diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 52b1ddd..3f0dfef 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -106,14 +106,19 @@ public final class Constants {
     public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID =; //"//
   
     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
+    /* Hood Constants */
+    public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
+    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 class VisionConstants {
-      public static final double TURN_P_VALUE = "unknown" // needs to be figured out after testing
-      public static final double X_ANGLE_ERROR = "alsoUnknown" //""//
-      public static final double TURN_P_VALUE = "alsoAlsoUnknown" //""//
-      public static final double GRAV = "alsoAlsoAlsoUnknown" //""//
-      public static final double TARGET_HEIGHT = "alsoAlsoAlsoAlsoUnknown" //""//
+  }
+  public static final class VisionConstants {
+      public static final double TURN_P_VALUE = 0.8;
+      public static final double X_ANGLE_ERROR = 0.5;
+      public static final double GRAV = 385.83;
+      public static final double TARGET_HEIGHT = 67.5;
+      public static final double FOV = 29.8; //Field of view limelight
+      public static final double LIME_ANGLE = 24.7;
       
 
 
@@ -123,6 +128,4 @@ public final class Constants {
 
 
     }
-
-  }
 }
diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 6c84711..8a7a485 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -14,7 +14,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.utility.ShooterTables;
 import frc4388.utility.Gains;
-import frc4388.utility.Trims;
 import frc4388.utility.controller.IHandController;
 
 public class BoomBoom extends SubsystemBase {
@@ -127,7 +126,7 @@ public void setShooterGains() {
     //Controls a motor with the output of the BangBang controller
     //Controls a motor with the output of the BangBang conroller and a feedforward
     //Shrinks the feedforward slightly to avoid over speeding the shooter
-    motor.set(controller.calculate(encoder.getRate(), setpoint) + 0.9 * feedforward.calculate(setpoint)); */
+    m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); */
   
   
   }
diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java
index 76ba03d..3785439 100644
--- a/src/main/java/frc4388/robot/subsystems/Vision.java
+++ b/src/main/java/frc4388/robot/subsystems/Vision.java
@@ -6,9 +6,10 @@ package frc4388.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.wpilibj2.command.commandBase;
-import frc4388.robot.constants.VisionConstants;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.VisionConstants;
 import frc4388.robot.subsystems.BoomBoom;
 import frc4388.robot.subsystems.Turret;
 import frc4388.robot.subsystems.Hood;
@@ -35,14 +36,11 @@ public static double fireAngle;
 public double m_hoodTrim;
 public double m_turretTrim;
 
-LimeLight m_limeLight;
-
-public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) {
-  m_turret = turretSubsystem;
-  m_boomBoom = m_turret.m_turretSubsystem;
+public Vision(Turret aimSubsystem, BoomBoom boomBoom) {
+  m_turret = aimSubsystem;
+  m_boomBoom = boomBoom;
   m_hood = m_boomBoom.m_hoodSubsystem;
-  m_limeLight = limeLight;
-  addRequirements(m_turret);
+  //addRequirements(m_turret);
   limeOff();
   changePipeline(0);
   NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
@@ -50,9 +48,9 @@ public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) {
 }
 
 public void track(){
-  target = getV()
-  xAngle = getX()
-  yAngle = getY()
+  target = getV();
+  xAngle = getX();
+  yAngle = getY();
 
   //find distance
   distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
@@ -68,10 +66,10 @@ public void track(){
       turnAmount = 0.1;
     }
     else if (turnAmount < 0 && turnAmount > -0.1){
-        turnAmount = -0.1
+        turnAmount = -0.1;
     }
   }
-  m_turret.runShooterWithInput(-turnAmount);
+  m_turret.turnWithJoystick(-turnAmount);
 
   SmartDashboard.putNumber("Disance to Target", realDistance);