diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 6879b06..531ffb3 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -32,8 +32,6 @@ double input;
 public boolean m_isDrumReady = false;
 public double m_fireVel;
 
-
-
 public Hood m_hoodSubsystem;
 public Turret m_turretSubsystem;
 
@@ -43,7 +41,7 @@ public Turret m_turretSubsystem;
 public BoomBoom(){
 //Testing purposes resetting gyros
 //resetGryoAngleADj();
-
+//shooterTrims = new Trims(0,0);
 }
   /** Creates a new BoomBoom. */
   public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
@@ -128,7 +126,7 @@ 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/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java
index 19ab8f3..de78848 100644
--- a/src/main/java/frc4388/robot/subsystems/Hood.java
+++ b/src/main/java/frc4388/robot/subsystems/Hood.java
@@ -3,11 +3,12 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc4388.robot.subsystems;
-import com.revrobotics.CANEncoder;
-import com.revrobotics.CANPIDController;
+
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.ControlType;
-import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkMaxPIDController;
+import com.revrobotics.SparkMaxLimitSwitch;
+import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMax.SoftLimitDirection;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
@@ -20,23 +21,28 @@ import frc4388.utility.Gains;
 public class Hood extends SubsystemBase {
   public BoomBoom m_shooterSubsystem;
   
-  public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
-  
-  public static Gains m_angleGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
+  public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
+  public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
+  public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
+  public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
+  public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
 
-  public CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
-  public CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
-
-  public boolean m_isHoodReady = false;
+  public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
   
+  
+  //public boolean m_isHoodReady = false;
+
+public double m_fireAngle;
+  
+
   /** Creates a new Hood. */
   public Hood() {
-    m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
+     m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
 
-    m_hoodUpLimit = m_angleAdjusterMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
-    m_hoodDownLimit = m_angleAdjusterMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
-    m_hoodUpLimit.enableLimitSwitch(true);
-    m_hoodDownLimit.enableLimitSwitch(true);
+    m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_hoodUpLimitSwitch.enableLimitSwitch(true);
+    m_hoodDownLimitSwitch.enableLimitSwitch(true);
   }
     
 
@@ -47,15 +53,16 @@ public class Hood extends SubsystemBase {
   public void runAngleAdjustPID(double targetAngle) 
   {
     //Set PID Coefficients
-    m_angleAdjustPIDController.setP(m_angleAdjusterGains.m_kP);
-    m_angleAdjustPIDController.setI(m_angleAdjusterGains.m_kI);
+    m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP);
+    m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI);
     m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD);
-    m_angleAdjusterPIDController.setIZone(m_angleAdjustGains.m_IZone);
-    m_angleAdjusterPIDController.setFF(m_angleAdjustGains.m_kF);
+    m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone);
+    m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF);
     m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput);
 
-    m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
+    m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
   }
+  
 
   public void runHood(double input) {
     m_angleAdjusterMotor.set(input);
diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java
index 604bdae..4a1e119 100644
--- a/src/main/java/frc4388/robot/subsystems/Vision.java
+++ b/src/main/java/frc4388/robot/subsystems/Vision.java
@@ -9,6 +9,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.ShooterConstants;
 import frc4388.robot.Constants.VisionConstants;
 import frc4388.robot.subsystems.BoomBoom;
 import frc4388.robot.subsystems.Turret;
@@ -35,7 +36,7 @@ public static double fireAngle;
 
 public double m_hoodTrim;
 public double m_turretTrim;
-
+public double m_fireAngle;
 public Vision(Turret aimSubsystem, BoomBoom boomBoom) {
   m_turret = aimSubsystem;
   m_boomBoom = boomBoom;