diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java b/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
index d172256..2d84ef5 100644
--- a/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+++ b/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
@@ -214,6 +214,7 @@ public class Shoot extends CommandBase {
   @Override
   public boolean isFinished() {
     // if (simMode) {
+    SmartDashboard.putBoolean("isAimedInTolerance", isAimedInTolerance);
     return isAimedInTolerance;
     // }
     // return false;
diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java
index 6176c9a..29b09d2 100644
--- a/src/main/java/frc4388/robot/subsystems/Hood.java
+++ b/src/main/java/frc4388/robot/subsystems/Hood.java
@@ -64,7 +64,10 @@ public class Hood extends SubsystemBase {
     SmartDashboard.putNumber("Hood Angle", m_angleEncoder.getPosition());
 
     // * speed limiting near soft limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output).
+    runVelocityRamping();
+  }
 
+  public void runVelocityRamping() {
     if (areSoftLimitsEnabled()) {
       double currentPos = this.getEncoderPosition();
       double forwardDistance = Math.abs(currentPos - ShooterConstants.HOOD_FORWARD_SOFT_LIMIT);
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index d8c59d4..1ba15e6 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -147,9 +147,11 @@ public class Turret extends SubsystemBase {
 
     leftPrevState = leftState; // * Update the state of the left limit switch.
   
-  
     // * speed limiting near soft limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output).
+    runVelocityRamping();
+  }
 
+  public void runVelocityRamping() {
     if (areSoftLimitsEnabled()) {
 
       double currentPos = this.getEncoderPosition();