diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 118740a..2bb8bb7 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -94,8 +94,14 @@ public final class Constants {
     public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5);
     public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0;
     public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0; 
-    public static final int SHOOTER_ROTATE_ID = "unknown value" //figure out later
-    public static final int SHOOTER_TURRET_GAINS = "'" //""//
+    public static final int SHOOTER_ROTATE_ID = 0; //"unknown value" //figure out later
+    public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""//
+    public static final int TURRET_SPEED_MULTIPLIER = 0; //""//
+    public static final int DEGREES_PER_ROT = 0; //""//
+    public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""//
+    public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""//
+      
+    }
    
     /* Turret Constants */
     //ID
@@ -104,10 +110,10 @@ public final class Constants {
     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 int SHOOTER_FALCON_BALLER_ID =; //unknown value, fix later//
-    public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID =; //"//
+    public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later//
+    public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"//
   
-    public static final Gains DRUM_SHOOTER_GAINS = new Gains(x,y,z,a,b);//x,y,z,a,b are not actual values, fix later
+    public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0);//x,y,z,a,b are not actual values, fix later
     /* Hood Constants */
     public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
     public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index 428fe00..48a6556 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -4,21 +4,98 @@
 
 package frc4388.robot.subsystems;
 
+import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ShooterConstants;
+import frc4388.utility.Gains;
 
 public class Turret extends SubsystemBase {
   /** Creates a new Turret. */
- public CANSparkMax m_turretMotor;
+  public BoomBoom m_boomBoomSubsystem;
+  public SwerveDrive m_sDriveSubsystem;
+
+  public CAnsparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
+  public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS;
+  CANDigitalInput m_boomBoomRightLimit, m_boomBoomLeftLimit;
+  public GyroBase m_turretGyro;
+
+  public double m_targetDistance = 0;
+
+  public boolean m_isAimReady = false;
+
+  CANPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
+  public CANEncoder m_boomBoomRotateEncoder = m_shooterRotateMotor.getEncoder();
+
+  public 
+  public CANSparkMax m_turretMotor;
+  public boolean m_isAimReady;
+  public double m_targetDistance;
   //Variables
-  public Turret() {
+  public <m_boomBoomRotateMotor> <m_boomBoomRotateMotor> Turret() {
+
+    m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
+
+    m_turretGyro = getGyroInterface();
+    m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
+    m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
+    m_boomBoomRightLimit.enableLimitSwitch(true);
+    m_boomBoomLeftLimit.enableLimitSwitch(true);
+
+    m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
+    m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
+    m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
+
+    m_boomBoomRotateMotor.setInverted(false);
     m_turretMotor = turretMotor;
   }
 
   @Override
   public void periodic() {
+    SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition());
+
+    SmartDashboard.putData("Turret Angle", m_turretGyro);
+
+    SmartDashboard.putBoolean("Turret Aimed", m_isAimReady);
     // This method will be called once per scheduler run
   }
 
+  public void passRequiredSubsystem( BoomBoom subsystem0, SwerveDrive subsystem1){
+    m_boomBoomSubsystem = subsystem0;
+    m_sDriveSubsystem = subsystem1;
+  }
+
+  public void runShooterWithInput(double input) {
+    m_boomBoomRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER);
+  }
+
+  public void runshooterRotatePID(double targetAngle) {
+  m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
+  m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
+  m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
+  m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
+  m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
+  m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
+
+  targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
+
+  m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition);
+  }
+
+  public void resetGyroShooterRotate()
+  {
+    m_boomBoomRotateEncoder.setPosition(0);
+  }
+
+  public double getboomBoomRotatePosition()
+  {
+    return m_boomBoomRotateEncoder.getPosition();
+  }
+
+  public double getAnglePositionDegrees() {
+    return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT;
+  }
+  
   public void turnWithJoystick (double input)
   {
     m_turretMotor.set(input);
diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java
index 3785439..85ee3e6 100644
--- a/src/main/java/frc4388/robot/subsystems/Vision.java
+++ b/src/main/java/frc4388/robot/subsystems/Vision.java
@@ -98,7 +98,7 @@ public void checkFinished(){
 }
 
 public void limeOff(){
-  NetworkTableInstance.getDefault.getTable("limelight").getEntry("camMode").setNumber(0);
+  NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
   NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1);
 }