diff --git a/y2022/control_loops/python/BUILD b/y2022/control_loops/python/BUILD
index 54bce63..d3a5a62 100644
--- a/y2022/control_loops/python/BUILD
+++ b/y2022/control_loops/python/BUILD
@@ -107,6 +107,22 @@
     ],
 )
 
+py_binary(
+    name = "climber",
+    srcs = [
+        "climber.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:controls",
+        "//frc971/control_loops/python:linear_system",
+    ],
+)
+
 py_library(
     name = "python_init",
     srcs = ["__init__.py"],
diff --git a/y2022/control_loops/python/climber.py b/y2022/control_loops/python/climber.py
new file mode 100755
index 0000000..fd1707b
--- /dev/null
+++ b/y2022/control_loops/python/climber.py
@@ -0,0 +1,51 @@
+#!/usr/bin/python3
+
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import linear_system
+import numpy
+import sys
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+    gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+    pass
+
+kClimber = linear_system.LinearSystemParams(
+    name='Climber',
+    motor=control_loop.Falcon(),
+    G=(1.0 / 10.0) * (1.0 / 3.0) * (1.0 / 3.0),
+    radius=22 * 0.25 / numpy.pi / 2.0 * 0.0254,
+    mass=2.0,
+    q_pos=0.10,
+    q_vel=1.35,
+    kalman_q_pos=0.12,
+    kalman_q_vel=2.00,
+    kalman_q_voltage=35.0,
+    kalman_r_position=0.05)
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[0.2], [0.0]])
+        linear_system.PlotKick(kClimber, R, plant_params=kClimber)
+        linear_system.PlotMotion(
+            kClimber, R, max_velocity=5.0, plant_params=kClimber)
+
+    # Write the generated constants out to a file.
+    if len(argv) != 5:
+        glog.fatal(
+            'Expected .h file name and .cc file name for the climber and integral climber.'
+        )
+    else:
+        namespaces = ['y2022', 'control_loops', 'superstructure', 'climber']
+        linear_system.WriteLinearSystem(kClimber,
+                                        argv[1:3], argv[3:5], namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    glog.init()
+    sys.exit(main(argv))
diff --git a/y2022/control_loops/superstructure/climber/BUILD b/y2022/control_loops/superstructure/climber/BUILD
new file mode 100644
index 0000000..8ec8071
--- /dev/null
+++ b/y2022/control_loops/superstructure/climber/BUILD
@@ -0,0 +1,34 @@
+package(default_visibility = ["//y2022:__subpackages__"])
+
+genrule(
+    name = "genrule_climber",
+    outs = [
+        "climber_plant.h",
+        "climber_plant.cc",
+        "integral_climber_plant.h",
+        "integral_climber_plant.cc",
+    ],
+    cmd = "$(location //y2022/control_loops/python:climber) $(OUTS)",
+    target_compatible_with = ["@platforms//os:linux"],
+    tools = [
+        "//y2022/control_loops/python:climber",
+    ],
+)
+
+cc_library(
+    name = "climber_plants",
+    srcs = [
+        "climber_plant.cc",
+        "integral_climber_plant.cc",
+    ],
+    hdrs = [
+        "climber_plant.h",
+        "integral_climber_plant.h",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:hybrid_state_feedback_loop",
+        "//frc971/control_loops:state_feedback_loop",
+    ],
+)
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index b2c89d1..a7af922 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -8,36 +8,44 @@
 
 using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
 using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
+using frc971::control_loops:: RelativeEncoderProfiledJointStatus;
 
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
     : frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
-                                                                    name) {
+                                                                    name),
+      climber_(constants::GetValues().climber.subsystem_params) {
   event_loop->SetRuntimeRealtimePriority(30);
 }
 
 void Superstructure::RunIteration(const Goal *unsafe_goal,
-                                  const Position * /*position*/,
+                                  const Position *position,
                                   aos::Sender<Output>::Builder *output,
                                   aos::Sender<Status>::Builder *status) {
   if (WasReset()) {
     AOS_LOG(ERROR, "WPILib reset, restarting\n");
   }
 
-  if (output != nullptr && unsafe_goal != nullptr) {
-    OutputT output_struct;
-    output_struct.climber_voltage = unsafe_goal->climber_speed();
+  OutputT output_struct;
+
+  flatbuffers::Offset<RelativeEncoderProfiledJointStatus>
+      climber_status_offset = climber_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->climber() : nullptr,
+          position->climber(),
+          output != nullptr ? &(output_struct.climber_voltage) : nullptr,
+          status->fbb());
+
+  if (output != nullptr) {
     output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
   }
 
   Status::Builder status_builder = status->MakeBuilder<Status>();
 
-  status_builder.add_zeroed(true);
-  status_builder.add_estopped(false);
+  // Climber is always zeroed; only has a pot
+  status_builder.add_zeroed(climber_.zeroed());
+  status_builder.add_estopped(climber_.estopped());
+  status_builder.add_climber(climber_status_offset);
 
-  if (unsafe_goal != nullptr) {
-    status_builder.add_climber_speed(unsafe_goal->climber_speed());
-  }
   (void)status->Send(status_builder.Finish());
 }
 
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 95e24d3..4c03a08 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -1,8 +1,8 @@
 #ifndef Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 #define Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 
-#include "frc971/control_loops/control_loop.h"
 #include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loop.h"
 #include "y2022/constants.h"
 #include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2022/control_loops/superstructure/superstructure_output_generated.h"
@@ -16,6 +16,11 @@
 class Superstructure
     : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
+  using RelativeEncoderSubsystem =
+      ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+          ::frc971::zeroing::RelativeEncoderZeroingEstimator,
+          ::frc971::control_loops::RelativeEncoderProfiledJointStatus>;
+
   explicit Superstructure(::aos::EventLoop *event_loop,
                           const ::std::string &name = "/superstructure");
 
@@ -25,6 +30,8 @@
                             aos::Sender<Status>::Builder *status) override;
 
  private:
+  RelativeEncoderSubsystem climber_;
+
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
 };
 
diff --git a/y2022/control_loops/superstructure/superstructure_goal.fbs b/y2022/control_loops/superstructure/superstructure_goal.fbs
index 3e0679e..8107363 100644
--- a/y2022/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2022/control_loops/superstructure/superstructure_goal.fbs
@@ -3,9 +3,8 @@
 namespace y2022.control_loops.superstructure;
 
 table Goal {
-    // Voltage of the climber falcon
-    // - is down + is up
-    climber_speed:double (id: 0);
+  // Height of the climber above rest point
+  climber:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 0);
 }
 
 root_type Goal;
diff --git a/y2022/control_loops/superstructure/superstructure_position.fbs b/y2022/control_loops/superstructure/superstructure_position.fbs
index 02002ba..a36f4f6 100644
--- a/y2022/control_loops/superstructure/superstructure_position.fbs
+++ b/y2022/control_loops/superstructure/superstructure_position.fbs
@@ -3,7 +3,7 @@
 namespace y2022.control_loops.superstructure;
 
 table Position {
-
+  climber:frc971.RelativePosition (id: 0);
 }
 
 root_type Position;
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index 5f8cdc3..0ee0994 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -10,9 +10,8 @@
   // If true, we have aborted. This is the or of all subsystem estops.
   estopped:bool (id: 1);
 
-  // Goal voltage of the climber falcon
-  // - is down + is up
-  climber_speed:double (id: 2);
+  // Subsystem statuses
+  climber:frc971.control_loops.RelativeEncoderProfiledJointStatus (id: 2);
 }
 
 root_type Status;
\ No newline at end of file