diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java
index 734b9c2..a284d8a 100644
--- a/src/main/java/frc4388/robot/commands/AimToCenter.java
+++ b/src/main/java/frc4388/robot/commands/AimToCenter.java
@@ -31,17 +31,13 @@ public class AimToCenter extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    m_targetAngle = m_turret.getBoomBoomAngleDegrees() + m_drive.gyro.getAngle() + Math.atan(y/x);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    aimTurret(m_targetAngle);
-  }
-
-  public void aimTurret(double targetAngle) { //Split into configure and run
-    m_turret.runshooterRotatePID(targetAngle);
+    m_targetAngle = m_turret.getBoomBoomAngleDegrees() + m_drive.gyro.getAngle() + Math.atan(y/x);
+    m_turret.runshooterRotatePID(m_targetAngle);
   }
   
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index 1abcfa1..5f785c5 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -9,6 +9,7 @@ import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANEncoder;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.MotorFeedbackSensor;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxLimitSwitch;
 import com.revrobotics.SparkMaxPIDController;
@@ -95,7 +96,6 @@ public class Turret extends SubsystemBase {
     m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
 
     targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
-
     m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition);
   }