            Map.ofEntries(
                    Map.entry(ClimbState.kStartingPosition, new ParallelCommandGroup(
                            new MoveFrontClimberCommand(frontClimber, Rotation2d.fromDegrees(70)),
                            new BackClimbAngleCommand(backClimber, Rotation2d.fromDegrees(45), -Constants.kMaxBackClimberSpeedIn, 0.5)
                    )),
                // Fully auto section
                Map.entry(ClimbState.kSequence1, new SequentialCommandGroup(
                        new ParallelCommandGroup(
                                new BackClimbAngleCommand(backClimber, Rotation2d.fromDegrees(90), -Constants.kMaxBackClimberSpeedIn, 0.5),
                                new SequentialCommandGroup(
                                        new WaitUntilCommand(() -> backClimber.getAngle().getDegrees() >= 75),
                                        new MoveFrontClimberCommand(frontClimber, Rotation2d.fromDegrees(10), 0.6)