diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index 1d01271..cc96886 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -37,19 +37,13 @@ public class Turret extends SubsystemBase {
   SparkMaxLimitSwitch m_boomBoomLeftLimit;
   SparkMaxLimitSwitch m_boomBoomRightLimit;
 
-  boolean hasLeftSwitchChanged = false;
-  boolean hasRightSwitchChanged = false;
-
-  boolean leftPrevState = false;
-  boolean rightPrevState = false;
   boolean leftState;
-  boolean rightState;
   boolean recentlyPressed;
+  boolean leftPrevState = false;
+  boolean hasLeftSwitchChanged = false;
 
   long leftCurrentTime;
-  long rightCurrentTime;
   long leftElapsedTime;
-  long rightElapsedTime;
 
   public Turret(CANSparkMax boomBoomRotateMotor) {
 
@@ -120,22 +114,15 @@ public class Turret extends SubsystemBase {
     SmartDashboard.putBoolean("Right Limit Switch Pressed", m_boomBoomRightLimit.isPressed());
 
     // limit switch annoying time thing but actually worked first try wtf
-    leftState = m_boomBoomLeftLimit.isPressed();
+    leftState = m_boomBoomLeftLimit.isPressed(); // * Get the state of the left limit switch (true for pressed).
 
-    hasLeftSwitchChanged = (leftState != leftPrevState);
+    hasLeftSwitchChanged = (leftState != leftPrevState); // * Get whether the state of the left limit switch has changed, based on its previous state.
 
-    if (leftState && hasLeftSwitchChanged) {
+    if (leftState && hasLeftSwitchChanged) { // * If the left limit switch is pressed, and it recently changed, start the time.
       leftCurrentTime = System.currentTimeMillis();
       leftElapsedTime = 0;
     }
 
-    if (leftState && !hasLeftSwitchChanged) {
-      leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
-    }
-  
-    if (leftState && (leftElapsedTime > 500)) {
-      m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_HARD_LIMIT);
-    }
     if (!m_boomBoomRightLimit.isPressed()) recentlyPressed = false;
 
     if(m_boomBoomRightLimit.isPressed() && !recentlyPressed){
@@ -144,8 +131,15 @@ public class Turret extends SubsystemBase {
     }
      SmartDashboard.putBoolean("Recently Pressed", recentlyPressed);
 
-    leftPrevState = leftState;
-    // rightPrevState = rightState;
+    if (leftState && !hasLeftSwitchChanged) { // * If the left limit switch is still pressed, but the state hasn't changed, then calculate elapsed time.
+      leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
+    }
+    
+    if (leftState && (leftElapsedTime > 500)) { // * If the left limit switch is pressed for more than half a second, update the encoder position.
+      m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_HARD_LIMIT);
+    }
+
+    leftPrevState = leftState; // * Update the state of the left limit switch.
   }
 
   /**