diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index bdc74e7..54265cb 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -19,7 +19,6 @@
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
 import static edu.wpi.first.units.Units.Second;
-import static edu.wpi.first.units.Units.Volts;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
@@ -31,7 +30,6 @@
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.units.measure.Velocity;
-import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.RobotBase;
 import frc.lib.W8.mechanisms.linear.LinearMechanism.LinearMechCharacteristics;
 import frc.lib.W8.mechanisms.rotary.RotaryMechanism.RotaryMechCharacteristics;
@@ -86,13 +84,7 @@ public class HopperConstants {
     public static final Distance MIN_DISTANCE = Inches.of(0.0);
     public static final Distance MAX_DISTANCE = Inches.of(15.0);
     public static final Distance STARTING_DISTANCE = Inches.of(0.0);
-
-    // CHANGE TO PROPER RPMS !!!!
-    public static final double SLOW_SPEED_RPM = 0.0;
-    public static final double FAST_SPEED_RPM = 0.0;
-    public static final double REVERSE_SPEED_RPM = 0.0;
-    public static final Voltage VOLTAGE = Volts.of(12.0);
-    public static final Distance DRUM_RADIUS = Inches.of(2.0);
+    private static final Distance DRUM_RADIUS = Inches.of(2.0);
     public static final DistanceAngleConverter CONVERTER = new DistanceAngleConverter(DRUM_RADIUS);
     public static final AngularVelocity ANGULAR_VELOCITY = RotationsPerSecond.of(1);
     public static final AngularAcceleration ANGULAR_ACCELERATION =
@@ -121,13 +113,9 @@ public final class ShooterConstants {
     public static final Angle MAX_ANGLE = Rotations.of(10.0);
     public static final Angle STARTING_ANGLE = Rotations.of(0.0);
     public static final Distance WHEEL_RADIUS = Meters.of(0.5);
+    public static final double FLYWHEEL_VELOCITY_TOLERANCE = 1.0;
     public static final RotaryMechCharacteristics CONSTANTS =
         new RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
-    public static final double IDLE_SPEED_RPM = (1.0);
-    public static final double HUB_SPEED_RPM = (1.0);
-    public static final double TOWER_SPEED_RPM = (1.0);
-    public static final double DEFAULT_SPEED_RPM = (1.0);
-    public static final double FLYWHEEL_VELOCITY_TOLERANCE = 1.0;
   }
 
   public static final int CANDLE_ID = 50;
@@ -167,5 +155,6 @@ public class ClimberConstants {
             MAX_DISTANCE,
             STARTING_DISTANCE,
             CONVERTER);
+    public static final double CLIMB_SPEED = 1.0;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/climber/Climber.java b/src/main/java/frc/robot/subsystems/climber/Climber.java
index 7be04be..07f4a55 100644
--- a/src/main/java/frc/robot/subsystems/climber/Climber.java
+++ b/src/main/java/frc/robot/subsystems/climber/Climber.java
@@ -1,7 +1,10 @@
 package frc.robot.subsystems.climber;
 
+import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.LinearVelocity;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.W8.mechanisms.linear.LinearMechanism;
+import frc.robot.Constants.ClimberConstants;
 
 public class Climber extends SubsystemBase {
   private LinearMechanism _io;
@@ -10,6 +13,18 @@ public Climber(LinearMechanism io) {
     io = _io;
   }
 
+  public enum State {
+    IDLE(Units.MetersPerSecond.of(0.0)),
+    ASCENDING(Units.MetersPerSecond.of(ClimberConstants.CLIMB_SPEED)),
+    DESCENDING(Units.MetersPerSecond.of(-ClimberConstants.CLIMB_SPEED));
+
+    private final LinearVelocity velocity;
+
+    private State(LinearVelocity velocity) {
+      this.velocity = velocity;
+    }
+  }
+
   @Override
   public void periodic() {}
 }
diff --git a/src/main/java/frc/robot/subsystems/hopper/Hopper.java b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
index a9f17fe..6d6a3d0 100644
--- a/src/main/java/frc/robot/subsystems/hopper/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
@@ -14,18 +14,18 @@
 public class Hopper extends SubsystemBase {
   private FlywheelMechanism _io;
 
-  public enum State {
-    OFF(RevolutionsPerSecond.of(0.0)),
-    FORWARD_SLOW(RevolutionsPerSecond.of(HopperConstants.SLOW_SPEED_RPM / 60)),
-    FORWARD_FAST(RevolutionsPerSecond.of(HopperConstants.FAST_SPEED_RPM / 60)),
-    REVERSE(RevolutionsPerSecond.of(HopperConstants.REVERSE_SPEED_RPM / 60));
-
-    private final AngularVelocity _stateVelocity;
-
-    private State(AngularVelocity stateVelocity) {
-      _stateVelocity = stateVelocity;
-    }
-  }
+  // public enum State {
+  //   OFF(RevolutionsPerSecond.of(0.0)),
+  //   FORWARD_SLOW(RevolutionsPerSecond.of(HopperConstants.SLOW_SPEED_RPM / 60)),
+  //   FORWARD_FAST(RevolutionsPerSecond.of(HopperConstants.FAST_SPEED_RPM / 60)),
+  //   REVERSE(RevolutionsPerSecond.of(HopperConstants.REVERSE_SPEED_RPM / 60));
+
+  //   private final AngularVelocity _stateVelocity;
+
+  //   private State(AngularVelocity stateVelocity) {
+  //     _stateVelocity = stateVelocity;
+  //   }
+  // }
 
   public Hopper(FlywheelMechanism io) {
     _io = io;
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index fd86a44..f156702 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -2,7 +2,6 @@
 
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 
-import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -37,20 +36,20 @@ public void setFlywheelVelocity(double velocity) {
     _flywheel.runVelocity(angVelo, ShooterConstants.ACCELERATION, PIDSlot.SLOT_0);
   }
 
-  public enum State {
-    OFF(Units.RevolutionsPerSecond.of(0.0)),
-    IDLE(Units.RevolutionsPerSecond.of(ShooterConstants.IDLE_SPEED_RPM / 60)),
-    SHOOT_FROM_HUB(Units.RevolutionsPerSecond.of(ShooterConstants.HUB_SPEED_RPM / 60)),
-    SHOOT_FROM_TOWER(Units.RevolutionsPerSecond.of(ShooterConstants.TOWER_SPEED_RPM / 60)),
-    SHOOT(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM / 60)),
-    SHOOT_ON_MOVE(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM / 60));
+  // public enum State {
+  //   OFF(Units.RevolutionsPerSecond.of(0.0)),
+  //   IDLE(Units.RevolutionsPerSecond.of(ShooterConstants.IDLE_SPEED_RPM / 60)),
+  //   SHOOT_FROM_HUB(Units.RevolutionsPerSecond.of(ShooterConstants.HUB_SPEED_RPM / 60)),
+  //   SHOOT_FROM_TOWER(Units.RevolutionsPerSecond.of(ShooterConstants.TOWER_SPEED_RPM / 60)),
+  //   SHOOT(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM / 60)),
+  //   SHOOT_ON_MOVE(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM / 60));
 
-    private final AngularVelocity stateVelocity;
+  //   private final AngularVelocity stateVelocity;
 
-    State(AngularVelocity stateVelocity) {
-      this.stateVelocity = stateVelocity;
-    }
-  }
+  //   State(AngularVelocity stateVelocity) {
+  //     this.stateVelocity = stateVelocity;
+  //   }
+  // }
 
   // Checks if the flywheel is at speed and returns a boolean
   public boolean flyAtVelocity() {