public void run(){
            while (!m_isAborted){
                boolean currentAction = m_isRising;
                checkSwitches();
                if(currentAction != m_isRising){
                    double speed = 0;
                    if(m_isRising){
                        speed = 1;
                    }else{
                        speed = -0.8;
                    }
                    Robot.ratchetClimber.driveMotor(speed);
                }
                this.yield();
            }
        }