diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 9c743e6..552cb8b 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -88,12 +88,29 @@ public final class Constants {
     public static final int SHOOTER_SLOT_IDX = 0;
     public static final int SHOOTER_PID_LOOP_IDX = 1;
     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; 
+   
+    /* Turret Constants */
+    //ID
+    public static final int TURRET_MOTOR_CAN_ID = 0;
     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 double ENCODER_TRICKS_PER_REV  = 0;
+    public static final double NEO_UNITS_PER_REV = 0;
+    public static final double DEGREES_PER_ROT = 0;
+  
+
+  public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(ture,0,0,0);
+  
+  public static final int TURRET_RIGHT_SOFT_LIMIT = 0;
+  public static final int TURRET_LEFT_SOFT_LIMIT = 0;
+  public static final double TURRET_SPEED_MULTIPLIER = 0.3;
+  public static final double TURRET_CALIBRATE_SPEED = 0.075;
+  public static final double TURRET_MOTOR_ROTS_PER_ROT = 1;
+  public static final double TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
 
-    /* Turret Constants */
-    //ID
     
   }
 }
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index de750b6..c117e60 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -68,8 +68,12 @@ public class RobotContainer {
     m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
     
 
+
     //Turret default command
     
+
+    m_robotTurret.setDefaultCommand(
+        new RunCommand(() -> m_robotTurret.aimToCenter()));
   /**
    * Use this method to define your button->command mappings. Buttons can be
    * created by instantiating a {@link GenericHID} or one of its subclasses
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index ac08cff..d713cbe 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -97,9 +97,13 @@ public class RobotMap {
   /*Boom Boom Subsystem*/ 
   public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
   public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
-  //Create motor CANSparkMAx
+  public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.SHOOTER_TURRET_CAN_ID);
+  //Create motor CANSparkMax
   void ConfigureShooterMotorControllers() {
 
+  /*Turret Subsytem*/
+  
+
   }
 
 
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index f570a34..428fe00 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -8,11 +8,10 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Turret extends SubsystemBase {
   /** Creates a new Turret. */
-  //Motor object
+ public CANSparkMax m_turretMotor;
   //Variables
-  public Turret(/*Motor argument*/ */) {
-    //Motor object = motor argument
-    //Config motor
+  public Turret() {
+    m_turretMotor = turretMotor;
   }
 
   @Override
@@ -20,16 +19,19 @@ public class Turret extends SubsystemBase {
     // This method will be called once per scheduler run
   }
 
+  public void turnWithJoystick (double input)
+  {
+    m_turretMotor.set(input);
+
+  }
+
   //function turnWithJoystick(double input)
   //   motor.set(input)
 }
 
 
+
 /** TODO
-* Constants ID
-* RobotMap configs
-* RobotContainer defaultCommand and Instantiation
-* turnWithJoystick function
 * setPosition function
 * Limit switches
 **/
\ No newline at end of file