.08854,
+  "gameName": "Infinite Recharge",
+  "outputDir": ""
+}
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index 0e4fe1a..becc3d0 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2020.1.2"
+    id "edu.wpi.first.GradleRIO" version "2020.2.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 2bd28d7..0b9f650 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -44,4 +44,16 @@ public final class Constants {
 
 	public static final double MANUAL_POWER = .2;
 
+     //climber
+     public static final double CLIMBER_CREEP = 0.25;
+    // public static final double kSelfClimbGoRight = 0.1;
+    // public static final double kSelfClimbGoLeft= -0.1;
+
+     //Global
+     public static final boolean kToExtendArm = true;
+
+     //Panel Mech
+     public static final double PANEL_MECH_CREEP = 0.1;
+     public static final double PANEL_MECH_FAST = 0.5;
+ 
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index 5a185fb..90c8903 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -12,6 +12,7 @@
 import frc.robot.Autons.stopElevatorShooter;
 import frc.robot.Autons.stopHopperElevator;
 import frc.robot.commands.*;
+import frc.robot.commands.Climb.*;
 // import frc.robot.commands.auto.SetLimit;
 import frc.robot.controller.AnalogButton;
 import frc.robot.controller.DPadButton;
@@ -74,11 +75,15 @@ public OI() {
         //THESE TWO LINES ARE FOR TESTING
         //LEAVE OUT driverA.whenPressed(new AutoSetLifterPots());
         //LEAVE OUT driverB.whenPressed(new ExtendBothLifters(.8,false,driverStick,false));
-        driverA.whenPressed(new MoveShooter());
-        driverA.whenReleased(new StopShooter());
-        driverB.whenPressed(new MoveElevator());
-        driverB.whenReleased(new StopElevator());
-        driverX.whenPressed(new MoveHopper());
+        // driverA.whenPressed(new MoveShooter());
+        // driverA.whenReleased(new StopShooter());
+        // driverB.whenPressed(new MoveElevator());
+        // driverB.whenReleased(new StopElevator());
+        driverA.whenPressed(new ExtendPanelMech());
+        driverB.whenPressed(new SetPanelMech());
+        driverA.whenReleased(new DefaultPanelMech());
+
+      //  driverX.whenPressed(new MoveHopper());
         driverX.whenReleased(new StopHopper());
         driverY.whenPressed(new MoveDrivetrain());
         driverY.whenReleased(new StopDrivetrain());
@@ -89,6 +94,18 @@ public OI() {
         driverLS.whenPressed(new runElevatorShooter());
         driverLS.whenReleased(new stopElevatorShooter());
         operatorLeftJoystickUsed.whenPressed(new RunHopperWithJoystick(operatorLeftJoystickUsed));
+
+        
+        operatorX.whenPressed(new ReleasePin());
+        operatorY.whenPressed(new WinchClimb());
+        operatorY.whenReleased(new StopWinchClimb());
+     //   operatorA.whenPressed(new ActivePosition()); 
+
+
+
+        
+
+
         // //true does right hp far rocket path, false does right hp bay 1 ship path
         // // driverY.whenReleased(new StopCargoMotor());
         // driverRB.whileHeld(new DriveWithJoystickLeftTalon());
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index f260a0d..f01bc05 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -8,7 +8,8 @@
 import frc.robot.subsystems.Hopper;
 import frc.robot.subsystems.Shooter;
 import edu.wpi.first.wpilibj.Compressor;
-
+import frc.robot.subsystems.Climber;
+import frc.robot.subsystems.*;
 
                                                                                                    
 public class Robot extends TimedRobot {
@@ -22,7 +23,8 @@ public class Robot extends TimedRobot {
     public static Elevator elevator;
     public static Hopper hopper;
     public static RobotMap robotmap;
-
+    public static Climber climber;
+    public static PanelMech panelMech;
     @Override
     public void robotInit() {
         hopper = new Hopper();
@@ -30,8 +32,9 @@ public void robotInit() {
         shooter = new Shooter();
         drivetrain = new Drivetrain();
         pdp = new PowerDistributionPanel(RobotMap.kPDP);
-         oi = new OI(); 
+        oi = new OI(); 
         robotmap = new RobotMap();
+        climber = new Climber();
     }
     
     @Override
diff --git a/src/main/java/frc/robot/RobotMap.java b/src/main/java/frc/robot/RobotMap.java
index e1db414..927cf09 100644
--- a/src/main/java/frc/robot/RobotMap.java
+++ b/src/main/java/frc/robot/RobotMap.java
@@ -76,5 +76,15 @@ public class RobotMap {
     public static final int HOPPER_TALON = 24;
     //Drivetrain
   public static final int DRIVETRAIN_NEO = 22;
-  
+
+  //Climber
+  public static final int WINCH_NEO=60;
+  public static final int SELFCLIMB_NEO=61;
+
+ public static final int CLIMB_SOLENOID=0;  
+//  public static final int CLIMB_GYRO=1;
+
+  //PanelMech
+  public static final int PANEL_NEO=50;
+  public static final int PANEL_SOLENOID=2;
 }
diff --git a/src/main/java/frc/robot/commands/Climb/ActivePosition.java b/src/main/java/frc/robot/commands/Climb/ActivePosition.java
new file mode 100644
index 0000000..9d39358
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Climb/ActivePosition.java
@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+// package frc.robot.commands.Climb;
+
+// import edu.wpi.first.wpilibj.command.Command;
+// import frc.robot.Robot;
+// import edu.wpi.first.wpilibj.GyroBase;
+// import frc.robot.Constants;
+
+// public class ActivePosition extends Command {
+//   private GyroBase climbGyro;
+//   double angle, turn;
+//   public ActivePosition() {
+//     super("ActivePosition");
+//    // requires(Robot.Climber);
+//   }
+
+//   public double getGyroAngle() {
+
+//     angle=climbGyro.getAngle();
+//       return climbGyro.getAngle();
+       
+
+// }
+
+//   // Called just before this Command runs the first time
+//   @Override
+//   protected void initialize() {
+//   }
+
+//   // Called repeatedly when this Command is scheduled to run
+//   @Override
+//   protected void execute() {
+//      angle=climbGyro.getAngle();
+     
+     
+//       if(angle==0){
+//       turn=0;
+      
+//      }
+//       else if(angle/360==0){  
+
+//       turn=0;
+//     }   
+//       else if(angle>270&&angle<360){
+
+//         turn=Constants.kSelfClimbGoRight;
+//       }
+
+//       else if(angle<90&&angle>0){ 
+//         turn=Constants.kSelfClimbGoLeft;
+//       }
+
+   
+//       Robot.climber.setSelfClimbOutput(turn);
+//    }
+    
+
+  
+
+//   // Make this return true when this Command no longer needs to run execute()
+//   @Override
+//   protected boolean isFinished() {
+//     return false;
+//   }
+
+//   // Called once after isFinished returns true
+//   @Override
+//   protected void end() {
+//     Robot.climber.setSelfClimbOutput(0);
+//   }
+
+//   // Called when another command which requires one or more of the same
+//   // subsystems is scheduled to run
+//   @Override
+//   protected void interrupted() {
+//   }
+// }
diff --git a/src/main/java/frc/robot/commands/Climb/ReleasePin.java b/src/main/java/frc/robot/commands/Climb/ReleasePin.java
new file mode 100644
index 0000000..b2ecf11
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Climb/ReleasePin.java
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands.Climb;
+import frc.robot.Robot;
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.subsystems.Climber;
+
+public class ReleasePin extends Command {
+  public ReleasePin() {
+      super("ReleasePin");
+      requires(Robot.climber);
+  }
+
+  
+  protected void initialize() {
+  
+  }
+
+  protected void execute() {
+    Robot.climber.setPinExtender(false);
+  }
+  
+  protected boolean isFinished() {
+    return false;
+  }
+
+  protected void end() {
+  
+    Robot.climber.setPinExtender(true);
+  }
+
+  protected void interrupted() {
+
+  }
+}
diff --git a/src/main/java/frc/robot/commands/Climb/StopWinchClimb.java b/src/main/java/frc/robot/commands/Climb/StopWinchClimb.java
new file mode 100644
index 0000000..832de5e
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Climb/StopWinchClimb.java
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands.Climb;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Robot;
+
+public class StopWinchClimb extends Command {
+  public StopWinchClimb() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.climber.setWinchOutput(0);
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+    Robot.climber.setWinchOutput(0);
+
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}
diff --git a/src/main/java/frc/robot/commands/Climb/WinchClimb.java b/src/main/java/frc/robot/commands/Climb/WinchClimb.java
new file mode 100644
index 0000000..990f8e9
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Climb/WinchClimb.java
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands.Climb;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Robot;
+
+public class WinchClimb extends Command {
+  public WinchClimb() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.climber.setWinchOutput(1);
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+    Robot.climber.setWinchOutput(1);
+
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}
diff --git a/src/main/java/frc/robot/commands/DefaultExtension.java b/src/main/java/frc/robot/commands/DefaultExtension.java
new file mode 100644
index 0000000..b3b3c1b
--- /dev/null
+++ b/src/main/java/frc/robot/commands/DefaultExtension.java
@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+import frc.robot.Robot;
+import edu.wpi.first.wpilibj.command.Command;
+
+public class DefaultExtension extends Command {
+  public DefaultExtension() {
+    super("DefaultExtension");
+
+    requires(Robot.panelMech);
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.panelMech.extendPanelMech(false);
+
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}
diff --git a/src/main/java/frc/robot/commands/DefaultPanelMech.java b/src/main/java/frc/robot/commands/DefaultPanelMech.java
new file mode 100644
index 0000000..67d26f6
--- /dev/null
+++ b/src/main/java/frc/robot/commands/DefaultPanelMech.java
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class DefaultPanelMech extends Command {
+  public DefaultPanelMech() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}
diff --git a/src/main/java/frc/robot/commands/ExtendPanelMech.java b/src/main/java/frc/robot/commands/ExtendPanelMech.java
new file mode 100644
index 0000000..531f6aa
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ExtendPanelMech.java
@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+import frc.robot.Robot;
+import edu.wpi.first.wpilibj.command.Command;
+
+public class ExtendPanelMech extends Command {
+  public ExtendPanelMech() {
+    super("ExtendPanelMech");
+
+    requires(Robot.panelMech);
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.panelMech.extendPanelMech(true);
+
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}
diff --git a/src/main/java/frc/robot/commands/SetPanelMech.java b/src/main/java/frc/robot/commands/SetPanelMech.java
new file mode 100644
index 0000000..cd8318b
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SetPanelMech.java
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Constants;
+import frc.robot.Robot;
+
+public class SetPanelMech extends Command {
+    public SetPanelMech() {
+    super("SetPanelMech");
+    requires(Robot.panelMech);
+        //Use requires() here to declare subsystem dependencies
+        //eg. requires(chassis);
+    }
+
+    //Called just before this Command runs the first time
+    @Override
+    protected void initialize() {
+    
+    }
+
+    //Called repeatedly when this Command is scheduled to run 
+    @Override
+    protected void execute() {
+        Robot.panelMech.setPanelMech(0);
+    //    Robot.panelMech.setManipulator(0);
+    }
+
+    //Make this return true when this Command no longer needs to run execute()
+    @Override
+    protected boolean isFinished() {
+        return false;
+    }
+
+    //Called once after isFinished returns true
+    @Override
+    protected void end() {
+        Robot.panelMech.setPanelMech(0);
+    }
+
+    //Called when another command which requires one or more of the same 
+    //subsystems is scheduled to run
+
+    @Override
+    protected void interrupted() {
+        //Yes
+    }
+}
diff --git a/src/main/java/frc/robot/commands/SetPanelmech.java b/src/main/java/frc/robot/commands/SetPanelmech.java
new file mode 100644
index 0000000..cd8318b
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SetPanelmech.java
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Constants;
+import frc.robot.Robot;
+
+public class SetPanelMech extends Command {
+    public SetPanelMech() {
+    super("SetPanelMech");
+    requires(Robot.panelMech);
+        //Use requires() here to declare subsystem dependencies
+        //eg. requires(chassis);
+    }
+
+    //Called just before this Command runs the first time
+    @Override
+    protected void initialize() {
+    
+    }
+
+    //Called repeatedly when this Command is scheduled to run 
+    @Override
+    protected void execute() {
+        Robot.panelMech.setPanelMech(0);
+    //    Robot.panelMech.setManipulator(0);
+    }
+
+    //Make this return true when this Command no longer needs to run execute()
+    @Override
+    protected boolean isFinished() {
+        return false;
+    }
+
+    //Called once after isFinished returns true
+    @Override
+    protected void end() {
+        Robot.panelMech.setPanelMech(0);
+    }
+
+    //Called when another command which requires one or more of the same 
+    //subsystems is scheduled to run
+
+    @Override
+    protected void interrupted() {
+        //Yes
+    }
+}
diff --git a/src/main/java/frc/robot/commands/SetPanelmech.java~Stashed changes b/src/main/java/frc/robot/commands/SetPanelmech.java~Stashed changes
new file mode 100644
index 0000000..e509df1
--- /dev/null
+++ b/src/main/java/frc/robot/commands/SetPanelmech.java~Stashed changes	
@@ -0,0 +1,62 @@
+package frc.robot.commands;
+import frc.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Constants;
+import frc.robot.util.Camera_Switch.CameraSwitch; 
+
+public class SetPanelMech extends Command {
+  public SetPanelMech() {
+    super("SetPanelMech");
+
+    requires(Robot.panelMech);
+
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+    Constants.PanelNum++;
+    if(Constants.PanelNum==3){
+        Constants.PanelNum=0;
+    }
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+      if(Constants.PanelNum==1){
+        Robot.panelMech.setPanelMech(Constants.PANEL_MECH_FAST);
+      }
+      else if(Constants.PanelNum==0){
+        Robot.panelMech.setPanelMech(Constants.PANEL_MECH_CREEP);
+      }
+      else{
+        Robot.panelMech.setPanelMech(0);
+            }
+
+
+  }
+
+
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+    Robot.panelMech.setPanelMech(0);
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}
\ No newline at end of file
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..2a08628
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Climber.java
@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+import frc.robot.Constants;
+import frc.robot.RobotMap;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import edu.wpi.first.wpilibj.Solenoid;
+
+import edu.wpi.first.wpilibj.GyroBase;
+import frc.robot.commands.*;
+
+public class Climber extends Subsystem { 
+    private CANSparkMax winch_Neo;
+    private CANSparkMax selfClimb_Neo;
+
+    public static double bottom_penetrometer;
+    public static double top_penetrometer;
+    public static double winchSpeed = Constants.CLIMBER_CREEP; 
+
+
+    private Solenoid Extender;
+    private GyroBase climbGyro;
+    public double angle;
+    
+    public Climber(){
+        winch_Neo = new CANSparkMax(RobotMap.WINCH_NEO, MotorType.kBrushless);
+        Extender = new Solenoid(RobotMap.kPCM, RobotMap.CLIMB_SOLENOID);
+    }
+       // selfClimb_Neo= new CANSparkMax(RobotMap.SELFCLIMB_NEO, MotorType.kBrushless);
+        // climbGyro = new GyroBase(){
+        
+            // @Override
+            // public void close() throws Exception {
+            //     // TODO Auto-generated method stub
+                
+    //         }
+        
+    //         @Override
+    //         public void reset() {
+    //             // TODO Auto-generated method stub
+                
+    //         }
+        
+    //         @Override
+    //         public double getRate() {
+    //             // TODO Auto-generated method stub
+    //             return 0;
+    //         }
+        
+    //         @Override
+    //         public double getAngle() {
+    //             // TODO Auto-generated method stub
+    //             return 0;
+    //         }
+        
+    //         @Override
+    //         public void calibrate() {
+    //             // TODO Auto-generated method stub
+                
+    //         }
+    //     };
+    // }
+    
+    public void initDefaultCommand() {
+     //   setDefaultCommand(new DefaultExtension());
+        }
+
+    
+    public void setPinExtender(boolean extended){
+        Extender.set(extended);
+     }
+
+    public boolean getPinExtender(){
+        return Extender.get();
+    }
+    public void setWinchOutput(double outputWinch){
+        winch_Neo.set(outputWinch);
+    }
+
+    // public void calibrateGyro(){
+    //     climbGyro.calibrate();
+    // }
+
+    // public void setSelfClimbOutput(double outputSelf){
+    //     selfClimb_Neo.set(outputSelf);
+    // }
+
+    // public double getGyroAngle() {
+    //     return climbGyro.getAngle();        
+    // }
+    
+    public void debug(){
+        SmartDashboard.putBoolean("Pin Extender Status - ", getPinExtender());
+  //      SmartDashboard.putNumber("Gyro angle", climbGyro.getAngle());
+     }
+
+     
+    
+  
+
+}
+
+
+ 
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/PanelMech.java b/src/main/java/frc/robot/subsystems/PanelMech.java
new file mode 100644
index 0000000..a73acf2
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/PanelMech.java
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import frc.robot.Constants;
+import frc.robot.RobotMap;
+// import frc.robot.commands.MoveShooter;
+// import frc.robot.commands.MoveShooterPassive;
+import frc.robot.util.Util;
+
+/**
+ * Add your docs here.
+ */
+public class PanelMech extends Subsystem {
+    private CANSparkMax panelMech_motor;
+    private Solenoid panelMech_soleinoid;
+    //private MoveShooterPassive defaultCommand;
+
+    public PanelMech(){
+        panelMech_motor = new CANSparkMax(RobotMap.PANEL_NEO, MotorType.kBrushless);
+        panelMech_motor.setOpenLoopRampRate(Constants.kNeoRampTime);
+        panelMech_motor.set(0);
+        panelMech_soleinoid= new Solenoid(RobotMap.kPCM, RobotMap.PANEL_SOLENOID);
+    }
+    public void setPanelMech(final double velocity) {
+        panelMech_motor.set(velocity);
+    }
+    public void extendPanelMech(boolean extend) {
+        panelMech_soleinoid.set(extend);
+    }
+    @Override
+    protected void initDefaultCommand() {
+
+    }
+
+    public void debug() {
+    }
+}
\ No newline at end of file