protected void execute() {
        double speed = 0;
        if (Robot.climberActuator.getPot() > Robot.climberActuator.getClimbSetpoint()){
                speed = Robot.oi.getLeftY();
                if(Robot.dumper != null){
                    if(Robot.dumper.getArm().getPot() > Robot.dumper.ARM_VERTICAL + 10 && !Robot.ratchetClimber.hasStartedClimbing()){
                        Robot.dumper.getArm().setSetpoint(Robot.dumper.ARM_CARRYING);
                        Robot.dumper.getArm().enable();
                        speed = 0;
                    }
                }
        }
        try {
            Robot.climberActuator.driveMotor(speed);
        } catch (CANTimeoutException ex) {
            ex.printStackTrace();
        }
        if (Robot.dumper != null){
            Robot.climberActuator.adjustDumper();
        }
    }