diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index a167941..6b31bde 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -65,7 +65,7 @@
       "potentiometer_offset": {{ -0.2574404033256 + 0.0170793439542 - 0.177097393974999 + 0.3473623911879  - 0.1577}}
     },
     "disable_extend": false,
-    "disable_climber": true
+    "disable_climber": false
   },
   {% include 'y2024/constants/common.json' %}
 }
diff --git a/y2024/constants/common.json b/y2024/constants/common.json
index 8fec134..409a2d5 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -100,8 +100,8 @@
     "transfer_roller_stator_current_limit": 50,
     "drivetrain_supply_current_limit": 50,
     "drivetrain_stator_current_limit": 200,
-    "climber_supply_current_limit": 30,
-    "climber_stator_current_limit": 100,
+    "climber_supply_current_limit": 40,
+    "climber_stator_current_limit": 150,
     "extend_supply_current_limit": 30,
     "extend_stator_current_limit": 180,
     "extend_roller_supply_current_limit": 50,
@@ -248,7 +248,7 @@
     "shot_velocity": 0.0
   },
   "extend_set_points": {
-    "trap": 0.40,
+    "trap": 0.46,
     "amp": 0.35,
     "catapult": 0.017,
     "retracted": 0.017
diff --git a/y2024/control_loops/superstructure/shooter.cc b/y2024/control_loops/superstructure/shooter.cc
index b280b2f..6e31a31 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -46,7 +46,7 @@
     double *min_extend_position, const double intake_pivot_position,
     double *max_intake_pivot_position, double *min_intake_pivot_position,
     NoteGoal requested_note_goal, flatbuffers::FlatBufferBuilder *fbb,
-    aos::monotonic_clock::time_point monotonic_now) {
+    aos::monotonic_clock::time_point monotonic_now, bool climbing) {
   drivetrain_status_fetcher_.Fetch();
 
   // If our current is over the minimum current and our velocity is under our
@@ -152,11 +152,12 @@
   // it if we have no goal, or no subsystem goal, or if we are auto-aiming.
 
   const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
-      *turret_goal = (shooter_goal != nullptr && !shooter_goal->auto_aim() &&
-                      (piece_loaded || state_ == CatapultState::FIRING) &&
-                      shooter_goal->has_turret_position())
-                         ? shooter_goal->turret_position()
-                         : &turret_goal_builder->AsFlatbuffer();
+      *turret_goal =
+          (shooter_goal != nullptr && !shooter_goal->auto_aim() &&
+           (piece_loaded || state_ == CatapultState::FIRING || climbing) &&
+           shooter_goal->has_turret_position())
+              ? shooter_goal->turret_position()
+              : &turret_goal_builder->AsFlatbuffer();
 
   const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
       *altitude_goal = (shooter_goal != nullptr && !shooter_goal->auto_aim() &&
diff --git a/y2024/control_loops/superstructure/shooter.h b/y2024/control_loops/superstructure/shooter.h
index e873629..dc57507 100644
--- a/y2024/control_loops/superstructure/shooter.h
+++ b/y2024/control_loops/superstructure/shooter.h
@@ -107,7 +107,7 @@
       double *min_extend_position, const double intake_pivot_position,
       double *max_turret_intake_position, double *min_intake_pivot_position,
       NoteGoal requested_note_goal, flatbuffers::FlatBufferBuilder *fbb,
-      aos::monotonic_clock::time_point monotonic_now);
+      aos::monotonic_clock::time_point monotonic_now, bool climbing);
 
   bool loaded() const { return state_ == CatapultState::LOADED; }
 
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 6412c27..e22dc80 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -544,6 +544,18 @@
   const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
       *extend_goal = &extend_goal_buffer.message();
 
+  // Ignore climber voltage goal if "disable_climber" is true
+  output_struct.climber_voltage =
+      (!robot_constants_->robot()->disable_climber() && unsafe_goal != nullptr)
+          ? unsafe_goal->climber_goal_voltage()
+          : 0.0;
+
+  if (output) {
+    if (output_struct.climber_voltage != 0.0) {
+      ++climbing_;
+    }
+  }
+
   // TODO(max): Change how we handle the collision with the turret and
   // intake to be clearer
   const flatbuffers::Offset<ShooterStatus> shooter_status_offset =
@@ -563,7 +575,7 @@
           &max_extend_position, &min_extend_position,
           intake_pivot_.estimated_position(), &max_intake_pivot_position,
           &min_intake_pivot_position, requested_note_goal_, status->fbb(),
-          timestamp);
+          timestamp, climbing_ > 50);
 
   intake_pivot_.set_min_position(min_intake_pivot_position);
   intake_pivot_.set_max_position(max_intake_pivot_position);
@@ -595,12 +607,6 @@
     output_struct.extend_voltage = 0.0;
   }
 
-  // Ignore climber voltage goal if "disable_climber" is true
-  output_struct.climber_voltage =
-      (!robot_constants_->robot()->disable_climber() && unsafe_goal != nullptr)
-          ? unsafe_goal->climber_goal_voltage()
-          : 0.0;
-
   if (output) {
     output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
   }
diff --git a/y2024/control_loops/superstructure/superstructure.h b/y2024/control_loops/superstructure/superstructure.h
index 6286615..06cec41 100644
--- a/y2024/control_loops/superstructure/superstructure.h
+++ b/y2024/control_loops/superstructure/superstructure.h
@@ -69,6 +69,8 @@
 
   NoteGoal requested_note_goal_ = NoteGoal::NONE;
 
+  int climbing_ = 0;
+
   // True if the transfer beambreak has been triggered since last intake request
   bool note_in_transfer_ = false;
 
diff --git a/y2024/joystick_reader.cc b/y2024/joystick_reader.cc
index 5b2fc74..fcece24 100644
--- a/y2024/joystick_reader.cc
+++ b/y2024/joystick_reader.cc
@@ -94,7 +94,7 @@
         superstructure_goal_builder =
             superstructure_goal_sender_.MakeStaticBuilder();
 
-    if (data.IsPressed(kIntake)) {
+    if (data.IsPressed(kIntake) || climbed_count_ > 25) {
       // Intake is pressed
       superstructure_goal_builder->set_intake_pivot(
           superstructure::IntakePivotGoal::DOWN);
@@ -163,9 +163,16 @@
                                           data.IsPressed(kDriverFire));
 
     if (data.IsPressed(kRaiseClimber)) {
+      ++climbed_count_;
       superstructure_goal_builder->set_climber_goal_voltage(4.0);
     } else if (data.IsPressed(kRaiseFastClimber)) {
-      superstructure_goal_builder->set_climber_goal_voltage(6.0);
+      ++climbed_count_;
+      superstructure_goal_builder->set_climber_goal_voltage(12.0);
+    }
+
+    if (climbed_count_ > 25) {
+      PopulateStaticZeroingSingleDOFProfiledSubsystemGoal(
+          shooter_goal->add_turret_position(), 0.0);
     }
 
     superstructure_goal_builder.CheckOk(superstructure_goal_builder.Send());
@@ -177,6 +184,8 @@
   ::aos::Fetcher<control_loops::superstructure::Status>
       superstructure_status_fetcher_;
   const y2024::Constants *robot_constants_;
+
+  int climbed_count_ = 0;
 };
 
 }  // namespace y2024::input::joysticks
diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 0abedec..7a94595 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -581,7 +581,7 @@
         current_limits->turret_stator_current_limit(),
         current_limits->turret_supply_current_limit());
     std::shared_ptr<TalonFX> climber = std::make_shared<TalonFX>(
-        7, true, "rio", &rio_signal_registry,
+        7, false, "rio", &rio_signal_registry,
         current_limits->climber_stator_current_limit(),
         current_limits->climber_supply_current_limit());
     std::shared_ptr<TalonFX> extend =