diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java
index 2f8c5ef..f82bc1e 100644
--- a/src/main/java/frc4388/robot/commands/Shoot.java
+++ b/src/main/java/frc4388/robot/commands/Shoot.java
@@ -4,44 +4,139 @@
 
 package frc4388.robot.commands;
 
-import java.nio.file.SecureDirectoryStream;
+import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.subsystems.BoomBoom;
 import frc4388.robot.subsystems.Hood;
 import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.robot.subsystems.Turret;
 
 public class Shoot extends CommandBase {
 
+  // subsystems
   public SwerveDrive m_swerve;
   public BoomBoom m_boomBoom;
+  public Turret m_turret;
   public Hood m_hood;
 
-  public double m_targetVel;
-  public double m_targetHood;
+  // given
+  public double m_gyroAngle;
+  public double m_odoX;
+  public double m_odoY;
   public double m_distance;
 
+  // targets
+  public double m_targetVel;
+  public double m_targetHood;
+  public double m_targetAngle;
+  public double m_driveTargetAngle;
+
+  // pid
+  public double error;
+  public double prevError;
+  public double kP, kI, kD;
+  public double integral, derivative;
+  public double time;
+  public double output;
+  public double tolerance = 5.0;
+
+  // // dummy motor
+  // public WPI_TalonFX dummy = new WPI_TalonFX(69 - 420);
+  // public TalonFXConfiguration dummyConfiguration = new TalonFXConfiguration();
+
   /** Creates a new Shoot. */
-  public Shoot(SwerveDrive sDrive, BoomBoom sShooter, Hood sHood) {
+  public Shoot(SwerveDrive sDrive, BoomBoom sShooter, Turret sTurret, Hood sHood) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_swerve = sDrive;
     m_boomBoom = sShooter;
+    m_turret = sTurret;
     m_hood = sHood;
     
-    addRequirements(m_swerve, m_boomBoom, m_hood);
+    addRequirements(m_swerve, m_boomBoom, m_turret, m_hood);
+
+    kP = 0.1;
+    kI = 0.0;
+    kD = 0.0;
+
+    integral = 0;
+    derivative = 0;
+    time = 0.02;
+  }
+
+  /**
+   * Updates error for custom PID.
+   */
+  public void updateError() {
+    error = (m_targetAngle - m_turret.getBoomBoomAngleDegrees() + 360) % 360;
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    m_distance = 0; //TODO: get this value using odometry
+    m_odoX = 0; //TODO: get this value using odometry
+    m_odoY = 0; //TODO: get this value using odometry
+    m_distance = Math.sqrt(Math.pow(m_odoX, 2) + Math.pow(m_odoY, 2));
+
+    // get targets (shooter tables)
     m_targetVel = m_boomBoom.getVelocity(m_distance);
     m_targetHood = m_boomBoom.getHood(m_distance);
+    m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.;
+    m_driveTargetAngle = m_targetAngle + m_turret.getBoomBoomAngleDegrees();
+
+    // // normal (i think) PID stuff
+    // dummyConfiguration.primaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();
+    // dummyConfiguration.remoteFilter0.remoteSensorDeviceID = dummy.getDeviceID();
+    // dummyConfiguration.remoteFilter0.remoteSensorSource = RemoteSensorSource.TalonFX_SelectedSensor;
+
+    // dummyConfiguration.slot0.kP = 0.1;
+    // dummyConfiguration.slot0.kI = 0;
+    // dummyConfiguration.slot0.kD = 0;
+    // dummyConfiguration.slot0.kF = 0;
+
+    // // weird PID stuff 
+    // dummyConfiguration.auxiliaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.SoftwareEmulatedSensor.toFeedbackDevice();
+    // dummyConfiguration.remoteFilter1.remoteSensorDeviceID = ShooterConstants.TURRET_MOTOR_CAN_ID;
+    // dummyConfiguration.remoteFilter1.remoteSensorSource = RemoteSensorSource.TalonFX_SelectedSensor;
+    // // dummyConfiguration.auxiliaryPID.selectedFeedbackCoefficient = 0;
+  
+    // dummyConfiguration.slot1.kP = 0.1;
+    // dummyConfiguration.slot1.kI = 0;
+    // dummyConfiguration.slot1.kD = 0;
+    // dummyConfiguration.slot1.kF = 0;
+
+    // dummy.configAllSettings(dummyConfiguration);
+
+    // initial error
+    updateError();
+    prevError = error;
   }
 
+  /**
+   * Run custom PID.
+   */
+  public void runPID() {
+    prevError = error;
+    updateError();
+    integral = integral + error * time;
+    derivative = (error - prevError) / time;
+    output = kP * error + kI * integral + kD * derivative;
+  }
+  
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    // dummy.selectProfileSlot(0, 0);
+    // dummy.selectProfileSlot(1, 1);
+    // dummy.set(TalonFXControlMode.Position, m_driveTargetAngle, DemandType.AuxPID, m_targetAngle);
+    // m_swerve.driveWithInput(0, 0, m_driveTargetAngle, true);
+    // m_swerve.driveWithInput(0, 0, Math.cos(m_driveTargetAngle), Math.sin(m_driveTargetAngle), true); // only works for new DWI in swerve branch
+
+    // custom pid
+    runPID();
+    m_swerve.driveWithInput(0, 0, output, true);
+    
     m_hood.runAngleAdjustPID(m_targetHood);
     m_boomBoom.runDrumShooterVelocityPID(m_targetVel);
   }
@@ -53,6 +148,7 @@ public class Shoot extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    updateError();
+    return Math.abs(error) <= tolerance;
   }
 }