diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index eba7f23..0202c6d 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -4,38 +4,42 @@
 
 package frc4388.robot.subsystems;
 
-import java.lang.ModuleLayer.Controller;
 
-import javax.naming.ldap.Control;
-
-import com.ctre.phoenix.sensors.CANCoder;
+import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.CANSparkMax.IdleMode;
-
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkMaxLimitSwitch;
+import com.revrobotics.SparkMaxPIDController;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import edu.wpi.first.util.sendable.Sendable;
-import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.utility.Gains;
+import com.revrobotics.CANSparkMax.SoftLimitDirection;
 
-public class Turret<CANSparkMax, CANDigitalInput,> extends SubsystemBase {
-  private static final String turretMotor = null;
+
+
+
+public class Turret extends SubsystemBase {
+ 
   /** Creates a new Turret. */
   public BoomBoom m_boomBoomSubsystem;
   public SwerveDrive m_sDriveSubsystem;
 
   public CANSparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
   public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS;
-  CANDigitalInput m_boomBoomRightLimit, m_boomBoomLeftLimit;
+  SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit;
   public Gyro m_turretGyro;
 
   public double m_targetDistance = 0;
 
   public boolean m_isAimReady = false;
 
-  Controller m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
-  public CANCoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
+  SparkMaxPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
+  public RelativeEncoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
   
   
   //Variables
@@ -43,20 +47,18 @@ public class Turret<CANSparkMax, CANDigitalInput,> extends SubsystemBase {
 
     
     m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
-    boolean enableLimitSwitch = true;
+  
     m_turretGyro = getGyroInterface();
-    m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
-    m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
-    m_boomBoomRightLimit.enableLimitSwitch;
-    m_boomBoomLeftLimit.enableLimitSwitch;
+    m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_boomBoomRightLimit.enableLimitSwitch(true);
+    m_boomBoomLeftLimit.enableLimitSwitch(true);
 
     m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
     m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
     m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
-    boolean setInverted = false;
-    m_boomBoomRotateMotor.setInverted;
-    Object turretMotor;
-    Object m_turretMotor = turretMotor;
+    m_boomBoomRotateMotor.setInverted(false);
+    
   }
 
   private Gyro getGyroInterface() {
@@ -86,7 +88,7 @@ public class Turret<CANSparkMax, CANDigitalInput,> extends SubsystemBase {
   m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
   m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
   m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
-  m_boomBoomRotatePIDController.setF(m_shooterTGains.m_kF);
+  m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
   m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
   m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
 
@@ -109,11 +111,7 @@ public class Turret<CANSparkMax, CANDigitalInput,> extends SubsystemBase {
     return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT;
   }
   
-  public void turnWithJoystick (double input)
-  {
-    turretMotor.set(input);
 
-  }
 
   //function turnWithJoystick(double input)
   //   motor.set(input)
diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java
index 85ee3e6..604bdae 100644
--- a/src/main/java/frc4388/robot/subsystems/Vision.java
+++ b/src/main/java/frc4388/robot/subsystems/Vision.java
@@ -69,9 +69,8 @@ public void track(){
         turnAmount = -0.1;
     }
   }
-  m_turret.turnWithJoystick(-turnAmount);
 
-  SmartDashboard.putNumber("Disance to Target", realDistance);
+  SmartDashboard.putNumber("Distance to Target", realDistance);
 
 
   //start CSV