diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 1637844..6879b06 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -4,6 +4,8 @@
 
 package frc4388.robot.subsystems;
 
+import java.util.Base64.Encoder;
+
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
@@ -30,7 +32,7 @@ double input;
 public boolean m_isDrumReady = false;
 public double m_fireVel;
 
-public Trims shooterTrims;
+
 
 public Hood m_hoodSubsystem;
 public Turret m_turretSubsystem;
@@ -126,7 +128,7 @@ public void setShooterGains() {
     //Controls a motor with the output of the BangBang controller
     //Controls a motor with the output of the BangBang conroller and a feedforward
     //Shrinks the feedforward slightly to avoid over speeding the shooter
-    m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); */
+    m_shooterFalconLeft.set(controller.calculate(Encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel);
   
   
   }
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index de51bf0..eba7f23 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -9,6 +9,7 @@ import java.lang.ModuleLayer.Controller;
 import javax.naming.ldap.Control;
 
 import com.ctre.phoenix.sensors.CANCoder;
+import com.revrobotics.CANSparkMax.IdleMode;
 
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType;
@@ -18,7 +19,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.utility.Gains;
 
-public class Turret<CANSparkMax, CANDigitalInput> extends SubsystemBase {
+public class Turret<CANSparkMax, CANDigitalInput,> extends SubsystemBase {
   private static final String turretMotor = null;
   /** Creates a new Turret. */
   public BoomBoom m_boomBoomSubsystem;
@@ -38,9 +39,9 @@ public class Turret<CANSparkMax, CANDigitalInput> extends SubsystemBase {
   
   
   //Variables
-  public <m_boomBoomRotateMotor> Turret() {
+  public Turret() {
 
-    Object IdleMode;
+    
     m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
     boolean enableLimitSwitch = true;
     m_turretGyro = getGyroInterface();