diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 0434331..59cab07 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -108,6 +108,8 @@ public final class Constants {
     public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
     public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
     public static final double SHOOTER_TURRET_MIN = -1.0;
+    public static final float TURRET_FORWARD_LIMIT = 0; // TODO: find
+    public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find
 
     // deadzones
     public static final double HARD_DEADZONE_LEFT = 0.0;
@@ -120,13 +122,14 @@ public final class Constants {
     public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"//
   
     public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0); // TODO: tune values
+
     /* Hood Constants */
     public static final int SHOOTER_ANGLE_ADJUST_ID = 32;
     public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
     public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
+    public static final float HOOD_FORWARD_LIMIT = 0; //TODO: find
+    public static final float HOOD_REVERSE_LIMIT = 0; //TODO: find
 
-    public static final float TURRET_FORWARD_LIMIT = 0; // TODO: find
-    public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find
 
   }
   public static final class VisionConstants {
diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java
index 995af74..b3a2f30 100644
--- a/src/main/java/frc4388/robot/subsystems/Hood.java
+++ b/src/main/java/frc4388/robot/subsystems/Hood.java
@@ -10,6 +10,7 @@ import com.revrobotics.SparkMaxPIDController;
 import com.revrobotics.SparkMaxLimitSwitch;
 import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMax.SoftLimitDirection;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -38,10 +39,14 @@ public double m_fireAngle;
   public Hood() {
      m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
 
-    m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    // m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
     m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
-    m_hoodUpLimitSwitch.enableLimitSwitch(true);
+    // m_hoodUpLimitSwitch.enableLimitSwitch(true);
     m_hoodDownLimitSwitch.enableLimitSwitch(true);
+
+    m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT);
+    m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
+    setHoodSoftLimits(true);
   }
     
 
@@ -49,6 +54,16 @@ public double m_fireAngle;
   public void periodic() {
     // This method will be called once per scheduler run
   }
+
+    /**
+   * Set status of hood motor soft limits.
+   * @param set Boolean to set soft limits to.
+   */
+  public void setHoodSoftLimits(boolean set) {
+    m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
+    m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
+  }
+
   public void runAngleAdjustPID(double targetAngle) 
   {
     //Set PID Coefficients
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index a4eca33..3a00f02 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -59,7 +59,7 @@ public class Turret extends SubsystemBase {
 
     m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_FORWARD_LIMIT);
     m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.TURRET_REVERSE_LIMIT);
-    setSoftLimits(true);
+    setTurretSoftLimits(true);
 
     m_boomBoomRotateMotor.setInverted(false);
 
@@ -80,7 +80,7 @@ public class Turret extends SubsystemBase {
    * Set status of turret motor soft limits.
    * @param set Boolean to set soft limits to.
    */
-  public void setSoftLimits(boolean set) {
+  public void setTurretSoftLimits(boolean set) {
     m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
     m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
   }