diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 5cc4947..f3dfd97 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -219,7 +219,7 @@ public final class Constants {
     // 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;
+    public static final double LIME_ANGLE = 50;
 
     public static final String NAME = "photonCamera";
 
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 313a0d3..c9a3ea2 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -104,7 +104,7 @@ public class RobotContainer {
   
   public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
   // private final LED m_robotLED = new LED(m_robotMap.LEDController);
-  // public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
+  public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
   // public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
   public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
   private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
@@ -151,7 +151,7 @@ public class RobotContainer {
             //getDriverController().getRightX(),
             getDriverController().getRightX(),
             // getDriverController().getRightY(),
-            false),
+            true),
             m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
       // Intake with Triggers
     m_robotIntake.setDefaultCommand(
@@ -251,10 +251,10 @@ public class RobotContainer {
     //     .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-55.55)))
     //     .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
       
-    // new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
-    //     .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.525)))
+    new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
+        .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.1)))
     //     .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-96)))
-    //     .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
+        .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
 
     new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
         .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 03c7e03..5caebaa 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -36,7 +36,7 @@ public class RobotMap {
   public RobotMap() {
     // configureLEDMotorControllers();
     configureSwerveMotorControllers();
-    // configureShooterMotorControllers();
+    configureShooterMotorControllers();
     configureIntakeMotors();
     configureExtenderMotors();
     configureSerializerMotors();
@@ -190,59 +190,60 @@ public class RobotMap {
 
 //   // Shooter Config
 //   /* 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);
+  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);
 
 //   // turret subsystem
   public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
 
-//   // hood subsystem
-//   public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
+  // hood subsystem
+  public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
 
-//   // Create motor CANSparkMax
-//   void configureShooterMotorControllers() {
+  // Create motor CANSparkMax
+  void configureShooterMotorControllers() {
 
-//     // LEFT FALCON
-//     shooterFalconLeft.configFactoryDefault();
-//     shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
-//     shooterFalconLeft.setInverted(true);
-//     shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
-//         ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
-//         ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
-//         ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
-//         ShooterConstants.SHOOTER_TIMEOUT_MS);
+    // LEFT FALCON
+    shooterFalconLeft.configFactoryDefault();
+    shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
+    shooterFalconLeft.setInverted(true);
+    shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
 
-//     // RIGHT FALCON
-//     shooterFalconRight.setInverted(false);
-//     shooterFalconRight.setNeutralMode(NeutralMode.Coast);
-//     shooterFalconRight.configFactoryDefault();
-//     shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     // m_shooterFalconRight.configPeakOutputForward(0,
-//     // ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
-//     shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
-//         ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
-//         ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
-//         ShooterConstants.SHOOTER_TIMEOUT_MS);
-//     shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
-//         ShooterConstants.SHOOTER_TIMEOUT_MS);
+    // RIGHT FALCON
+    shooterFalconRight.setInverted(false);
+    shooterFalconRight.setNeutralMode(NeutralMode.Coast);
+    shooterFalconRight.configFactoryDefault();
+    shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    // m_shooterFalconRight.configPeakOutputForward(0,
+    // ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
+    shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
+    shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
+        ShooterConstants.SHOOTER_TIMEOUT_MS);
 
-//     shooterFalconRight.follow(shooterFalconLeft);
+    shooterFalconRight.follow(shooterFalconLeft);
+  }
 
 //     // /* Turret Subsytem */
-//     // shooterFalconRight.configStatorCurrentLimit(new
-//     // StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
-//     // out of our ass anymore
-//     // shooterFalconLeft.configSupplyCurrentLimit(new
-//     // SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
+    // shooterFalconRight.configStatorCurrentLimit(new
+    // StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
+    // out of our ass anymore
+    // shooterFalconLeft.configSupplyCurrentLimit(new
+    // SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
 //     // numbers out of our ass anymore
 
 //     // hood subsystem
diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java
index cdb8629..057bf2e 100644
--- a/src/main/java/frc4388/robot/subsystems/Hood.java
+++ b/src/main/java/frc4388/robot/subsystems/Hood.java
@@ -12,6 +12,7 @@ import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.CANSparkMax.SoftLimitDirection;
 import com.revrobotics.SparkMaxRelativeEncoder.Type;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import frc4388.robot.Constants.ShooterConstants;
@@ -49,7 +50,7 @@ public class Hood extends SubsystemBase {
 
     m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.HOOD_FORWARD_LIMIT);
     m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.HOOD_REVERSE_LIMIT);
-    setHoodSoftLimits(true);
+    setHoodSoftLimits(false);
   }
     
 
@@ -86,6 +87,7 @@ public class Hood extends SubsystemBase {
   */
   public void runHood(double input) {
     m_angleAdjusterMotor.set(input);
+    SmartDashboard.putNumber("Hood Angle", m_angleAdjusterMotor.getAlternateEncoder(1024).getPosition());
   }
 
   public void resetGyroAngleAdj(){
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index b133d6f..2fdfef4 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -56,7 +56,7 @@ public class Turret extends SubsystemBase {
 
     m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
     m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
-    setTurretSoftLimits(true);
+    setTurretSoftLimits(false);
 
     m_boomBoomRotateMotor.setInverted(true);
 
@@ -89,6 +89,7 @@ public class Turret extends SubsystemBase {
 
   public void runTurretWithInput(double input) {
     m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
+    SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateMotor.getAlternateEncoder(1024).getPosition());
   }
 
   public void runshooterRotatePID(double targetAngle) {