diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 1637844..fc6d775 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -29,9 +29,7 @@ double input;
 
 public boolean m_isDrumReady = false;
 public double m_fireVel;
-
-public Trims shooterTrims;
-
+//public Trims shooterTrims;
 public Hood m_hoodSubsystem;
 public Turret m_turretSubsystem;
 
@@ -41,7 +39,7 @@ 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) {
@@ -126,7 +124,7 @@ 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..3969d4f 100644
--- a/src/main/java/frc4388/robot/subsystems/Hood.java
+++ b/src/main/java/frc4388/robot/subsystems/Hood.java
@@ -3,10 +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.SparkMaxPIDController;
 import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMax.SoftLimitDirection;
@@ -23,11 +25,13 @@ public class Hood extends SubsystemBase {
   public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
   
   public static Gains m_angleGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
-
-  public CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
   public CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
 
+  public SparkMaxPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
+
   public boolean m_isHoodReady = false;
+
+public double m_fireAngle;
   
   /** Creates a new Hood. */
   public Hood() {
@@ -56,6 +60,7 @@ public class Hood extends SubsystemBase {
 
     m_angleAdjustPIDController.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 85ee3e6..f813959 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;