diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 9cddcbf..4793fd8 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -214,26 +214,25 @@ public class RobotContainer {
     //     new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), 
     //     m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
 
-    // m_robotTurret.setDefaultCommand(
-    //    new RunCommand(() -> {
-    //     if (this.currentControlMode.equals(ControlMode.SHOOTER)) { 
-    //       if (this.currentTurretMode.equals(TurretMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
-    //     }
-    //     if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
-    //    }, m_robotTurret));
+    m_robotTurret.setDefaultCommand(
+       new RunCommand(() -> {
+        if (this.currentControlMode.equals(ControlMode.SHOOTER)) { 
+          if (this.currentTurretMode.equals(TurretMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
+        }
+        if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
+       }, m_robotTurret));
 
-    // m_robotHood.setDefaultCommand(
-    //    new RunCommand(() -> {
-    //     if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
-    //     if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); }
-    //    }, m_robotHood));
+    m_robotHood.setDefaultCommand(
+       new RunCommand(() -> {
+        if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
+        if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); }
+       }, m_robotHood));
 
     m_robotClimber.setDefaultCommand(
-      // new RunCommand(() -> {
-      //   if (this.currentMode.equals(Mode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
-        /*if (this.currentMode.equals(Mode.CLIMBER)) {  */new RunCommand(() -> m_robotClimber.controlJointsWithInput(getOperatorController().getLeftX(),
-          getOperatorController().getRightY()), m_robotClimber).withName("Climber controlWithInput defaultCommand")); //}
-      // }, m_robotClimber));
+      new RunCommand(() -> {
+        if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
+        if (this.currentControlMode.equals(ControlMode.CLIMBER)) {  m_robotClimber.controlJointsWithInput(getOperatorController().getLeftX(), getOperatorController().getRightY()); }
+      }, m_robotClimber));
 
        // m_robotTurret.setDefaultCommand(
     //     new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -355,6 +354,7 @@ public class RobotContainer {
       .whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
       // .whenReleased(EnableClimber()));
       
+    // toggle manual mode and autonomous mode based on the current control mode
     new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
 
       .whenPressed(new InstantCommand(() -> {