diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index a0d5e5c..da66be3 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -256,7 +256,7 @@ public class Robot extends TimedRobot {
 
     Robot.alliance = DriverStation.getAlliance();
 
-    m_robotContainer.m_robotSwerveDrive.m_gyro.addYaw(-1 * m_robotContainer.m_robotSwerveDrive.m_gyro.getYaw());
+    // m_robotContainer.m_robotSwerveDrive.m_gyro.addYaw(-1 * m_robotContainer.m_robotSwerveDrive.m_gyro.getYaw());
 
     selectedOdo = odoChooser.getSelected();
     if (selectedOdo == null) {
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 9f46fa2..866fafb 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -212,26 +212,26 @@ public class RobotContainer {
     //     new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), 
     //     m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
 
-    // m_robotTurret.setDefaultCommand(
-    //    new RunCommand(() -> {
-    //     if (this.currentControlMode.equals(ControlMode.SHOOTER)) { 
-    //       if (this.currentTurretMode.equals(TurretMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
-    //     }
-    //     if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
-    //    }, m_robotTurret));
+    m_robotTurret.setDefaultCommand(
+       new RunCommand(() -> {
+        if (this.currentControlMode.equals(ControlMode.SHOOTER)) { 
+          if (this.currentTurretMode.equals(TurretMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
+        }
+        if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
+       }, m_robotTurret));
 
-    // m_robotHood.setDefaultCommand(
-    //    new RunCommand(() -> {
-    //     if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
-    //     if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); }
-    //    }, m_robotHood));
+    m_robotHood.setDefaultCommand(
+       new RunCommand(() -> {
+        if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
+        if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); }
+       }, m_robotHood));
 
-    // m_robotClimber.setDefaultCommand(
-    //   // new RunCommand(() -> {
-    //   //   if (this.currentMode.equals(Mode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
-    //     /*if (this.currentMode.equals(Mode.CLIMBER)) {  */new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX(),
-    //       getOperatorController().getRightY()), m_robotClimber).withName("Climber controlWithInput defaultCommand")); //}
-      // }, m_robotClimber));
+    m_robotClimber.setDefaultCommand(
+      new RunCommand(() -> {
+        if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
+        if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotClimber.setJointSpeeds(getOperatorController().getLeftX() * 10000,
+          getOperatorController().getRightY() * 10000); }}
+      , m_robotClimber));
 
        // m_robotTurret.setDefaultCommand(
     //     new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -269,6 +269,12 @@ public class RobotContainer {
     new JoystickButton(getDriverController(), XboxController.Button.kA.value)
         .whileHeld(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 1.0, 0.0, true))
         .whenReleased(() -> m_robotSwerveDrive.stopModules());
+    
+    new JoystickButton(getDriverController(), XboxController.Button.kB.value)
+        .whileHeld(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry))
+        .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret));
+
+    
 
     /* Operator Buttons */
 
diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/AimToCenter.java b/src/main/java/frc4388/robot/commands/ShooterCommands/AimToCenter.java
index 38a8888..df612be 100644
--- a/src/main/java/frc4388/robot/commands/ShooterCommands/AimToCenter.java
+++ b/src/main/java/frc4388/robot/commands/ShooterCommands/AimToCenter.java
@@ -35,29 +35,30 @@ public class AimToCenter extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    x = 0;
-    y = 0;
+    x = m_drive.getOdometry().getX();
+    y = m_drive.getOdometry().getY();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     m_targetAngle = angleToCenter(x, y, m_drive.getRegGyro().getDegrees());
+    System.out.println("Target Angle" + m_targetAngle);
     m_turret.runShooterRotatePID(m_targetAngle);
 
     // Check if limelight is within range (comment out to disable vision odo)
     if (Math.abs(m_turret.getBoomBoomAngleDegrees() - m_targetAngle) < VisionConstants.RANGE){
-      m_visionOdometry.updateOdometryWithVision();
-      m_visionOdometry.setLEDs(true);
+      // m_visionOdometry.updateOdometryWithVision();
+      // m_visionOdometry.setLEDs(true);
     }
     else{
-      m_visionOdometry.setLEDs(false);
+      // m_visionOdometry.setLEDs(false);
     }
   }
 
   public static double angleToCenter(double x, double y, double gyro) {
-    double angle = ((Math.atan2(y, x) * (180./Math.PI) - gyro) + 180. + 360.) % 360.; // Finds the angle between the gyro of the robot and the target (positive x is gyro 0)
-    return angle;
+    double angle = ((Math.atan2(y, x) * (180./Math.PI) - gyro) + 180. + (360. * 4)) % 360.; // Finds the angle between the gyro of the robot and the target (positive x is gyro 0)
+    return (angle - 360);
   }
 
   /**