diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 961b817..c6146b4 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -320,7 +320,7 @@ public class RobotContainer {
         .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));*/
       
       new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
-          .whenPressed(new RunCommand(() -> m_robotTurret.runshooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT), m_robotTurret));
+          .whileHeld(new RunCommand(() -> m_robotTurret.runshooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT), m_robotTurret));
 
        //B > Shoot with Lime
     new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java
index 2cd8924..d2aa6ec 100644
--- a/src/main/java/frc4388/robot/commands/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/TrackTarget.java
@@ -100,7 +100,6 @@ public class TrackTarget extends CommandBase {
     }
     catch (Exception e){
       e.printStackTrace();
-      m_turret.runshooterRotatePID(180);
       // System.err.println("Exception: " + e.toString() + ", Line 78 at TrackTarget.java");
     }
     // vel = m_boomBoom.getVelocity(distance);