diff --git a/HVN-ON-EARTH/include/superstructure.hpp b/HVN-ON-EARTH/include/superstructure.hpp
index 78882b2..22eea89 100644
--- a/HVN-ON-EARTH/include/superstructure.hpp
+++ b/HVN-ON-EARTH/include/superstructure.hpp
@@ -51,8 +51,9 @@ namespace superstruct {
     //- Structure methods
     void intakeControl(pros::controller_digital_e_t intakeButton);
     void togglePto();
-    void runCata();
-    void cataControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton);
+    void runCata(double inpt);
+    void runAntiBlock(double inpt);
+    void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton);
     void wingsControl();
     void wingsControlSingle(pros::controller_digital_e_t wingControlButton);
     void wingsControlComplex(pros::controller_analog_e_t leftWingButton, pros::controller_analog_e_t rightWingButton, pros::controller_analog_e_t wingButton);
diff --git a/HVN-ON-EARTH/src/globals.cpp b/HVN-ON-EARTH/src/globals.cpp
index fe77ca9..216d06f 100644
--- a/HVN-ON-EARTH/src/globals.cpp
+++ b/HVN-ON-EARTH/src/globals.cpp
@@ -22,7 +22,7 @@ namespace globals {
     pros::Motor motor_blf(2, MOTOR_GEARSET_06, true);
     pros::Motor motor_tlb(5, MOTOR_GEARSET_06, false);
     pros::Motor motor_trf(16, MOTOR_GEARSET_06, true);
-    pros::Motor motor_trb(3, MOTOR_GEARSET_06, true);
+    pros::Motor motor_trb(3, MOTOR_GEARSET_06, true); // cata running
     pros::Motor motor_brf(1, MOTOR_GEARSET_06, false);
     pros::Motor motor_brb(4, MOTOR_GEARSET_06, false);
 
diff --git a/HVN-ON-EARTH/src/superstructure.cpp b/HVN-ON-EARTH/src/superstructure.cpp
index 6956df3..0a3c46d 100644
--- a/HVN-ON-EARTH/src/superstructure.cpp
+++ b/HVN-ON-EARTH/src/superstructure.cpp
@@ -190,12 +190,22 @@ namespace superstruct {
 
   void runCata(double inpt) {
     if (!ptoEnabled) return;
-    cata_left = inpt;
+    //cata_left = inpt;
     cata_right = inpt;
   }
 
+  void runAntiBlock(double inpt) {
+    if (!ptoEnabled) return;
+    cata_left = inpt;
+  }
+
+  /*
+    TODO:
+      - Make anti block passable button
+  */
+
   int lock = 0;
-  void cataControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton) {
+  void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton) {
     if (globals::master.get_digital(ptoToggleButton) && lock == 0) { // If the PTO button has been pressed and the PTO is not engaged
       togglePto(!ptoEnabled); // Toggle the PTO so that cataput is useable
       lock = 1;
@@ -208,6 +218,14 @@ namespace superstruct {
 		} else {
 			runCata(0);
 		}
+
+    if (globals::master.get_digital(DIGITAL_UP)) {
+      runAntiBlock(-12000);
+    } else if (globals::master.get_digital(DIGITAL_UP)) {
+      runAntiBlock(12000);
+    } else {
+      runAntiBlock(0);
+    }
   }
 
   void wingsControlSingle(pros::controller_digital_e_t wingControlButton) {
@@ -234,19 +252,19 @@ namespace superstruct {
   */
 
   void renu_control() {
-    cataControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
+    subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
     wingsControlSingle(RENU_WING_CONTROL);
     intakeControl(RENU_INTAKE_CONTROL);
   }
   
   void ria_control() {
-    cataControl(RIA_PTO_TOGGLE, RIA_CATA_CONTROL);
+    subsysControl(RIA_PTO_TOGGLE, RIA_CATA_CONTROL);
     wingsControlSingle(RIA_WINGS_CONTROL);
     intakeControl(RIA_INTAKE_CONTROL);
   }
 
   void chris_control() {
-    cataControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
+    subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
     wingsControlSingle(RENU_WING_CONTROL);
     intakeControl(RENU_INTAKE_CONTROL);
   }