diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 0abf40a..12aaf35 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -490,6 +490,7 @@ public void disabledInit() {
     m_autonomousCommand = autonCmdBuilder(waltAutonFactory.get().generateAuton().cmd());
 
     WaltAutonBuilder.initialize();
+    elevator.initialize();
   }
 
   @Override
@@ -499,6 +500,17 @@ public void disabledPeriodic() {
     } else {
       Constants.kTestingAutonOnCart = false;
     }
+
+  
+    if (Elevator.sub_makeCoast.getAsBoolean()) {
+      if (!elevator.m_isCoast) {
+        elevator.setCoast(true);
+      }
+    } else {
+      elevator.setCoast(false);
+    }
+
+    // concern: if ele is set to coast before match starts, does starting 
     
     if (!autonMade) {
       // ALL OF THE COMMENTED OUT ITEMS ARE FOR DEBUGGING THE PUBLISHER BOOLEAN VALUES
diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
index e589e00..2bd39ff 100644
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -16,6 +16,11 @@
 import edu.wpi.first.math.filter.Debouncer.DebounceType;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.networktables.BooleanEntry;
+import edu.wpi.first.networktables.BooleanPublisher;
+import edu.wpi.first.networktables.BooleanSubscriber;
+import edu.wpi.first.networktables.BooleanTopic;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.PubSubOption;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.wpilibj.Servo;
@@ -62,6 +67,13 @@ public class Elevator extends SubsystemBase {
     private final StatusSignal<Double> m_closedLoopErrSignal = m_frontMotor.getClosedLoopError();
     private final StatusSignal<Angle> m_rotationsSignal = m_frontMotor.getPosition();
 
+    public static NetworkTableInstance nte_inst = NetworkTableInstance.getDefault();
+    public static NetworkTable nte_elevator = nte_inst.getTable("Elevator");
+
+    public static BooleanTopic BT_makeCoast = nte_inst.getBooleanTopic("/Elevator/makeCoast");
+    public static BooleanPublisher pub_makeCoast;
+    public static BooleanSubscriber sub_makeCoast;
+
     private boolean m_isHomed = false;
     private Debouncer m_currentDebouncer = new Debouncer(0.125, DebounceType.kRising);
     private Debouncer m_velocityDebouncer = new Debouncer(0.125, DebounceType.kRising);
@@ -87,7 +99,7 @@ public final Trigger remoteAtSetpointTrigger(EventLoop remoteLoop, double rotati
 
     private VoltageOut m_voltageCtrlReq = new VoltageOut(0);
 
-    private boolean m_isCoast = false;
+    public boolean m_isCoast = false;
     private BooleanEntry nte_coast = WaltLogger.booleanItem(kLogTab, "isCoast");
 
 
@@ -174,7 +186,7 @@ public Elevator() {
         setDefaultCommand(currentSenseHoming());
     }
 
-    private void setCoast(boolean coast) {
+    public void setCoast(boolean coast) {
         if (m_isCoast != coast) {
             m_isCoast = coast;
             m_frontMotor.setNeutralMode(coast ? NeutralModeValue.Coast : NeutralModeValue.Brake);
@@ -291,6 +303,13 @@ public boolean getIsHomed() {
         return m_isHomed;
     }
 
+    public void initialize() {
+        pub_makeCoast = BT_makeCoast.publish();
+        sub_makeCoast = BT_makeCoast.subscribe(false);
+
+        pub_makeCoast.setDefault(false);
+    }
+
     @Override
     public void periodic() {